CN101823486A - Automatic driving system - Google Patents

Automatic driving system Download PDF

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Publication number
CN101823486A
CN101823486A CN 201010168671 CN201010168671A CN101823486A CN 101823486 A CN101823486 A CN 101823486A CN 201010168671 CN201010168671 CN 201010168671 CN 201010168671 A CN201010168671 A CN 201010168671A CN 101823486 A CN101823486 A CN 101823486A
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vehicle
system
information
control
host vehicle
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CN 201010168671
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Chinese (zh)
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尹海云
张亮
张国兴
杜俊博
王京华
王树超
赛影辉
陈效华
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奇瑞汽车股份有限公司
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Priority to CN 201010168671 priority Critical patent/CN101823486A/en
Publication of CN101823486A publication Critical patent/CN101823486A/en

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Abstract

The invention provides an automatic driving system which not only can realize the automatic driving of a single vehicle, but also can control the running of other vehicles. The automatic driving system comprises a main vehicle system arranged on a main vehicle, and a following vehicle system arranged on a following vehicle, wherein induction units, control units, execution units and information transmission units are arranged in both the main vehicle system and the following vehicle system, the induction unit comprises a vehicle speed sensor, a corner sensor and an external environment sensor, and the execution unit comprises an auxiliary steering mechanism, a throttle control device, a gear control device and an auxiliary brake body. The main vehicle control unit obtains the road information by the external environment sensor and realizes the automatic driving by controlling the execution unit, and the following vehicle utilizes the information of the main vehicle to control the running state thereof, so both of the main vehicle and the following vehicle do not need drivers. The automatic driving system is particularly suitable for the long-distance running of motorcades for combined self-driving tour and the like, relieves the fatigue strength of the driver of the following vehicle, and improves the safety and the comfort of running.

Description

一种自动驾驶系统 An automatic driving system

技术领域[0001] 本发明属于汽车制造技术领域,特别涉及到汽车的自动驾驶系统。 Technical Field [0001] The present invention belongs to the field of automotive manufacturing technology, particularly to a vehicle autopilot system. 背景技术 Background technique

[0002] 为适应经济的快速发展,高速公路的建设越来越快,高速公路的广泛使用提高了生活的便捷性,但是长距离的高速公路行驶,会使司机感到疲劳、乏味,使得因疲劳驾驶而导致的安全事故逐渐增多。 [0002] In order to meet the rapid economic development, highway construction faster and faster, is widely used to improve the convenience of the highway of life, but long-distance highway driving, the driver will feel tired, boring, making due to fatigue driving accidents caused gradually increased. 因此如果能够实现车辆的自动驾驶,尤其是组团自驾游等车队中的多台车辆同时实现自动驾驶,将会显著提高高速公路的行车安全及驾车舒适性。 So if we can achieve automatic vehicle driving, especially groups such as traveling by car convoy of several vehicles while achieving autopilot, will significantly improve traffic safety and highway driving comfort.

[0003] 现有的汽车自动驾驶系统仍需要进行人工干预,并且只能应用在单个车辆上,实际产生的效果有限,特别是对于组团自驾游时的多个车辆,并没有减轻驾驶员的疲劳度。 [0003] existing vehicle autopilot system still requires manual intervention, and only a single application on a vehicle, the effect actually produced is limited, especially for groups of the plurality of vehicle driving, does not reduce driver fatigue degree. 例如专利CN200680046623. 6所公开的一种自适应巡航系统,该系统包括对象探测装置,该对象探测装置可以同时探测多个目标对象,为每个被探测的目标对象产生独立的控制命令, 从而影响主车辆的发动机控制装置和制动控制装置,从而控制主车辆的速度。 For example patent CN200680046623. 6 disclosed an adaptive cruise control system, the system comprises an object detecting apparatus, the object detecting means may detect multiple target objects simultaneously, generating separate control command for each target object to be detected, thus affecting vehicle engine main control means and the brake control means to control the speed of the host vehicle. 然后比较为多个同时被探测的目标对象所产生的控制命令,并且在这些控制命令中选择最受限制的控制命令。 Then compared to a plurality of control commands simultaneously detected target object is generated, and selects the most restrictive control command in the control commands. 然后,根据所选择的控制命令把至少一个控制信号发送到主车辆的发动机控制装置和制动控制装置中的至少一个中,从而根据所选择的控制命令来控制主车辆的速度。 Then, according to the selected control command to the at least one control signal to the main engine of the vehicle control apparatus and brake control device at least one, thereby to control the speed of the host vehicle according to the selected control command. 这种系统可以使驾驶员不顾及动力装置的操作,但仍然要控制车辆的行驶方向。 Such a system can operate regardless of the driver and the power unit, but still controls the traveling direction of the vehicle.

[0004] 专利CN200420009835. 5公开了一种高速路智能汽车,采用车载计算机处理测距雷达、自动距离控制装置和摄像机的数据,并据此向汽车节气门、制动控制装置及转向控制器给出校正指令;采用摄像机记忆下汽车前方公路上设置的引导线的景象,并将其传至车载计算机以确定应行驶的路线;采用转向控制器对车时控制转向;采用自动距离控制装置测量本车与前车的距离并计算出二者的距离,并将此信息传给车载计算机由其操作汽车节气门、制动控制装置与前车自动保持一个设定的安全距离,本实用新型在高速公路上能自动行驶。 [0004] Patent No. CN200420009835. 5 discloses an intelligent vehicle highway, using the onboard computer processing range radar, data and video camera means automatic distance control, and accordingly the automotive throttle, brake and steering control means to control a correction instruction; using guide wire is provided on the front of the vehicle in the road scene memory of the camera, and it is transmitted to the onboard computer to determine a route to be traveled; steering controller using car steering control; automatic distance control means measures the present distance from the vehicle in front of the vehicle and calculate the distance between the two, and passes this information to the onboard computer by a throttle operation of the vehicle, the vehicle front brake control device automatically keep a safe distance set according to the present invention in a high speed driving on the highway automatically. 该技术虽然可以实现单个车辆的自动驾驶功能,但不能对其它车辆进行控制。 Although this technique can achieve a single automatic driving function of the vehicle, but can not control other vehicle.

发明内容 SUMMARY

[0005] 本发明的目的是提出一种不仅可以实现单个车辆的自动驾驶,还能控制其他车辆行驶的自动驾驶系统,以减轻驾驶员的疲劳度,提高行车安全性和舒适性。 [0005] The object of the present invention is not only to provide a single automatic driving of the vehicle, but also control other vehicle travels autopilot system, in order to reduce the driver's fatigue and improve driving safety and comfort.

[0006] 本发明的自动驾驶系统包括安装在主车上的主车系统和安装在从车上的从车系统,关键在于所述主车系统和从车系统内均包括感应单元、控制单元、执行单元和信息传输单元,所述感应单元包括车速传感器、转角传感器和外部环境传感器,所述执行单元包括辅助转向机构、节气门控制装置、档位控制装置和辅助制动机构; [0006] autopilot system according to the present invention includes a vehicle system mounted on the main car and from the car mounted on the vehicle from the system, wherein the master key system and the vehicle from the vehicle system includes a sensing unit, a control unit, execution unit and an information transmitting unit, the sensing unit comprises a vehicle speed sensor, a sensor rotation angle sensor and the external environment, the execution unit includes an auxiliary steering mechanism, throttle control means, the control means and the auxiliary brake gear mechanism;

[0007] 在主车系统中:控制单元接收外部环境传感器所收集到的路面信息及车速传感器和转角传感器所收集到的行驶状态信息,根据上述信息生成控制信号并传输至辅助转向机构、节气门控制装置、档位控制装置和辅助制动机构中的至少一个,以控制主车的行驶状态;[0008] 主车系统的控制单元实时将主车的行驶状态信息和路面信息通过信息传输单元传输至从车系统; [0007] In the main vehicle system: the control unit receives the travel state information collected by the sensor to the external environment of the road and the vehicle speed sensor and the information collected in the rotation angle sensor, generating a control signal based on said information and transmitted to the auxiliary steering mechanism, throttle control means, and the auxiliary shift control device at least one braking mechanism for controlling the traveling state of the host vehicle; [0008] the control unit of the host vehicle system real-time information transmission unit transmits the driving state information of the host vehicle and road information from the car to the system;

[0009] 在从车系统中:控制单元通过外部环境传感器获知与主车的车距,并结合接收到的主车系统的行驶状态信息和路面信息,生成控制信号并传输至辅助转向机构、节气门控制装置、档位控制装置和辅助制动机构中的至少一个,以控制从车的行驶状态。 [0009] In the vehicle system: the control unit by the external environment sensors known distance and the host vehicle car and in combination with state information and road information of the main vehicle system to the received control signal is generated and transmitted to the auxiliary steering mechanism section valve control means, and the auxiliary shift control device at least one braking mechanism, to control the vehicle from a traveling state.

[0010] 上述自动驾驶系统中的主车控制单元利用外部环境传感器来获知路面信息,并通过控制执行单元来实现自动驾驶,而从车利用主车的信息来控制其行驶状态,因此主车和从车均无需驾驶员来介入;在路面情况比较复杂时,主车可以由驾驶员来操控,从车无需驾驶员来介入操控。 [0010] The autopilot system of the host vehicle control unit by the external environment sensors to know the road information, and to realize automatic driving control executed by unit, the information of the car using the host vehicle from the controlling its traveling state, and therefore the host vehicle and all without intervention from the driver to the car; when the road situation is more complex, the main vehicle can be controlled by the driver from the car without driver intervention to control. 该自动驾驶系统特别适合于组合自驾游等车队的长途行驶,减轻从车驾驶员的疲劳度,提高行车安全性和舒适性。 The autopilot system is particularly suitable in combination with long-distance traveling by car fleet and the like, reduce fatigue of the driver from the vehicle, to improve driving safety and comfort. [0011] 为使从车的操控更加安全,在本发明的自动驾驶系统中:主车系统的控制单元还实时将根据路面信息及行驶状态信息所生成的控制信号通过信息传输单元传输至从车系统,从车系统的控制单元通过外部环境传感器获知与主车的车距,并结合接收到的主车系统的行驶状态信息、路面信息和主车的控制信号,生成从车的控制信号并传输至辅助转向机构、节气门控制装置、档位控制装置和辅助制动机构中的至少一个,以控制从车的行驶状态。 [0011] To make the handling of the car more secure, the autopilot system of the present invention: the control unit of the host vehicle system further real-time in accordance with a control signal road information and the travel state information generated by the information transmitting unit transmits to the slave vehicle system, the control unit vehicle system is learned by the external ambient sensor and the host vehicle distance between vehicles, and a control signal in conjunction with the host vehicle received by the system running state information, road information, and the host vehicle generates a control signal the vehicle and transmitted from the to assist steering mechanism, throttle control means, and the auxiliary shift control device at least one braking mechanism, to control the running state of the vehicle. 从车根据车距及主车系统的行驶状态信息、路面信息和主车的控制信号,可以生成更为严谨、科学的从车的控制信号,从而使从车的操控更加安全。 According to the vehicle from the car and away from the main vehicle driving state information systems, information control signal and the main road car, it can generate more rigorous, scientific control signal from the vehicle, so that the handling of the car safer.

[0012] 所述主车系统的外部环境传感器至少包括图像传感系统和测距雷达,以获知路面信息和与前车的车距;从车系统的外部环境传感器至少包括测距雷达,以获知与前车的车距。 Sensors external environment [0012] The host vehicle includes at least image sensing system and ranging radar system, in order to know the road information from the vehicle in front of the vehicle; the external environment of the sensor system comprises at least a vehicle ranging radar, in order to know from the vehicle in front of the car.

[0013] 所述主车系统和从车系统的外部环境传感器均至少包括图像传感系统和测距雷达。 [0013] The primary vehicle system and the outside environment from the vehicle sensor system comprises at least an image sensing system and ranging radar. 这样主车和从车的配置相同,每辆车都不仅可以当主车,还可以当从车,在行驶的过程中可以根据需要灵活变换主车、从车的位置,提高便利性。 Thus the host vehicle from the vehicle and the same configuration, not only can each vehicle when the host vehicle, from the vehicle also when, during traveling of the host vehicle can be flexibly transformed according to need, from the position of the vehicle, improving convenience.

[0014] 所述信息传输单元通过Wi-Fi、WiMax或Zigbee中的一种或多种方式传输信息,以上传输方式均为无线传输方式,适合车辆之间的通讯。 [0014] The information transmission means are wireless transmission, for the communication between the vehicle by means of a Wi-Fi, WiMax, or Zigbee or transmitting information in various ways, the above transmission. 其中Zigbee是IEEE802. 15. 4协议的代名词,其特点是近距离、低复杂度、自组织、低功耗、低数据速率、低成本。 Wherein Zigbee is synonymous with IEEE802. 15. 4 protocol, which is characterized by short-range, low complexity, self-organization, low power, low data rate, low cost. 主要适合用于自动控制和远程控制领域,可以嵌入各种设备。 Mainly suitable for remote control and automatic control art, it can be embedded in a variety of devices.

[0015] 所述信息传输单元包括信息接收模块、信息转换模块和信息传输模块。 The [0015] information transmission unit includes an information receiving module, information conversion module and an information transmission module.

[0016] 所述主车系统和从车系统的控制单元还连接有车载多媒体系统,以便主车和从车之间进行视频、图片、音频等多媒体数据的共享。 The [0016] system and the host vehicle from the vehicle control unit is also connected to system car multimedia system to the host vehicle and the video, pictures, audio and other multimedia data from a shared between a vehicle.

[0017] 本发明的自动驾驶系统能实现多辆车的自动驾驶,大幅度缓解在高速公路上长途驾驶时的疲劳感,并进而降低因疲劳驾驶带来的安全隐患,特别适合于组合自驾游等车队。 [0017] autopilot system of the present invention enables automatic driving multiple vehicles, significantly relieve fatigue during long-distance driving on the highway, thus reducing driver fatigue because of potential safety problems, especially for combined traveling by car and other teams.

附图说明 BRIEF DESCRIPTION

[0018] 图1是本发明的自动驾驶系统的原理示意图。 [0018] FIG. 1 is a simplified schematic of the autopilot system of the present invention. 具体实施方式 Detailed ways

[0019] 下面结合具体实施例和附图来详细说明本发明。 [0019] The following examples and with reference to specific embodiments of the present invention will be described in detail with the accompanying drawings.

[0020] 实施例1 :[0021] 如图1所示,本实施例的自动驾驶系统包括安装在主车上的主车系统和安装在从车上的从车系统,所述主车系统和从车系统内均包括感应单元、控制单元、执行单元和信息传输单元,所述感应单元包括车速传感器、转角传感器和外部环境传感器,所述外部环境传感器包括图像传感系统和测距雷达,所述执行单元包括辅助转向机构、节气门控制装置、档位控制装置和辅助制动机构,所述信息传输单元包括信息接收模块、信息转换模块和信息传输模块,通过Wi-Fi、WiMax或Zigbee中的一种或多种方式传输信息; [0020] Example 1: [0021] 1, the autopilot system of the present embodiment includes a main system installed in the vehicle and is mounted on the main car from the car from a vehicle system, and the host vehicle system from the vehicle system includes a sensing unit, a control unit, an execution unit and an information transmitting unit, the sensing unit comprises a vehicle speed sensor, a sensor rotation angle sensor and the external environment, the external environment and a sensor comprising an image sensing range radar system, the said execution unit includes an auxiliary steering mechanism, throttle control means, the control means and the auxiliary brake gear mechanism, the information transmission unit includes an information receiving module, information conversion module and an information transmission module, via Wi-Fi, WiMax, or Zigbee in one or more ways of transmitting information;

[0022] 在主车系统中:控制单元接收外部环境传感器所收集到的路面信息及车速传感器和转角传感器所收集到的行驶状态信息,根据上述信息生成控制信号并传输至辅助转向机构、节气门控制装置、档位控制装置和辅助制动机构中的至少一个,以控制主车的加速、力口速、转向、制动等行驶状态; [0022] In the main vehicle system: the control unit receives the travel state information collected by the sensor to the external environment of the road and the vehicle speed sensor and the information collected in the rotation angle sensor, generating a control signal based on said information and transmitted to the auxiliary steering mechanism, throttle control means, and the auxiliary shift control device at least one braking mechanism, to control the acceleration of the host vehicle, the mouth of the force, steering, braking and other travel state;

[0023] 主车系统的控制单元实时将主车的行驶状态信息、路面信息、根据路面信息及行驶状态信息所生成的控制信号通过信息传输单元传输至从车系统; [0023] The control unit of the system in real time the host vehicle traveling state of the host vehicle information, road information, road surface information and the travel state information generated by the control signal from the information transmission unit transmits to the vehicle system;

[0024] 在从车系统中:控制单元通过外部环境传感器获知与主车的车距,并结合接收到的主车系统的行驶状态信息、路面信息和主车的控制信号,生成从车的控制信号并传输至辅助转向机构、节气门控制装置、档位控制装置和辅助制动机构中的至少一个,以控制从车的行驶状态。 [0024] In the vehicle system: the control unit by the external environment sensors known distance and the host vehicle vehicle, combined with the state information of the host vehicle system receives the control signal road information and the host vehicle is generated from the vehicle control and transmitting a signal to the auxiliary steering mechanism, throttle control means, and the auxiliary shift control device at least one braking mechanism, to control the running state of the vehicle.

[0025] 所述主车系统和从车系统的控制单元还连接有车载多媒体系统,以便主车和从车之间进行视频、图片、音频等多媒体数据的共享。 The [0025] system and the host vehicle from the vehicle control unit is also connected to system car multimedia system to the host vehicle and the video, pictures, audio and other multimedia data from a shared between a vehicle.

[0026] 上述自动驾驶系统中的主车控制单元利用外部环境传感器来获知路面信息,并通过控制执行单元来实现自动驾驶,而从车利用主车的信息来控制其行驶状态,因此主车和从车均无需驾驶员来介入;在路面情况比较复杂时,主车可以由驾驶员来操控,从车无需驾驶员来介入操控。 [0026] The autopilot system of the host vehicle control unit by the external environment sensors to know the road information, and to realize automatic driving control executed by unit, the information of the car using the host vehicle from the controlling its traveling state, and therefore the host vehicle and all without intervention from the driver to the car; when the road situation is more complex, the main vehicle can be controlled by the driver from the car without driver intervention to control. 该自动驾驶系统特别适合于组合自驾游等车队的长途行驶,减轻从车驾驶员的疲劳度,提高行车安全性和舒适性。 The autopilot system is particularly suitable in combination with long-distance traveling by car fleet and the like, reduce fatigue of the driver from the vehicle, to improve driving safety and comfort.

Claims (7)

  1. 一种自动驾驶系统,包括安装在主车上的主车系统和安装在从车上的从车系统,其特征在于所述主车系统和从车系统内均包括感应单元、控制单元、执行单元和信息传输单元,所述感应单元包括车速传感器、转角传感器和外部环境传感器,所述执行单元包括辅助转向机构、节气门控制装置、档位控制装置和辅助制动机构;在主车系统中:控制单元接收外部环境传感器所收集到的路面信息及车速传感器和转角传感器所收集到的行驶状态信息,根据上述信息生成控制信号并传输至辅助转向机构、节气门控制装置、档位控制装置和辅助制动机构中的至少一个,以控制主车的行驶状态;主车系统的控制单元实时将主车的行驶状态信息和路面信息通过信息传输单元传输至从车系统;在从车系统中:控制单元通过外部环境传感器获知与主车的车距,并结合接收 An automatic driving system, includes a vehicle system mounted on the main car and from the car mounted from the vehicle system, characterized in that the host vehicle from the vehicle system and the system includes a sensing unit, a control unit, an execution unit and information transmission means, the sensing means comprises a vehicle speed sensor, a sensor rotation angle sensor and the external environment, the execution unit includes an auxiliary steering mechanism, throttle control means, the gear and the auxiliary brake mechanism control means; the main vehicle system: the control unit receives the travel state information collected by the sensor to an external environment of the road and the vehicle speed sensor and the information collected in the rotation angle sensor, generating a control signal based on said information and transmitted to the auxiliary steering mechanism, throttle control means, and the auxiliary shift control device at least one braking mechanism for controlling the traveling state of the host vehicle; system control means in real time the host vehicle driving state information of the host vehicle and road information from the information transmission unit transmits to the vehicle system; from the vehicle system: control informed by the sensor unit and the external environment of the vehicle from the host vehicle, and receiving binding 的主车系统的行驶状态信息和路面信息,生成控制信号并传输至辅助转向机构、节气门控制装置、档位控制装置和辅助制动机构中的至少一个,以控制从车的行驶状态。 The system of the host vehicle travel state information and road information, generating a control signal and transmitted to the assist steering mechanism, throttle control means, and the auxiliary shift control device at least one braking mechanism, to control the vehicle from a traveling state.
  2. 2.根据权利要求1所述的自动驾驶系统,其特征在于主车系统的控制单元还实时将根据路面信息及行驶状态信息所生成的控制信号通过信息传输单元传输至从车系统,从车系统的控制单元通过外部环境传感器获知与主车的车距,并结合接收到的主车系统的行驶状态信息、路面信息和主车的控制信号,生成从车的控制信号并传输至辅助转向机构、节气门控制装置、档位控制装置和辅助制动机构中的至少一个,以控制从车的行驶状态。 The autopilot system according to claim 1, characterized in that the control unit of the host vehicle system further real-time road information and the control signal in accordance with the status information generated by the information transmitting unit transmits to the vehicle system, the vehicle system a control unit by the external environment sensors known to the host vehicle distance between vehicles, combined with the state information of the host vehicle system receives the control signal road information and the host vehicle generates a control signal about the vehicle from, and transmitted to the auxiliary steering mechanism, throttle control device, and the auxiliary shift control device at least one braking mechanism, to control the running state of the vehicle.
  3. 3.根据权利要求1或2所述的自动驾驶系统,其特征在于所述主车系统的外部环境传感器至少包括图像传感系统和测距雷达,从车系统的外部环境传感器至少包括测距雷达。 The autopilot system according to claim 1, characterized in that the external environment of the host vehicle sensor system comprises at least an image sensing system and ranging radar sensors from the external environment of the vehicle comprising at least a ranging radar system .
  4. 4.根据权利要求1或2所述的自动驾驶系统,其特征在于所述主车系统和从车系统的外部环境传感器均至少包括图像传感系统和测距雷达。 The autopilot system according to claim 1, wherein said host vehicle system and the outside environment from the vehicle sensor system comprises at least an image sensing system and ranging radar.
  5. 5.根据权利要求1或2所述的自动驾驶系统,其特征在于所述信息传输单元通过Wi-Fi、WiMax或Zigbee中的一种或多种方式传输信息。 The autopilot system according to claim 1, wherein the information transmission unit by means of a Wi-Fi, WiMax, or Zigbee or transmitting information in various ways.
  6. 6.根据权利要求5所述的自动驾驶系统,其特征在于所述信息传输单元包括信息接收模块、信息转换模块和信息传输模块。 6. Automatic steering system according to claim 5, wherein the information transmission unit includes an information receiving module, information conversion module and an information transmission module.
  7. 7.根据权利要求1或2所述的自动驾驶系统,其特征在于所述主车系统和从车系统的控制单元还连接有车载多媒体系统。 The autopilot system according to claim 1, wherein said main control unit from the vehicle system and the vehicle system is also connected to car multimedia system.
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CN104503265A (en) * 2014-10-31 2015-04-08 奇瑞汽车股份有限公司 Synchronous driving system based on vehicle internet and control method thereof
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CN108072406A (en) * 2017-11-17 2018-05-25 南京视莱尔汽车电子有限公司 A kind of autonomous driving vehicle speed and road surface turntable comprehensive estimation method
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