CN105599759A - Control system of intelligent vehicle - Google Patents
Control system of intelligent vehicle Download PDFInfo
- Publication number
- CN105599759A CN105599759A CN201511029479.2A CN201511029479A CN105599759A CN 105599759 A CN105599759 A CN 105599759A CN 201511029479 A CN201511029479 A CN 201511029479A CN 105599759 A CN105599759 A CN 105599759A
- Authority
- CN
- China
- Prior art keywords
- intelligent vehicle
- control system
- optoelectronic switch
- module
- speed
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/02—Control of vehicle driving stability
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/105—Speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2552/00—Input parameters relating to infrastructure
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/08—Electric propulsion units
- B60W2710/081—Speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/20—Steering systems
- B60W2710/205—Steering speed
Abstract
The invention provides a control system of an intelligent vehicle. The control system comprises a steering engine, a motor, a central control module, a photoelectric sensor module and a speed measurement sensor, wherein the photoelectric sensor module is used for collecting road information of the intelligent vehicle; the speed measurement sensor is used for detecting the movement speed of the intelligent vehicle; the central control module is used for receiving the road information and the movement speed, determining the movement direction deviation value of the intelligent vehicle running off the road according to the road information and the movement speed, and controlling the steering of the steering engine and the speed of the motor according to the deviation value, so as to control the movement direction of the intelligent vehicle. With the application of the control system of the intelligent vehicle provided by the embodiment of the invention, control over the steering and the speed of the intelligent vehicle is realized, the road recognition stability of the intelligent vehicle is improved, and the running stability of the intelligent vehicle is improved.
Description
Technical field
The present invention relates to intelligent transport technology field, relate in particular to a kind of control system of intelligent vehicle.
Background technology
At present, intelligent automobile has become the study hotspot of automotive field, and it is one of key technology of intelligent transportation system, is the aggregate of computer technology, intelligent control technology, sensor technology etc. And the research that intelligent carriage is intelligent automobile provides a test platform, all hold at present the contest of various intelligent carriages both at home and abroad, for example, intelligent carriage tracking contest etc., but these intelligent carriages have a common shortcoming: the less stable of Path Recognition. Therefore, thus seriously restricted the range of application of intelligent automobile.
Summary of the invention
In view of this, the invention provides a kind of control system of intelligent vehicle, improve the stability of Path Recognition.
Particularly, the present invention is achieved through the following technical solutions:
According to the embodiment of the present invention, a kind of control system of intelligent vehicle is provided, described system comprises steering wheel, motor, central control module, photoelectric sensor module and tachogenerator,
Described photoelectric sensor module, for gathering the road information of described intelligent vehicle;
Described tachogenerator, for detection of the movement velocity of described intelligent vehicle;
Described central control module, be used for receiving described road information and described movement velocity, and determine the deviation value of the direction of motion deviating road of described intelligent vehicle according to described road information and movement velocity, turn to and the speed of described motor according to steering wheel described in described deviation value control, to control the direction of motion of described intelligent vehicle.
Exemplarily, described photoelectric sensor module is optoelectronic switch, and the quantity of described optoelectronic switch is three, comprises the first optoelectronic switch, the second optoelectronic switch and the 3rd optoelectronic switch,
Described the first optoelectronic switch is arranged on the transverse center position of the head of described vehicle body, described the second optoelectronic switch and the 3rd optoelectronic switch are arranged on the both sides of the horizontal direction of described the first optoelectronic switch, carry out Path Recognition for detection of described default mark, obtain the first detection data.
Exemplarily, described first detect the relative angle that data comprise the current direction of motion of described intelligent vehicle and described default mark.
Exemplarily, described central control module, by the input using described road information and movement velocity as fuzzy algorithmic approach, calculates the speed discrepancy of the driving wheel of described intelligent vehicle, to control the direction of motion and the speed of described intelligent vehicle.
Exemplarily, described control system also comprises power module, is used to described control system that power supply is provided.
Exemplarily, described optoelectronic switch comprises transmitting tube and receiving tube, and the supply voltage of described transmitting tube is 5V, and the supply voltage of described receiving tube is 2V.
Exemplarily, described control system also comprises motor drive module, and for driving described motor, described motor drive module comprises that H bridge drives chip.
The control system of a kind of intelligent vehicle of the application embodiment of the present invention, by central control module, photoelectric sensor module and tachogenerator combination, photoelectric sensor module is carried out recognition detection to the driving path of intelligent vehicle, tachogenerator detects the travel speed of intelligent vehicle, steering wheel and the motor of the detection data of central control module based on aforementioned two modules to intelligent vehicle controlled, realize intelligent vehicle is turned to and the control of speed, improve the stability of intelligent vehicle Path Recognition, improve intelligent vehicle riding stability.
Brief description of the drawings
Fig. 1 is the structured flowchart of the control system of a kind of intelligent vehicle shown in the present invention's one exemplary embodiment.
Detailed description of the invention
Here will at length describe exemplary embodiment, its sample table shows in the accompanying drawings. When description below relates to accompanying drawing, unless separately there is expression, the same numbers in different accompanying drawings represents same or analogous key element. Embodiment described in following exemplary embodiment does not represent all embodiments consistent with the present invention. On the contrary, they are only and the example of apparatus and method as consistent in some aspects that described in detail in appended claims, of the present invention.
The term using in the present invention is only for describing the object of specific embodiment, but not is intended to limit the present invention. " one ", " described " and " being somebody's turn to do " of the singulative using in the present invention and appended claims are also intended to comprise most forms, unless context clearly represents other implications. It is also understood that term "and/or" used herein refer to and comprise one or more projects of listing that are associated any or all may combine.
Although should be appreciated that in the present invention and may adopt term first, second, third, etc. to describe various information, these information should not be limited to these terms. These terms are only used for the information of same type to be distinguished from each other out. For example, without departing from the present invention, the first information also can be called as the second information, and similarly, the second information also can be called as the first information. Depend on linguistic context, as used in this word " if " can be construed as into " ... time " or " when ... time " or " in response to determine ".
In embodiments of the present invention, mainly remove to describe its control principle from this angle of intelligent carriage, in the application of intelligent automobile, can correspondingly replace and use the identical principle that realizes to realize processor etc. Below in conjunction with the drawings and specific embodiments, the embodiment of the present invention is carried out to exemplary and principle introduction.
Fig. 1 is the structured flowchart of the control system of a kind of intelligent vehicle shown in the present invention's one exemplary embodiment.
As shown in Figure 1, a kind of control system of intelligent vehicle, this system comprises steering wheel, motor, central control module, photoelectric sensor module and tachogenerator. Wherein, photoelectric sensor module is for gathering the road information of described intelligent vehicle. Tachogenerator is for detection of the movement velocity of described intelligent vehicle. Central control module is used for receiving described road information and described movement velocity, and determine the deviation value of the direction of motion deviating road of described intelligent vehicle according to described road information and movement velocity, turn to and the speed of described motor according to steering wheel described in described deviation value control, to control the direction of motion of described intelligent vehicle.
Exemplarily, central control module can be single-chip microcomputer, for example MA9S12DG128 or there is the single-chip microcomputer of similar interface or function, such single-chip microcomputer should support AccessPort to download, and there is expansion interface, and possessing basic exploitation and debug function, such as program downloading-running, breakpoint arrange etc. Alternatively, central control module, by the input using described road information and movement velocity as fuzzy algorithmic approach, calculates the speed discrepancy of the driving wheel of described intelligent vehicle, to control the direction of motion and the speed of described intelligent vehicle. According to this optional embodiment, can ensure that intelligent vehicle fast, stably travel on road.
Photoelectric sensor module can be optoelectronic switch, and exemplarily, optoelectronic switch can comprise transmitting tube and receiving tube, and the supply voltage of transmitting tube is 5V, and the supply voltage of receiving tube is 2V, particularly, can adopt voltage-stabiliser tube to carry out voltage stabilizing, for example LM2940. The art personnel are understandable that, the accuracy of the Path Recognition of intelligent vehicle, all closely related with model and the quantity of optoelectronic switch, in the optional embodiment of the present invention, the quantity of optoelectronic switch can be three, comprises the first optoelectronic switch, the second optoelectronic switch and the 3rd optoelectronic switch. The first optoelectronic switch is arranged on the transverse center position of the head of vehicle body, the second optoelectronic switch and the 3rd optoelectronic switch are arranged on the both sides of the horizontal direction of described the first optoelectronic switch, carry out Path Recognition for detection of default mark, obtain the first detection data, exemplarily, first detects the relative angle that data comprise the current direction of motion of described intelligent vehicle and described default mark, and angle can determine that more greatly deviating road is far away, needs the orientation angle of adjustment larger. For instance, supposing has black designation line in road-center, in the time that the first optoelectronic switch does not detect black designation line, offset track of intelligent vehicle is described, now, need to wait for that when the second optoelectronic switch or the 3rd optoelectronic switch detect black designation line, output is turned to adjustment instruction by central control module, until the first optoelectronic switch detects black designation line. In the time that the first optoelectronic switch detects black designation line, central control module can be controlled motor and accelerate rotation to accelerate the travel speed of intelligent vehicle. In the time that the second optoelectronic switch or the 3rd optoelectronic switch detect black designation line, central control module will determine that this road is bend, central control module can be controlled steering wheel and respond, make intelligent vehicle turn over certain angle, and the rotating speed of controlling motor declines, and avoids intelligent vehicle to roll road or substantial deviation road away from.
According to one embodiment of the invention, the control system of intelligent vehicle of the present invention also comprises power module, is used to whole control system that power supply is provided. For in the time powering for each independent module, the voltage voltage stabilizing that can power module be provided by Voltage stabilizing module or mu balanced circuit is to required voltage.
According to another embodiment of the present invention, the control system of intelligent vehicle of the present invention also comprises motor drive module, and for driving described motor, motor drive module comprises that H bridge drives chip. Exemplarily, motor drive module can adopt MC33886H bridge motor drive ic, and its effect is the pwm pulse contact potential series that constant dc source voltage modulated is become to certain frequency and variable-width, thereby changes the size of output voltage. Central control module output pwm pulse, after LMDS Light Coupled Device isolation, enters the input of MC33886H bridge, and after ovennodulation, output MC33886H bridge enters armature two ends, thereby controls the four-quadrant motion of motor, realizes motor-driven object.
The control system of a kind of intelligent vehicle of the application embodiment of the present invention, by central control module, photoelectric sensor module and tachogenerator combination, photoelectric sensor module is carried out recognition detection to the driving path of intelligent vehicle, tachogenerator detects the travel speed of intelligent vehicle, steering wheel and the motor of the detection data of central control module based on aforementioned two modules to intelligent vehicle controlled, realize intelligent vehicle is turned to and the control of speed, improve the stability of intelligent vehicle Path Recognition, improve intelligent vehicle riding stability.
The foregoing is only preferred embodiment of the present invention, in order to limit the present invention, within the spirit and principles in the present invention not all, any amendment of making, be equal to replacement, improvement etc., within all should being included in the scope of protection of the invention.
Claims (7)
1. a control system for intelligent vehicle, is characterized in that, described system comprises steering wheel, motor, central control module, photoelectric sensor module and tachogenerator, and described photoelectric sensor module, for gathering the road information of described intelligent vehicle;
Described tachogenerator, for detection of the movement velocity of described intelligent vehicle;
Described central control module, be used for receiving described road information and described movement velocity, and determine the deviation value of the direction of motion deviating road of described intelligent vehicle according to described road information and movement velocity, turn to and the speed of described motor according to steering wheel described in described deviation value control, to control the direction of motion of described intelligent vehicle.
2. control system according to claim 1, it is characterized in that, described photoelectric sensor module is optoelectronic switch, the quantity of described optoelectronic switch is three, comprise the first optoelectronic switch, the second optoelectronic switch and the 3rd optoelectronic switch, described the first optoelectronic switch is arranged on the transverse center position of the head of described vehicle body, described the second optoelectronic switch and the 3rd optoelectronic switch are arranged on the both sides of the horizontal direction of described the first optoelectronic switch, carry out Path Recognition for detection of described default mark, obtain the first detection data.
3. control system according to claim 1, is characterized in that, described first detects the relative angle that data comprise the current direction of motion of described intelligent vehicle and described default mark.
4. control system according to claim 1, it is characterized in that, described central control module, by the input using described road information and movement velocity as fuzzy algorithmic approach, calculates the speed discrepancy of the driving wheel of described intelligent vehicle, to control the direction of motion and the speed of described intelligent vehicle.
5. control system according to claim 1, is characterized in that, described control system also comprises power module, is used to described control system that power supply is provided.
6. control system according to claim 2, is characterized in that, described optoelectronic switch comprises transmitting tube and receiving tube, and the supply voltage of described transmitting tube is 5V, and the supply voltage of described receiving tube is 2V.
7. control system according to claim 1, is characterized in that, described control system also comprises motor drive module, and for driving described motor, described motor drive module comprises that H bridge drives chip.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201511029479.2A CN105599759A (en) | 2015-12-30 | 2015-12-30 | Control system of intelligent vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201511029479.2A CN105599759A (en) | 2015-12-30 | 2015-12-30 | Control system of intelligent vehicle |
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| Publication Number | Publication Date |
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| CN105599759A true CN105599759A (en) | 2016-05-25 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201511029479.2A Pending CN105599759A (en) | 2015-12-30 | 2015-12-30 | Control system of intelligent vehicle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108983791A (en) * | 2018-09-10 | 2018-12-11 | 贵州大学 | A kind of intelligence vehicle control |
Citations (5)
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|---|---|---|---|---|
| CN201569917U (en) * | 2009-12-09 | 2010-09-01 | 西安理工大学 | Intelligent tracking drift dolly |
| CN201799111U (en) * | 2010-06-13 | 2011-04-20 | 长安大学 | Autonomous tracking model car based on single chip microcomputer (SCM) |
| CN201965486U (en) * | 2010-12-16 | 2011-09-07 | 西安理工大学 | Intelligent tracking trolley |
| EP2490092A1 (en) * | 2011-02-16 | 2012-08-22 | Siemens Aktiengesellschaft | Method for autonomous localisation of a driver-less motorised vehicle |
| CN204374769U (en) * | 2014-11-11 | 2015-06-03 | 浙江大学城市学院 | Based on the Intelligent tracking trolley of photoelectric sensor and photoelectric encoder |
-
2015
- 2015-12-30 CN CN201511029479.2A patent/CN105599759A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201569917U (en) * | 2009-12-09 | 2010-09-01 | 西安理工大学 | Intelligent tracking drift dolly |
| CN201799111U (en) * | 2010-06-13 | 2011-04-20 | 长安大学 | Autonomous tracking model car based on single chip microcomputer (SCM) |
| CN201965486U (en) * | 2010-12-16 | 2011-09-07 | 西安理工大学 | Intelligent tracking trolley |
| EP2490092A1 (en) * | 2011-02-16 | 2012-08-22 | Siemens Aktiengesellschaft | Method for autonomous localisation of a driver-less motorised vehicle |
| CN204374769U (en) * | 2014-11-11 | 2015-06-03 | 浙江大学城市学院 | Based on the Intelligent tracking trolley of photoelectric sensor and photoelectric encoder |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108983791A (en) * | 2018-09-10 | 2018-12-11 | 贵州大学 | A kind of intelligence vehicle control |
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Application publication date: 20160525 |
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