CN104079669A - Bus system for dual-driving dual-control intelligent vehicle - Google Patents
Bus system for dual-driving dual-control intelligent vehicle Download PDFInfo
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- CN104079669A CN104079669A CN201410348012.3A CN201410348012A CN104079669A CN 104079669 A CN104079669 A CN 104079669A CN 201410348012 A CN201410348012 A CN 201410348012A CN 104079669 A CN104079669 A CN 104079669A
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- 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
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
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Abstract
The invention provides a bus system for a dual-driving dual-control intelligent vehicle. The bus system comprises a central control unit (a gateway), a robot bus, an information bus, a vehicle body bus and a power bus, wherein the robot bus is accessed in the central control unit; nodes of the robot bus comprise a wheeled robot controller ECU (Electronic Control Unit) and a multi-channel communication controller ECU; the wheeled robot controller ECU is used for receiving data information perceived by various sensors, and cognizing a calculated control strategy through driving; the multi-channel communication controller ECU is used for receiving control information, related to driving behaviors, from mobile phones, pads and other terminal devices, and isolating other information (such as entertainment information) in the mobile Internet irrelevant to the driving behaviors; the control information is transmitted to the wheeled robot controller ECU; manual driving and automatic driving of the intelligent vehicle both exist to remedy unintelligence of each other to realize the dual fail-safe purpose. The manual driving and the automatic driving are the hot standby to each other, and can be flexibly switched over through speech sounds, touch, tread and the like.
Description
Technical field
The invention belongs to intelligent vehicle technical field, relate in particular to a kind of two dual control intelligent vehicle bus system of driving.
Background technology
Automobile is introduced human lives, with the mode operation isolating, and existing over one hundred year history.Current, vehicle large-scale production, passive security measure is quite perfect, automotive electronics and Digital Automobileization are also quite ripe, the wheeled robot of inventing on this basis, main if it were not for changing the kinetic property of vehicle, but realize intelligent driving by cognitive calculating of audio visual, realize man-machine harmonious and get along.
Application number is 201110261026.8, the Chinese invention patent that name is called " a kind of automatic robot driver for road vehicle test " discloses a kind of vehicle of realizing automatic Pilot, but, automatic robot driver has taken driving space, the switching of automatic Pilot and two kinds of patterns of pilot steering is inconvenient, and it is mainly used in the actual road test of vehicle; Application number is 201010104800.X, the Chinese invention patent that name is called " a kind of steering gear of unmanned vehicle and control method thereof " discloses a kind of intelligent vehicle that can realize auto-steering, but, former car mechanical structure has been carried out to more transformation, easily former car performance is exerted an influence, and can only be for limited vehicle; Application number is 201310119124.7, name is called " a kind of servomechanism of intelligent vehicle and control method " and discloses a kind of automatic Pilot actuator and control system, described automatic Pilot actuator comprises and turns to actuator, brake actuator, throttle actuator and gear actuator, this patent is mainly used for the transformation of the automatic Pilot actuator of vehicle, but does not have explanation how to carry out flexibility switching, harmonious mutual to the automatic Pilot of intelligent vehicle and pilot steering.
Driving is happy enjoyment, as long as have people in car, does not just exist absolute unmanned.Automatic Pilot and pilot steering can be discussed, study mutually, conversion naturally, Long Coexistence.Voice in car between driver and wheeled robot, the design that multiple natural interaction form and the interactive interface such as touches, tramples, even can become the key of intelligent vehicle success or not.Yet the automatic Pilot of current most of Intelligent vehicle platforms and pilot steering are switched and carried out either-or cold cut mainly with on-off mode and change, for automatic Pilot and pilot steering, exist simultaneously, mutually redundantly twoly drive dual control and there is no perfect scheme.
Summary of the invention
The object of this invention is to provide a kind of pair and drive dual control intelligent vehicle bus system, the disappearances of simultaneously exist to make up automatic Pilot and the pilot steering for intelligent vehicle in prior art, mutually redundant pair being driven dual control bus system.
For achieving the above object, the present invention proposes and two drive dual control intelligent vehicle bus system, described intelligent vehicle bus system comprises central control unit (gateway), robot bus, bus, Vehicle Body Bus and power bus; Described robot bus accesses described central control unit, and the node of described robot bus comprises wheeled robot controller ECU (Electronic Control Unit, electronic control unit) and multichannel communication controller ECU; Described wheeled robot controller ECU is for receiving from the data message of various kinds of sensors perception and by driving the control strategy after cognitive calculating, during automatic Pilot, control described intelligent vehicle operation, during pilot steering, monitor the running status of described intelligent vehicle, get involved at any time described intelligent vehicle and control; Described multichannel communication controller ECU is for receiving the control information relevant with driving behavior on interior or remote port equipment of waiting for bus from mobile phone, pad, and by with the irrelevant mobile Internet out of Memory of driving behavior (as entertainment information etc.) isolation, described control information is transferred to described wheeled robot controller ECU simultaneously, during automatic Pilot, for driver provides the running status of described intelligent vehicle, prompting driver gets involved at any time described intelligent vehicle and drives, during pilot steering, show the running status of described intelligent vehicle; Described intelligent vehicle pilot steering and automatic Pilot exist simultaneously, make up at any time the other side's not intelligence, reach dual fail-safe object; Pilot steering and automatic Pilot be Hot Spare each other, can be by voice, touch, trample etc. and carry out flexibility and switch.Substantially constant in system of the present invention for existing bus, Vehicle Body Bus and power bus in conventional truck, thus realize farthest compatible.
The present invention's application CAN (Controller Area Network, controller local area network) bus communication technology, using robot bus as the two wheeled robot of dual control intelligent vehicle and passages of multichannel communication controller control unit driven, node using these control units in robot bus, forms two dual control intelligent vehicle control system of driving efficiently.The present invention transmits by robot bus, reduces wiring complexity, improves system reliability.In robot bus, each Node Controller has connected relevant transducer and actuator, collection and the instruction of reception relevant control of the state information of associated mechanisms have been realized, the control of realization to actuator, complete specific function, as: automatic Pilot to the control of pilot steering, pilot steering to control of automatic Pilot etc.By touching LCD screen and LED display, show in real time feedback information and system status information, control more conveniently, interface is more attractive in appearance.The application of CAN bus has realized information sharing, the information of each functional part and information of vehicles can centralized displaying on the control panel of the end equipment such as pad, can graphically show in real time environmental information that transducer gathers and the running status of each functional module elements, grasp in real time travelling dynamically of automobile.Due to the opening of CAN bus, make expanding of system function upgrading easier.When needs increase new function, only new node need to be articulated in CAN bus, the relevant software program of simultaneously upgrading, system is originally unaffected.
Accompanying drawing explanation
Fig. 1 is method flow diagram of the present invention;
Embodiment
In order to make object of the present invention, technical scheme and beneficial effect clearer, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be understood to specific embodiment described herein only in order to explain the present invention, be not limited to protection scope of the present invention.
As shown in Figure 1, the present invention proposes a kind of two dual control intelligent vehicle bus system of driving.Described intelligent vehicle bus system comprises central control unit (gateway), robot bus, bus, Vehicle Body Bus and power bus, and described robot bus, bus, Vehicle Body Bus and power bus all access central control unit.
Wherein, described robot bus comprises following node: wheeled robot controller ECU and multichannel communication controller ECU; Described bus comprises as lower node: vehicle-mounted computer ECU, instrument combine ECU and recorder ECU; Described Vehicle Body Bus comprises as lower node: power windows ECU, rearview mirror loudspeaker ECU and air-conditioning are controlled ECU; Described power bus comprises following node: anti-lock braking system (ABS) ECU, Engine ECU, electronic-controlled power steering ECU and fluid drive ECU.Wherein, described wheeled robot controller ECU is for receiving from the data message of various kinds of sensors perception and by driving the control strategy after cognitive calculating.During automatic Pilot, the master controller of described wheeled robot controller ECU during as automatic Pilot, is connected with described robot bus by transition card.Control described intelligent vehicle operation, during pilot steering, monitor the running status of described intelligent vehicle, get involved at any time described intelligent vehicle and control;
Wherein, described multichannel communication controller ECU is for receiving the control information relevant with driving behavior on interior or remote port equipment of waiting for bus from mobile phone, pad, and by with the irrelevant mobile Internet out of Memory of driving behavior (as entertainment information etc.) isolation, described control information is transferred to described wheeled robot controller ECU simultaneously, during automatic Pilot, for driver provides the running status of described intelligent vehicle, prompting driver gets involved at any time described intelligent vehicle and drives, during pilot steering, show the running status of described intelligent vehicle.
Described intelligent vehicle transducer comprises camera, radar and global location navigation receiving equipment etc., also comprises the transducer of responding to described intelligent vehicle displacement state.
Wherein, described multichannel communication controller ECU, can be connected with described in-vehicle device or remote port equipment by wired mode and/or wireless mode.Described wireless mode comprises 3G/4G, WIFI and ultrashort wave.
Wherein, described pilot steering gets involved one of mode of automatic Pilot, is to robot bus, to send control command by pad control panel, also can touch or pin such as tramples at the mode by voice, hand, forms flexible switching, thereby interferes the transport condition of intelligent vehicle;
Wherein, described automatic Pilot is got involved one of mode of pilot steering, by driving Situation Awareness or driving the priority control of the decision information of priori, by wheeled robot controller, ECU sends control command to bus, inappropriate pilot steering behavior is ignored, guarantee intelligent vehicle driving safety.
Above-mentioned pilot steering and automatic Pilot exist simultaneously, each other Hot Spare.Pilot steering and automatic Pilot are not simple either-or switchings, can be by voice, touch, trample etc. and carry out flexibility switching; Wheeled robot and driver are positioned at equivalent locations in intelligent vehicle driving process, and Artificial Control and automatically control are mutual at any time, and automatic Pilot and pilot steering make up the other side's not intelligence at any time, reach dual fail-safe object.
Wherein, via mobile Internet, access all information of described intelligent vehicle bus, must verify the legitimacy accessing terminal---adopt successively 802.1x authentication, the means such as user name, password, IP address, MAC Address and port authorization, Access Control List (ACL) authentication, guarantee the legitimacy accessing terminal., also must monitor the legal transferring content accessing terminal meanwhile---give the authority of the different brackets that accesses terminal, accessing terminal of every kind of grade authority can only send some control command corresponding to this grade, and other instruction will be filtered; If find to send a large amount of repetition or irrational control command in certain short time that accesses terminal, this instruction filtered and this is accessed terminal and adds denied access list.
Substantially constant in system of the present invention for existing bus, Vehicle Body Bus and power bus in conventional truck, thus realize farthest compatible.
The above, be only preferred embodiment of the present invention, not structure of the present invention done to any pro forma restriction.Any simple modification, equivalent variations and modification that every foundation technical spirit of the present invention is done above embodiment, all still belong in the scope of technical scheme of the present invention.Those of ordinary skill, under the premise without departing from the principles of the invention, can also make some improvements and modifications, and these improvements and modifications also should be considered as protection scope of the present invention.
Claims (9)
1. drive dual control intelligent vehicle bus system for one kind pair, it is characterized in that: described intelligent vehicle bus comprises central control unit (gateway), robot bus, bus, Vehicle Body Bus and power bus, described robot bus, bus, Vehicle Body Bus and power bus all access central control unit; Described intelligent vehicle, pilot steering and automatic Pilot exist simultaneously, make up at any time the other side's not intelligence, reach dual fail-safe object; Pilot steering and automatic Pilot be Hot Spare each other, can be by voice, touch or trample and carry out flexibility and switch.
2. drive dual control intelligent vehicle bus system for according to claim 1 pair, it is characterized in that: described robot bus comprises following node: wheeled robot controller ECU and multichannel communication controller ECU; Described bus comprises as lower node: vehicle-mounted computer ECU, instrument combine ECU and recorder ECU; Described Vehicle Body Bus comprises as lower node: power windows ECU, rearview mirror loudspeaker ECU and air-conditioning are controlled ECU; Described power bus comprises following node: anti-lock braking system (ABS) ECU, Engine ECU, electronic-controlled power steering ECU and fluid drive ECU.
3. drive dual control intelligent vehicle bus system for according to claim 2 pair, it is characterized in that: described wheeled robot controller ECU is for receiving from the data message of intelligent vehicle sensor senses and by driving the control strategy after cognition is calculated; Described multichannel communication controller ECU is for receiving from in-vehicle device, comprise mobile phone and/or pad or from control information relevant with driving behavior on remote port equipment, and by with the irrelevant mobile Internet out of Memory-isolation of driving behavior, described control information is passed to wheeled robot controller ECU.
4. drive dual control intelligent vehicle bus system for according to claim 3 pair, it is characterized in that: described intelligent vehicle transducer comprises camera, radar and global location navigation receiving equipment, also comprise the transducer of responding to described intelligent vehicle displacement state.
5. drive dual control intelligent vehicle bus system for according to claim 3 pair, it is characterized in that: described multichannel communication controller ECU, is connected with described in-vehicle device or remote port equipment by wired mode and/or wireless mode.Described wireless mode comprises 3G/4G, WIFI and shortwave.
6. drive dual control intelligent vehicle bus system for according to claim 1 pair, it is characterized in that: described pilot steering gets involved automatic Pilot, can to robot bus, send control command by Pad control panel, also can touch or pin such as tramples at the mode by voice, hand, form flexible switching, thereby intervene the transport condition of intelligent vehicle.
7. drive dual control intelligent vehicle bus system for according to claim 1 pair, it is characterized in that: described automatic Pilot is got involved pilot steering, can be by driving Situation Awareness or driving the priority control of the decision information of priori, by wheeled robot controller, ECU sends control command to bus, inappropriate pilot steering behavior is ignored, guarantee intelligent vehicle driving safety.
8. drive dual control intelligent vehicle bus system for according to claim 1 pair, it is characterized in that: via mobile Internet, access all of described intelligent vehicle bus and access terminal, must verify its legitimacy---adopt successively 802.1x authentication, user name, password, IP address, MAC Address and port authorization, Access Control List (ACL) authentication, the legitimacy accessing terminal described in assurance.
9. drive dual control intelligent vehicle bus system for according to claim 8 pair, it is characterized in that: all information that access described intelligent vehicle bus via mobile Internet, after the described legitimacy accessing terminal is verified, also must monitor the legal transferring content accessing terminal---give the authority of the different brackets that accesses terminal, accessing terminal of every kind of grade authority can only send control command corresponding to this grade, and other instruction will be filtered; If accessed terminal, in the short time, transmission is a large amount of repeats or irrational control command, this instruction is filtered and this is accessed terminal to add " denied access list ".
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| CN104924920A (en) * | 2015-05-18 | 2015-09-23 | 北京联合大学 | Electric car speed control system with two modes switched freely and electric car speed control method |
| CN105527904A (en) * | 2016-01-25 | 2016-04-27 | 重庆德新机器人检测中心有限公司 | Automatic vehicle remote wireless driving system |
| CN105523039A (en) * | 2014-10-22 | 2016-04-27 | 中国移动通信集团公司 | Vehicle driving mode shifting method and system |
| CN106033209A (en) * | 2015-03-20 | 2016-10-19 | 广州汽车集团股份有限公司 | Function configuration method and device of ECU |
| 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 |
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| WO2021208964A1 (en) * | 2020-04-14 | 2021-10-21 | 长城汽车股份有限公司 | Method and apparatus for controlling vehicle engine |
| CN116011765A (en) * | 2023-01-03 | 2023-04-25 | 北京清丰智行科技有限公司 | Automatic driving and manual driving dual-mode method and vehicle for sharing travel |
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Inventor after: Li Deyi Inventor after: Han Wei Inventor after: Zhang Xinyu Inventor after: Zheng Siyi Inventor after: Li Xiaofei Inventor after: Liu Yuchao Inventor before: Li Deyi Inventor before: Zhang Xinyu Inventor before: Han Wei Inventor before: Zheng Siyi Inventor before: Li Xiaofei Inventor before: Liu Yuchao |