CN104079669B - Double drive dual control intelligent vehicle bus system - Google Patents
Double drive dual control intelligent vehicle bus system Download PDFInfo
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- CN104079669B CN104079669B CN201410348012.3A CN201410348012A CN104079669B CN 104079669 B CN104079669 B CN 104079669B CN 201410348012 A CN201410348012 A CN 201410348012A CN 104079669 B CN104079669 B CN 104079669B
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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 present invention proposes a kind of pair and drives dual control intelligent vehicle bus system, including central control unit (gateway), robot bus, bus, Vehicle Body Bus and power bus；Robot bus accesses central control unit, and robot bus node includes wheeled robot controller ECU and multichannel communication controller ECU；Wheeled robot controller ECU receives from the data message of various kinds of sensors perception and by the control strategy after driving cognition calculating；Multichannel communication controller ECU receives from control information relevant with driving behavior on the end equipment such as mobile phone, pad, by mobile Internet out of Memory (such as the entertainment information etc.) isolation unrelated with driving behavior；Control information is transferred to wheeled robot controller ECU, and intelligent vehicle pilot steering and automatic Pilot exist simultaneously, make up the not intelligence of the other side at any time, reach dual fail-safe purpose.Pilot steering and automatic Pilot Hot Spare each other, can pass through voice, touch, trample etc. and to carry out flexible switching.
Description
Technical field
The invention belongs to intelligent vehicle technical field, particularly relate to a kind of pair and drive dual control intelligent vehicle bus system.
Background technology
Automobile introduces human lives, with isolated mode operation, and existing over one hundred year history.Currently, vehicle is big
Large-scale production, passive security measure is the most perfect, and automotive electronics and Digital Automobileization are the most ripe,
The wheeled robot invented on this basis, is primarily not the kinetic property changing vehicle, but by regarding
Auditory sense cognition calculates and realizes intelligent driving, it is achieved man-machine get along amiably and peacefully.
Application No. 201110261026.8, entitled " a kind of automatic Pilot machine for vehicle road test
Device people " Chinese invention patent disclose a kind of vehicle realizing automatic Pilot, but, automatic Pilot machine
Device people occupies driving space, and the switching of automatic Pilot and pilot steering both of which is inconvenient, and it is mainly used
Actual road test in vehicle；Application No. 201010104800.X, entitled " a kind of automatic driving vehicle turns
To device and control method thereof " Chinese invention patent disclose a kind of intelligent vehicle that can realize auto-steering,
But, former car frame for movement is carried out more transformation, easily former car performance has been produced impact, and can only
For limited vehicle；Application No. 201310119124.7, entitled " automatically driving of a kind of intelligent vehicle
Sail device and control method " disclose a kind of automatic Pilot executing agency and control system, described automatic Pilot
Executing agency includes turning to executing agency, brake actuator, accelerator actuating mechanism and gear executing agency,
This patent is mainly used for the transformation of the automatic Pilot executing agency of vehicle, but does not illustrate intelligent vehicle
How automatic Pilot and pilot steering carry out flexible switching, harmony alternately.
Driving is happy enjoyment, as long as there being people in car, does not the most exist absolute unmanned.Automatic Pilot
Can discuss with pilot steering, mutually learn, naturally conversion, Long Coexistence.Driver and wheeled machine in car
Voice between device people, touch, multiple natural interaction form and the design of interactive interface such as trample, very
To the key that can become intelligent vehicle success or not.But, the automatic Pilot of current most of Intelligent vehicle platforms
How to carry out either-or cold cut with on-off mode with pilot steering switching to change, for automatic Pilot and manually drive
Sail and exist simultaneously, mutually redundant double drive dual control and there is no perfect scheme.
Summary of the invention
It is an object of the invention to provide a kind of pair and drive dual control intelligent vehicle bus system, right to make up in prior art
Automatic Pilot and pilot steering in intelligent vehicle exist simultaneously, mutually redundant double drives lacking of dual control bus system
Lose.
For achieving the above object, the present invention proposes and double drives dual control intelligent vehicle bus system, and described intelligent vehicle is total
Wire system includes 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 includes wheel
Formula robot controller ECU (Electronic Control Unit, electronic control unit) and multichannel
Communication controler ECU；Described wheeled robot controller ECU is for receiving from various kinds of sensors perception
Data message and by drive cognition calculate after control strategy, during automatic Pilot, control described intelligent vehicle fortune
OK, during pilot steering, monitor the running status of described intelligent vehicle, get involved described intelligent vehicle at any time and control；Institute
State multichannel communication controller ECU for receive on the interior or remote port equipment of waiting for bus from mobile phone, pad with drive
The control information that behavior of sailing is relevant, and by the mobile Internet out of Memory unrelated with driving behavior (such as amusement
Information etc.) isolation, described control information is transferred to described wheeled robot controller ECU, automatically simultaneously
During driving, the running status of described intelligent vehicle, prompting driver is provided to get involved described intelligence at any time for driver
Car is driven, and during pilot steering, shows the running status of described intelligent vehicle；Described intelligent vehicle pilot steering and from
Dynamic driving exists simultaneously, makes up the not intelligence of the other side at any time, reaches dual fail-safe purpose；Pilot steering and automatically driving
Sail Hot Spare each other, voice can be passed through, touch, trample etc. and to carry out flexible switching.For in conventional truck
Some buses, Vehicle Body Bus and power bus are basically unchanged in a system of the invention, thus realize maximum
The compatibility of degree.
Present invention application CAN (Controller Area Network, controller local area network) bus communication
Technology, using robot bus as double wheeled robots driving dual control intelligent vehicle and multichannel communication controller control
The passage of unit processed, using these control units as the node in robot bus, forms efficient pair and drives double
Control intelligent vehicle control system.The present invention is transmitted by robot bus, reduces routing complexity, improves
System reliability.In robot bus, each Node Controller is connected to relevant sensor and executing agency,
Achieve the collection of the status information of associated mechanisms and receive relevant control instruction, it is achieved the control to executing agency
System, completes specific function, such as: automatic Pilot to the control of pilot steering, pilot steering to automatic Pilot
Control.Feedback information and system status information is shown in real time by LCD screen and LED display can be touched,
Controlling more convenient, interface is more attractive.The application of CAN achieves information sharing, each functional part
Information and information of vehicles can centralized displaying be held on the control panel of equipment at pad etc., can be the most real-time
The display environmental information that gathered of sensor and the running status of each functional module elements, grasp automobile in real time
Traveling dynamic.Opening due to CAN so that expanding of system function upgrading is easier to.Work as needs
When increasing New function, it is only necessary to new node is articulated in CAN, relevant software program of simultaneously upgrading
, system originally is unaffected.
Accompanying drawing explanation
Fig. 1 is the method flow diagram of the present invention；
Detailed description of the invention
In order to make the purpose of the present invention, technical scheme and beneficial effect clearer, below in conjunction with accompanying drawing
And embodiment, the present invention is further elaborated.Should be understood to described herein being embodied as
Example only in order to explain the present invention, is not limited to protection scope of the present invention.
As it is shown in figure 1, the present invention proposes a kind of pair drives dual control intelligent vehicle bus system.Described intelligent vehicle is total
Wire system includes 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.
Wherein, described robot bus includes following node: wheeled robot controller ECU and multichannel lead to
Letter controller ECU；Described bus includes such as lower node: vehicle-mounted computer ECU, instrument combine ECU and
Recorder ECU；Described Vehicle Body Bus includes such as lower node: power windows ECU, rearview mirror loudspeaker ECU and
Airconditioning control ECU；Described power bus includes following node: anti-lock braking system (ABS) ECU, send out
Motivation ECU, electronic-controlled power steering ECU and fluid drive ECU.Wherein, described wheeled robot controller ECU
For receiving from the data message of various kinds of sensors perception and by the control strategy after driving cognition calculating.
During automatic Pilot, described wheeled robot controller ECU is as master controller during automatic Pilot, by turning
Change card to be connected with described robot bus.Control described intelligent vehicle to run, during pilot steering, monitor described intelligence
The running status of energy car, gets involved described intelligent vehicle at any time and controls；
Wherein, described multichannel communication controller ECU waits for bus interior or long-range for receiving from mobile phone, pad
Control information relevant with driving behavior on end equipment, and by the mobile Internet unrelated with driving behavior other
Information (such as entertainment information etc.) is isolated, and described control information is transferred to described wheeled robot simultaneously and controls
Device ECU, during automatic Pilot, provides the running status of described intelligent vehicle for driver, and prompting driver is at any time
Get involved described intelligent vehicle to drive, during pilot steering, show the running status of described intelligent vehicle.
Described intelligent vehicle sensor includes camera, radar and global positioning navigation reception equipment etc., also wraps
Include the sensor sensing described intelligent vehicle displacement state.
Wherein, described multichannel communication controller ECU, can pass through wired mode and/or wireless mode with described
In-vehicle device or remote port equipment are connected.Described wireless mode includes 3G/4G, WIFI and ultrashort wave.
Wherein, described pilot steering gets involved one of mode of automatic Pilot, is to machine by pad control panel
Device people's bus sends control command, and also by voice, hand touches or pin such as tramples at the mode, forms flexibility and cuts
Change, thus interfere the transport condition of intelligent vehicle；
Wherein, described automatic Pilot gets involved one of mode of pilot steering, is by driving Situation Awareness or driving
Sail the priority control of the decision information of priori, sent to bus by wheeled robot controller ECU
Control command, ignores to inappropriate pilot steering behavior, it is ensured that intelligent vehicle driving safety.
Above-mentioned pilot steering and automatic Pilot exist simultaneously, each other Hot Spare.Pilot steering and automatic Pilot are not
It is the most either-or switching, voice can be passed through, touch, trample etc. and to carry out flexible switching；Wheeled machine
Device people and driver are positioned at equivalent locations in intelligent vehicle driving process, and Artificial Control is handed at any time with automatically controlling
Mutually, automatic Pilot and pilot steering make up the not intelligence of the other side at any time, reach dual fail-safe purpose.
Wherein, via all information of intelligent vehicle bus described in mobile internet access, it is necessary to access terminal
Legitimacy carry out verifying successively employing 802.1x certification, user name, password, IP address, MAC
Address and the means such as port authorization, access control list authentication, it is ensured that the legitimacy of access terminal.Meanwhile,
Must also be monitored the transferring content of legal access terminal giving the different grades of power of access terminal
Limit, the access terminal of every kind of level privileges can only send some control instruction that this grade is corresponding, other instruction
To be filtered；If it find that send a large amount of repetition or irrational control instruction in certain access terminal short time,
Then this instruction is filtered and this access terminal is added denied access list.
For bus existing in conventional truck, Vehicle Body Bus and power bus base in a system of the invention
This is constant, thus realizes the most compatible.
The above, be only presently preferred embodiments of the present invention, and not the structure to the present invention makees any shape
Restriction in formula.Any simple modification that above example is made by every technical spirit according to the present invention,
Equivalent variations and modification, all still fall within the range of technical scheme.For those of ordinary skill,
Under the premise without departing from the principles of the invention, it is also possible to make some improvements and modifications, these improvements and modifications
Also should be regarded as protection scope of the present invention.
Claims (7)
1. drive dual control intelligent vehicle bus system for one kind pair, it is characterised in that: described intelligent vehicle bus includes central authorities
Control unit, robot bus, bus, Vehicle Body Bus and power bus, described robot bus,
Bus, Vehicle Body Bus and power bus all access central control unit；Multichannel communication controller ECU
Control relevant with driving behavior on the mobile phone in car and/or pad, or remote port equipment is come from for receiving
Information, is transferred to wheeled robot controller ECU, during automatic Pilot, wheeled robot by described control information
Controller ECU provides the running status of intelligent vehicle, prompting driver to get involved described intelligent vehicle at any time and drive for driver
Sail；During pilot steering, wheeled robot controller ECU shows the running status of described intelligent vehicle；Described manually
Drive one of mode of intervention automatic Pilot, be to send control life by pad control panel to robot bus
Order, also by voice, hand touches or pin tramples mode, forms flexibility switching, thus interferes intelligent vehicle
Transport condition；Described automatic Pilot gets involved one of mode of pilot steering, is by driving Situation Awareness or driving
Sail the priority control of the decision information of priori, sent to bus by wheeled robot controller ECU
Control command, ignores to inappropriate pilot steering behavior, it is ensured that intelligent vehicle driving safety；Manually drive
Sail and automatic Pilot Hot Spare each other, voice can be passed through, touch or trample and carry out flexible switching.
Drive dual control intelligent vehicle bus system for the most according to claim 1 pair, it is characterised in that: described machine
Device people's bus includes following node: wheeled robot controller ECU and multichannel communication controller ECU；Institute
State bus and include such as lower node: vehicle-mounted computer ECU, instrument combine ECU and recorder ECU；Described
Vehicle Body Bus includes such as lower node: power windows ECU, rearview mirror loudspeaker ECU and airconditioning control ECU；Institute
State power bus and include following node: anti-lock braking system (ABS) ECU, Engine ECU, power turn
To ECU and fluid drive ECU.
The most according to claim 2 double drive dual control intelligent vehicle bus system, it is characterised in that: described take turns
Formula robot controller ECU is for receiving from the data message of intelligent vehicle sensor senses and carrying out driving and recognize
Know calculating；Described multichannel communication controller ECU is for receiving from in-vehicle device, including mobile phone and/or pad
Or from control information relevant with driving behavior on remote port equipment, and by the movement unrelated with driving behavior
Internet out of Memory isolation, passes to wheeled robot controller ECU by described control information.
Drive dual control intelligent vehicle bus system for the most according to claim 3 pair, it is characterised in that: described intelligence
Can include that camera, radar and global positioning navigation receive equipment by car sensor, also include sensing described intelligence
The sensor of energy car displacement state.
Drive dual control intelligent vehicle bus system for the most according to claim 3 pair, it is characterised in that: described manifold
Road communication controler ECU, by wired mode and/or wireless mode and described in-vehicle device or remote port equipment
Being connected, described wireless mode includes 3G/4G, WIFI and shortwave.
Drive dual control intelligent vehicle bus system for the most according to claim 1 pair, it is characterised in that: via shifting
All access terminals of intelligent vehicle bus described in dynamic linking Internet, it is necessary to its legitimacy is verified, successively
Use 802.1x certification, user name, password, IP address, MAC Address and port authorization, access control
List authentication processed, it is ensured that the legitimacy of described access terminal.
Drive dual control intelligent vehicle bus system for the most according to claim 6 pair, it is characterised in that: via shifting
All information of intelligent vehicle bus described in dynamic linking Internet, are testing the legitimacy of described access terminal
After card, it is necessary to the transferring content of legal access terminal is monitored, give access terminal different grades of
Authority, the access terminal of every kind of level privileges can only send the control instruction that this grade is corresponding, and other instructs will
Filtered；If sending a large amount of repetition or irrational control instruction in the access terminal short time, then this is referred to
Order is filtered and this access terminal is added denied access list.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201410348012.3A CN104079669B (en) | 2014-07-22 | 2014-07-22 | Double drive dual control intelligent vehicle bus system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201410348012.3A CN104079669B (en) | 2014-07-22 | 2014-07-22 | Double drive dual control intelligent vehicle bus system |
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| CN104079669A CN104079669A (en) | 2014-10-01 |
| CN104079669B true CN104079669B (en) | 2016-08-17 |
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| CN110825066A (en) * | 2018-08-10 | 2020-02-21 | 华创车电技术中心股份有限公司 | Information system of on-vehicle device unit and on-vehicle information processing method |
| CN110836692B (en) * | 2019-11-15 | 2020-12-04 | 中国汽车工程研究院股份有限公司 | Vehicle driving road test bus event optimization system and method thereof |
| WO2021102958A1 (en) * | 2019-11-29 | 2021-06-03 | 驭势（上海）汽车科技有限公司 | Traffic jam assistant driving method and system, vehicle-mounted device, and storage medium |
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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 |