CN104199432A - Longitudinal intelligence control system for unmanned automobile - Google Patents
Longitudinal intelligence control system for unmanned automobile Download PDFInfo
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- CN104199432A CN104199432A CN201410494785.2A CN201410494785A CN104199432A CN 104199432 A CN104199432 A CN 104199432A CN 201410494785 A CN201410494785 A CN 201410494785A CN 104199432 A CN104199432 A CN 104199432A
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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
- 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 invention discloses a longitudinal intelligence control system for an unmanned automobile. The longitudinal intelligence control system for the unmanned automobile is characterized in that the control system adopts a central control unit which is respectively connected onto a brake-by-wire subsystem and an electronic throttle subsystem; the central control unit is connected onto a CAN network through CAN communication. According to the longitudinal intelligence control system for the unmanned automobile, various advanced technologies, such as brake-by-wire technology, electronic throttle technology and PID closed-loop control advanced algorithm, are adopted, and various intelligent driving functions can be achieved through integrating other systems; the problem of longitudinal intelligence control system for the unmanned automobile control system can be solved.
Description
Technical field
The present invention relates to the automatic Pilot field of automobile, particularly a kind of Longitudinal Intelligence control system of unmanned vehicle.
Background technology
Safety is the principal element that pulls automatic driving car demand growth.Every year, drivers' negligence all can cause many accidents.Since driver slips up numerous, automobile manufacturers will concentrate one's energy to design the system that can guarantee automotive safety certainly." unmanned " control loop is of a great variety.Pilotless automobile is by vehicle-mounted sensor-based system perception road environment, and automatic planning travelling line is also controlled the intelligent automobile that vehicle arrives intended target.It is to utilize onboard sensor to carry out perception vehicle-periphery, and the road obtaining according to perception, vehicle location and obstacle information, controls turning to and speed of vehicle, thus make vehicle can be safely, on road, travel reliably.Longitudinal control to vehicle be the control that the speed of vehicle is carried out, and is to realize the important step that unmanned vehicle is controlled.
For longitudinal control of unmanned vehicle provides a kind of novel control system, thereby the control of coordinating braking and throttle realizes the adjusting of car speed intelligence, be the problem that prior art need to solve.
Summary of the invention
Technical matters to be solved by this invention is provide a kind of Longitudinal Intelligence control system of unmanned vehicle, thereby the control of coordination braking and throttle to realize the adjusting of car speed intelligence.
For achieving the above object, technical scheme of the present invention is that a kind of Longitudinal Intelligence control system of unmanned vehicle, is characterized in that: described control system is central controller connecting line control subsystem and E-Gas subsystem respectively; Central controller is connected in CAN network by CAN communication;
Central controller receives the control command of controlling vehicle target speed by CAN network, after the control strategy of central controller and the enforcement of algorithm, control line controls subsystem and E-Gas subsystem is braked according to the actual vehicle speed signal detecting at present and the dynamic PID closed-loop control of throttle.
Described intelligent control system is 0 by brake-by-wire subsystem and the longitudinal control rate of E-Gas subsystem controls when starting, and enters reception CAN coomand mode; When central controller receives speed-up command, central controller evaluating objects speed and acceleration magnitude control system accelerate to target speed value.And adjust output valve E (v) according to the actual vehicle speed signal dynamics of CAN network-feedback, when E (v) >0, control line is controlled subsystem take-off the brake, and starts to control E-Gas subsystem, implements to increase E-Gas output; When receiving deceleration command, central controller evaluating objects speed and retarded velocity size control system decelerate to target speed value, and adjust output valve E (v) according to the actual vehicle speed signal dynamics of CAN network-feedback, when E (v) <=0, start to control E-Gas subsystem, enforcement reduces throttle output, and tightens up braking by brake-by-wire subsystem.
In described central controller, be provided with fault processing unit, fault processing unit outwards sends failure message to the fault occurring in the mode of CAN, and reports to the police by alarm indication subsystem.
Described central controller receives the operation information of the human pilot that man-machine interactive subsystem passes over.
Described central controller connects power supply and supplies with subsystem, for whole intelligent control system provides power supply.
A Longitudinal Intelligence control system for unmanned vehicle, the present invention adopts multiple advanced technology, the PID closed-loop control advanced algorithm of brake-by-wire technology, E-Gas technology and speed; And can with the various intelligent driving functions of other system integration realization.Solved the Longitudinal Intelligence control problem of unmanned vehicle control system.
Accompanying drawing explanation
Below in conjunction with the drawings and specific embodiments, the present invention is further detailed explanation;
Fig. 1 is the Longitudinal Intelligence control system structural representation block diagram of a kind of unmanned vehicle of the present invention;
Fig. 2 is the control strategy schematic diagram of the Longitudinal Intelligence control system of a kind of unmanned vehicle of the present invention;
Fig. 3 is the brake-by-wire subsystem schematic diagram of the Longitudinal Intelligence control system of a kind of unmanned vehicle of the present invention;
Fig. 4 is the E-Gas subsystem output characteristics figure of the Longitudinal Intelligence control system of a kind of unmanned vehicle of the present invention;
In Fig. 1,1, central controller; 2, brake-by-wire subsystem; 3, E-Gas subsystem; 4, power supply is supplied with subsystem; 5, alarm indication subsystem; 6, man-machine interaction subsystem; 7, CAN network; 8, fault processing unit.
Embodiment
The present invention is connected with the decision controller of unmanned vehicle with unified CAN interface, receives the actual vehicle speed signal of controlling target velocity order and feedback, thereby the control of coordination braking and throttle realizes car speed intelligence, regulates.Native system has very strong dirigibility and practicality, can with the various intelligent driving functions of other system integration realization.
Specifically as shown in Figure 1, the present invention is central controller 1 connecting line control subsystem 2 and E-Gas subsystem 3 respectively; Central controller 1 is connected in CAN network 7 by CAN communication; Central controller 1 receives by CAN network 7 control command of controlling vehicle target speed, after the control strategy of central controller 1 and the enforcement of algorithm, control line controls subsystem 2 and E-Gas subsystem 3 is braked according to the actual vehicle speed signal detecting at present and the dynamic PID closed-loop control of throttle.
In central controller 1, be provided with fault processing unit 8, the fault of 8 pairs of appearance of fault processing unit outwards sends failure message in the mode of CAN, and reports to the police by alarm indication subsystem 5.The operation information of the human pilot that the man-machine interactive subsystem 6 of central controller 1 reception passes over.Central controller 1 connects power supply and supplies with subsystem 4, for whole intelligent control system provides power supply.
As in Figure 2-4, the present invention selects the duty of Longitudinal Control System by the man-machine interaction button of man-machine interaction subsystem 6, after selecting unmanned pattern, system has just entered unmanned pattern, now system is 0 by brake-by-wire subsystem 2 and the longitudinal control rate of E-Gas subsystem 3 control, and enters reception CAN coomand mode.The order receive mode of native system is to receive control command by unified CAN interface, and analysis receives the legitimacy of order, and then by central controller 1, adopted a kind of PID closed loop control algorithm of speed, Output rusults respectively control line is controlled subsystem 2 and E-Gas subsystem 3, and guarantees two sub-system coordination work.When receiving speed-up command, central controller 1 evaluating objects speed and acceleration magnitude control system accelerate to target speed value.And adjust output valve E (v) according to the actual vehicle speed signal dynamics of CAN network-feedback, when E (v) >0, by brake-by-wire subsystem 2 take-off the brakes, and start to control E-Gas subsystem 3, implement to increase E-Gas output; When receiving deceleration command, central controller 1 evaluating objects speed and retarded velocity size control system decelerate to target speed value.And adjust output valve E (v) according to the actual vehicle speed signal dynamics of CAN network-feedback, and when E (v) <=0, start to control E-Gas subsystem 3, implement to reduce throttle output, and tighten up braking by brake-by-wire subsystem 2; During system works, system dynamic detection system fault, and real-time pass through CAN network and alarm indication subsystem 5 shows failure messages.Internal system fault processing unit is processed all kinds of faults that occur.Stable, the operation reliably of assurance system.
By reference to the accompanying drawings the present invention is exemplarily described above; obviously specific implementation of the present invention is not subject to the restrictions described above; as long as the various improvement that adopted technical solution of the present invention to carry out, or directly apply to other occasion without improvement, all within protection scope of the present invention.
Claims (5)
1. a Longitudinal Intelligence control system for unmanned vehicle, is characterized in that: described control system is central controller (1) connecting line control subsystem (2) and E-Gas subsystem (3) respectively; Central controller (1) is connected in CAN network (7) by CAN communication;
Central controller (1) receives the control command of controlling vehicle target speed by CAN network (7), after the control strategy of central controller (1) and the enforcement of algorithm, control line controls subsystem (2) and E-Gas subsystem (3) is braked according to the actual vehicle speed signal detecting at present and the dynamic PID closed-loop control of throttle.
2. the Longitudinal Intelligence control system of a kind of unmanned vehicle according to claim 1, it is characterized in that: it is 0 that described intelligent control system is controlled longitudinal control rate by brake-by-wire subsystem (2) and E-Gas subsystem (3) when starting, and enter reception CAN coomand mode; When central controller (1) receives speed-up command, central controller (1) evaluating objects speed and acceleration magnitude control system accelerate to target speed value.And adjust output valve E (v) according to the actual vehicle speed signal dynamics of CAN network-feedback, when E (v) >0, control line is controlled subsystem (2) take-off the brake, and starts to control E-Gas subsystem (3), implements to increase E-Gas output; When receiving deceleration command, central controller (1) evaluating objects speed and retarded velocity size control system (2) decelerate to target speed value, and adjust output valve E (v) according to the actual vehicle speed signal dynamics of CAN network-feedback, when E (v) <=0, start to control E-Gas subsystem (3), enforcement reduces throttle output, and tightens up braking by brake-by-wire subsystem (2).
3. the Longitudinal Intelligence control system of a kind of unmanned vehicle according to claim 1, it is characterized in that: in described central controller (1), be provided with fault processing unit (8), fault processing unit (8) outwards sends failure message to the fault occurring in the mode of CAN, and reports to the police by alarm indication subsystem (5).
4. the Longitudinal Intelligence control system of a kind of unmanned vehicle according to claim 1, is characterized in that: described central controller (1) receives the operation information of the human pilot that man-machine interactive subsystem (6) passes over.
5. the Longitudinal Intelligence control system of a kind of unmanned vehicle according to claim 1, is characterized in that: described central controller (1) connects power supply and supplies with subsystem (4), for whole intelligent control system provides power supply.
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| CN201410494785.2A CN104199432A (en) | 2014-09-24 | 2014-09-24 | Longitudinal intelligence control system for unmanned automobile |
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Cited By (23)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104808189A (en) * | 2015-05-04 | 2015-07-29 | 奇瑞汽车股份有限公司 | Millimeter-wave radar signal processing system and method |
| CN104991580A (en) * | 2015-06-18 | 2015-10-21 | 奇瑞汽车股份有限公司 | Control system of unmanned vehicle and control method thereof |
| CN105511475A (en) * | 2016-01-29 | 2016-04-20 | 中国科学院合肥物质科学研究院 | Automated vehicle longitudinal control method based on movement mode judgment |
| CN105404729B (en) * | 2015-11-04 | 2019-05-03 | 北京联合大学 | Based on the improvement PID method for control speed for driving situation map cluster in intelligent driving |
| CN110843793A (en) * | 2019-12-04 | 2020-02-28 | 苏州智加科技有限公司 | Longitudinal control system and method of automatic driving vehicle based on feedforward control |
| CN113044037A (en) * | 2019-12-28 | 2021-06-29 | 华为技术有限公司 | Control method, device and system of intelligent automobile |
| CN113269952A (en) * | 2020-02-14 | 2021-08-17 | 美光科技公司 | Drive-by-wire sensor monitoring in a vehicle |
| US11361552B2 (en) | 2019-08-21 | 2022-06-14 | Micron Technology, Inc. | Security operations of parked vehicles |
| US11409654B2 (en) | 2019-09-05 | 2022-08-09 | Micron Technology, Inc. | Intelligent optimization of caching operations in a data storage device |
| US11435946B2 (en) | 2019-09-05 | 2022-09-06 | Micron Technology, Inc. | Intelligent wear leveling with reduced write-amplification for data storage devices configured on autonomous vehicles |
| US11436076B2 (en) | 2019-09-05 | 2022-09-06 | Micron Technology, Inc. | Predictive management of failing portions in a data storage device |
| US11498388B2 (en) | 2019-08-21 | 2022-11-15 | Micron Technology, Inc. | Intelligent climate control in vehicles |
| US11586194B2 (en) | 2019-08-12 | 2023-02-21 | Micron Technology, Inc. | Storage and access of neural network models of automotive predictive maintenance |
| US11586943B2 (en) | 2019-08-12 | 2023-02-21 | Micron Technology, Inc. | Storage and access of neural network inputs in automotive predictive maintenance |
| US11635893B2 (en) | 2019-08-12 | 2023-04-25 | Micron Technology, Inc. | Communications between processors and storage devices in automotive predictive maintenance implemented via artificial neural networks |
| US11650746B2 (en) | 2019-09-05 | 2023-05-16 | Micron Technology, Inc. | Intelligent write-amplification reduction for data storage devices configured on autonomous vehicles |
| US11693562B2 (en) | 2019-09-05 | 2023-07-04 | Micron Technology, Inc. | Bandwidth optimization for different types of operations scheduled in a data storage device |
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| US11853863B2 (en) | 2019-08-12 | 2023-12-26 | Micron Technology, Inc. | Predictive maintenance of automotive tires |
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Cited By (27)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104808189A (en) * | 2015-05-04 | 2015-07-29 | 奇瑞汽车股份有限公司 | Millimeter-wave radar signal processing system and method |
| CN104991580A (en) * | 2015-06-18 | 2015-10-21 | 奇瑞汽车股份有限公司 | Control system of unmanned vehicle and control method thereof |
| CN105404729B (en) * | 2015-11-04 | 2019-05-03 | 北京联合大学 | Based on the improvement PID method for control speed for driving situation map cluster in intelligent driving |
| CN105511475A (en) * | 2016-01-29 | 2016-04-20 | 中国科学院合肥物质科学研究院 | Automated vehicle longitudinal control method based on movement mode judgment |
| CN105511475B (en) * | 2016-01-29 | 2018-04-20 | 中国科学院合肥物质科学研究院 | A kind of longitudinally controlled method of unmanned vehicle judged based on motor pattern |
| US11775816B2 (en) | 2019-08-12 | 2023-10-03 | Micron Technology, Inc. | Storage and access of neural network outputs in automotive predictive maintenance |
| US11586194B2 (en) | 2019-08-12 | 2023-02-21 | Micron Technology, Inc. | Storage and access of neural network models of automotive predictive maintenance |
| US11748626B2 (en) | 2019-08-12 | 2023-09-05 | Micron Technology, Inc. | Storage devices with neural network accelerators for automotive predictive maintenance |
| US11853863B2 (en) | 2019-08-12 | 2023-12-26 | Micron Technology, Inc. | Predictive maintenance of automotive tires |
| US11635893B2 (en) | 2019-08-12 | 2023-04-25 | Micron Technology, Inc. | Communications between processors and storage devices in automotive predictive maintenance implemented via artificial neural networks |
| US11586943B2 (en) | 2019-08-12 | 2023-02-21 | Micron Technology, Inc. | Storage and access of neural network inputs in automotive predictive maintenance |
| US11702086B2 (en) | 2019-08-21 | 2023-07-18 | Micron Technology, Inc. | Intelligent recording of errant vehicle behaviors |
| US11361552B2 (en) | 2019-08-21 | 2022-06-14 | Micron Technology, Inc. | Security operations of parked vehicles |
| US11498388B2 (en) | 2019-08-21 | 2022-11-15 | Micron Technology, Inc. | Intelligent climate control in vehicles |
| US11650746B2 (en) | 2019-09-05 | 2023-05-16 | Micron Technology, Inc. | Intelligent write-amplification reduction for data storage devices configured on autonomous vehicles |
| US11436076B2 (en) | 2019-09-05 | 2022-09-06 | Micron Technology, Inc. | Predictive management of failing portions in a data storage device |
| US11435946B2 (en) | 2019-09-05 | 2022-09-06 | Micron Technology, Inc. | Intelligent wear leveling with reduced write-amplification for data storage devices configured on autonomous vehicles |
| US11409654B2 (en) | 2019-09-05 | 2022-08-09 | Micron Technology, Inc. | Intelligent optimization of caching operations in a data storage device |
| US11693562B2 (en) | 2019-09-05 | 2023-07-04 | Micron Technology, Inc. | Bandwidth optimization for different types of operations scheduled in a data storage device |
| CN110843793B (en) * | 2019-12-04 | 2021-11-23 | 苏州智加科技有限公司 | Longitudinal control system and method of automatic driving vehicle based on feedforward control |
| CN110843793A (en) * | 2019-12-04 | 2020-02-28 | 苏州智加科技有限公司 | Longitudinal control system and method of automatic driving vehicle based on feedforward control |
| US11830296B2 (en) | 2019-12-18 | 2023-11-28 | Lodestar Licensing Group Llc | Predictive maintenance of automotive transmission |
| CN113044037A (en) * | 2019-12-28 | 2021-06-29 | 华为技术有限公司 | Control method, device and system of intelligent automobile |
| US11531339B2 (en) | 2020-02-14 | 2022-12-20 | Micron Technology, Inc. | Monitoring of drive by wire sensors in vehicles |
| US11709625B2 (en) | 2020-02-14 | 2023-07-25 | Micron Technology, Inc. | Optimization of power usage of data storage devices |
| CN113269952A (en) * | 2020-02-14 | 2021-08-17 | 美光科技公司 | Drive-by-wire sensor monitoring in a vehicle |
| CN113269952B (en) * | 2020-02-14 | 2023-10-10 | 美光科技公司 | Method for predictive maintenance of a vehicle, data storage device and vehicle |
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Application publication date: 20141210 |