CN105751999A - Fully intelligent and fully automatic (unmanned) automobile - Google Patents

Fully intelligent and fully automatic (unmanned) automobile Download PDF

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CN105751999A
CN105751999A CN201610220989.6A CN201610220989A CN105751999A CN 105751999 A CN105751999 A CN 105751999A CN 201610220989 A CN201610220989 A CN 201610220989A CN 105751999 A CN105751999 A CN 105751999A
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car
sensor
automobile
module
computer
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CN105751999B (en
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汪家琳
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
    • B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
    • B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
    • B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
    • B60R16/0231—Circuits relating to the driving or the functioning of the vehicle

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Traffic Control Systems (AREA)
  • Lighting Device Outwards From Vehicle And Optical Signal (AREA)

Abstract

The invention provides a fully intelligent and fully automatic (unmanned) automobile, and relates to the field of an automobile. The fully intelligent and fully automatic (unmanned) automobile is characterized in that an information collection sensor, a module, a traffic signal receiving device, a radar distance measuring module, a laser distance measuring module, a GPS (global positioning system), a recorder, a driving system, an electronic door lock, an electronic power-assisted steering system, an electronic hydraulic brake system, an electronic gear control module, an emergency system and a safety protection system are arranged in a bus; the road condition, environment, road and people stream information around the automobile are collected and detected, and a computer is used for calculation and processing; the automatic and intelligent straight walking, left and right steering and braking are realized; the emergency warning and emergency braking can be realized in danger; the unmanned automobile realizes returning, reversing and parking after the task completion; the automobile realizes an unmanned technology realizing automatic and intelligent operation and control in daytime, nighttime and rain, snow and haze environment; the safety protection system can protect the safety of people, the automobile and obstacles during emergency braking, tire bursting, spontaneous combustion and combustible gas existence; traffic accidents are inhibited, reduced and relieved.

Description

Full automatic intelligent (unmanned) drives a car
The field of inventionthe invention relate to automotive field, especially relate to a kind of new automobile, particularly a kind of full automatic intelligent (unmanned) drives a car the control method with full automatic intelligent pilotless automobile.Replace orthodox car, substitute human driver, full intelligence, full-automatic unmanned driving, and spontaneous combustion can be prevented, blow out, anti-combustible combustion, explosion accident, suppress better, reduce, alleviate traffic and security incident, protection people, car and barrier safety.
Background technology is at present in the world but without the pilotless automobile of real meaning; even if there being " pilotless automobile " series of patents; also it is the intellectuality only to brake system; and fully automatically can not make emergency reaction for situations of change such as weather, environment, road conditions, vehicle bodies comprehensively, actively safeguard protection intelligently in time.Current " unmanned " technology, simply simple intelligent complementary driving technology, is preliminary, it is impossible to completely disengage from the participation of driver, needs manual control time in emergency situations with accident.The background technology of the present invention is " the universal automatic vehicle safety protection device " (patent No.: ZL200510113027.2, the applying date: on October 11st, 2005) patent of invention, " hot-short protector " (patent No.: 201210519195.1, the applying date: on November 6th, 2012) patent of invention, all-round full-automatic bus Safety protective device for motor vehicle (patent No.: 201320889262.9, the applying date: on December 23rd, 2013) utility model patent；And CAN, the disclosed existing electronic technology such as relevant mode revolution, number revolving die, crystal oscillator, 555 integrated oscillator circuits, and " new automobile electronic system principle and breakdown maintenance " (Sun Yukai, Wu Mingshan, Xiang Qiming etc. write, Beijing: Electronic Industry Press publishes, 20012.6, ISBN978-7-121-17305.9, PP1-35) relate to the content of bus.Although " universal automatic vehicle safety protection device " patent of invention Technical comparing is comprehensive, but does not adopt CAN, it is impossible to adapt to modern high-grade, battle wagon technology trends；" hot-short protector " patent of invention technology, improve the performance of " universal automatic vehicle safety protection device ", allow hot-short can react with under environment farther 100 meters under night, sleet haze environment, more can shift to an earlier date active protection, but also without adopting CAN, can only be suitable on traditional hot-short, it is difficult to be applied to the CAN vehicle in some modern times.But, the modern times have employed the vehicle of CAN, even if having employed the active safety technologies such as ABS, ESP, SRS, CBC, TPMS, EBD, ACC, but all very single, it is impossible to take precautions against vehicle accident comprehensively, intelligently；Especially under night, sleet haze environment and farther environment, the active safety technologies difficulties such as ABS, ESP, SRS, CBC, TPMS, EBD, ACC of background can play due effect, can not to violating the traffic regulations and night, sleet haze environment, and front have vehicle accident, congested with cars etc. to cause the situation of vehicle accident great, especially big is taken precautions against, with technological means receive traffic police's control.And all can bus Safety protective device for motor vehicle patent also be automatically active safety technologies; intelligence; all can automatically protect; compensate for the defect of above-mentioned background technology; can automatic Pilot, but it is in crowded and mountain area, the woods, street occasion, still to have driver to participate in; it not also real unmanned technology, be auxiliary driving technology yet.Thus, background technology existing, disclosed, there is one-sidedness, remain without the monitoring breaking away from human operators, be not also real unmanned.The present invention does not then have driver artificially to manipulate, directly by computer control, computer automatic Pilot.
The purpose that the full automatic intelligent (unmanned) of the summary of the invention present invention drives a car is to provide the Intelligent unattended of a kind of pilotless automobile and comprehensively active and drives manipulation technology; replace orthodox car; substitute human driver; full intelligence, full-automatic unmanned driving; and spontaneous combustion can be prevented, blow out, anti-combustible combustion, explosion accident; suppress better, reduce, alleviate traffic and security incident, protection people, car and barrier safety.
The object of the present invention is achieved like this: its structure is made up of power supply and drive system, steering, brakes, information acquisition system, computing system, warning system, emergency system and security system.The automobile have power supply is loaded onto bus, and by information acquisition sensor, module, GPS position finder, monitor, drive system, electronic lock, electronic power assist steering system, EHB, electronic gear controls, emergency system, security system is placed in bus and analyzes, detection, calculated by computer, relatively, process, full automatic intelligent controls, according to road shape, environment, path and people information, automatically, keep straight on intelligently, left and right turn, braking, exterior feature is shown when facing a danger, emergent alarm, emergency brake, and move backward after completing task, parking, the unmanned manipulation automobile parked, and make security system therein in emergency brake, blow out, spontaneous combustion and protection people when having fuel gas, car and barrier safety.The voltage of the battery feed of vehicle own, electric current are enough to drive running car.By power supply by divider resistance and constant-current source dividing potential drop, constant current, bus is connected by telegraph key, weather, environment, vehicle, road conditions and people information is obtained by sensor and information acquisition module, calculate compare by bus, computer, GPS position finder, automobile is made to show exterior feature, slow down, turn to, overtake other vehicles, dodge, execution order with emergent, warning, security, the electronic gear allowing automobile controls, electronic power assist steering system, EHB, drive system are reacted, and can parking intelligently, park.Information acquisition system includes sensor and module；Wherein: sensor includes vehicle speed sensor, humidity sensor, gray-scale sensor, car temperature sensor, smell sensor, tyre pressure sensor, luminance sensor；Module includes infrared camera, electro-photographic head, acceleration analyzer, electromagnetic wave receiver module, acoustic-electric Sensitive Apparatus, reddish yellow lamp identification module, traffic signal reception device, radar range finding module, laser range sensor, by bus and gateway, it is connected with computer, GPS position finder, monitor；Brakes includes electronic gear module；Steering includes electronic power assist steering module；Computing system includes bus, gateway, computer, monitor；Warning system includes clearance lamps, front and back alarm lamp, left and right turn signal, electric horn, LED alarm lamp；Emergency system includes several revolving die chip, oscillating circuit, relay, EHB；Security system includes safety shield in front and back protective device for tyre, car.
Present invention employs known CAN technology, it is made up of mould revolution chip, communication controler, photoisolator, transceiver and crystal oscillator, connects the stranded bus of CAN.Information is obtained by sensor, infrared camera, electro-photographic head, GPS position finder, radar range finding module, laser range sensor, calculate compare by bus, gateway, computer, monitor, by electronic gear module, electronic power assist steering module, electro-hydraulic brake module, number revolving die chip, oscillating circuit, relay, then receive power supply and drive system, brakes, warning system, emergency system and security system entrance execution program execution.One group of mould revolution chip input has 8 input pins, connects traffic police's signal receiver, thermo-sensitive resistor, front microphone respectively, acceleration is unbalance analyzer, front and back infrared emission pipe parallel connection, gray-scale sensor, smell sensor, 555 integrated circuit human inductors；Mould revolution chip output connects CAN communication controler, and communication controler exports, and by optocoupler components, receives in CAN transceiver.Another group mould revolution chip input also has 8 input pins, connects electromagnetic inductor, tyre pressure sensor, luminance sensor, humistor, photoconductive resistance, vehicle speed sensor, rear microphone, infrared camera respectively；Mould revolution chip output connects CAN communication controler, and communication controler exports, and by optocoupler components, receives in CAN transceiver.By anti-tampering process of guaranteeing the quality, it is respectively outputted in the CAN of PC computer, GPS position finder, monitor, electronic gear control module；And gateway, radar range finding module, laser range sensor, electronic lock, EHB, electronic power assist steering system are connected in CAN, and electronic power assist steering system parallel connection left and right turn signal；CAN is loaded onto electro-photographic head.Be converted to analogue signal again through several revolving die chips, then pass through amplification vibration, enter relay.Switched as SP3T by the armature of relay, switching normality, clearance lamps and front and back alarm lamp, electric horn, LED alarm lamp, front and back protective device for tyre, safety shield circuit.In mould revolution chip, introduce 500KHZ crystal oscillating circuit again, CAN communication controller introduces 16MHZ crystal oscillating circuit.Open constant-current source telegraph key, then variable resistance is regulated, make PC computer and GPS position finder normal operation, then CAN programming, test are carried out, load onto car owner's password and antivirus software, run, make the full automatic intelligent (unmanned) of the present invention drive a car circuit and normal vehicle operation, reply hacker invades whenever and wherever possible, to guarantee automotive networking safety.
nullWhen traffic police's signal receiver、Thermo-sensitive resistor、Front microphone、Acceleration is unbalance analyzer、Infrared emission pipe、Gray-scale sensor、Smell sensor、555 integrated circuit human inductors、Electromagnetic inductor、Tyre pressure sensor、Luminance sensor、Humistor、Photoconductive resistance、Vehicle speed sensor、Rear microphone、Either component detection in infrared camera、Sensing、Receive front and have barrier、Red light、Overtake other vehicles below the vehicle that knocks into the back、Vehicle interior temperature raises、-car smell is abnormal、Vehicle breaks down、Vehicle climb and fall is unbalance，And because of daytime、Night、There is vehicle accident in sleet haze weather and front、Congested with cars，Traffic police sends traffic control signal，Vehicle and fleet after moving ahead，Capital is driven a car acceptance by the full automatic intelligent (unmanned) of the present invention，Produce signal、Electric current，Commonly through mould revolution、Communication controler、Phototube Coupling、After the CAN modular circuit of transceiver processes，All can there is interruption reaction on PC computer，The ripple information of image or burst occurs，And there is obstacle information in photographic head detection front，In the lump by number revolving die、Amplify the process of oscillation module circuit，The armature of relay switchs as SP3T，Switching circuit，Open clearance lamps，Or instruction electronic gear controls module and slows down、Or electronic power assist steering module turns to，And bright left steering lamp、Deflection to the left is overtaken other vehicles，Or bright right turn lamp、Deflection to the right gives way；Or the braking of deceleration of electrons module, the reply state of emergency, before and after connecting, alarm lamp, front and back protective device for tyre repeatedly land, and front and back alarm lamp bright light, electric horn are blown a whistle, LED alarm lamp is glimmered, emergency brake, it is prevented that accident occurs in automobile.When the temperature sensor in Automobile detects car temperature rise or smell sensor detection has fuel gas abnormal smells from the patient, connecting computer is collected mail and is ceased, calculating is compared, automobile is likely to spontaneous combustion, or when having fuel gas in car, odiferous information is delivered to computer, instruction automobile emergency brake, bright light is reported to the police, it is prevented that automobile is because of the danger of spontaneous combustion or combustibles, explosive initiation.Simultaneously because tyre pressure sensor monitoring tire pressure is too high or reduces suddenly; when being likely to blow out; before and after computer instruction, protective device for tyre lands and vehicle body is protected; by front and back protective device for tyre; arrange and protect the barrier before tire; and skin wheel rolls, and can continue stably to move ahead, it is prevented that the generation of overturn accident when ensureing automobile flat tire.When emergency brake, front and back alarm lamp bright light, electric horn are blown a whistle, and LED alarm lamp is glimmered, and open the air bag in safety shield in car in the lump, protect passenger inside the vehicle.Thus suppressing, reducing, alleviate the generation of traffic and security incident, actively, intelligent, comprehensively automatically protect people, car, barrier safety.
Passenger opens electronic lock by IC-card by bus, starts electric power starting motor, starts drive system；nullThe full automatic intelligent (unmanned) of the present invention drives a car craspedodrome，The infrared ray of infrared emission pipe monitoring far ahead barrier、The Lycoperdon polymorphum Vitt of gray-scale sensor monitoring cement road，Luminance sensor monitoring weather is rain or shine，The infrared image of infrared camera shooting clear，Current sensor monitoring current changes，Voltage sensor monitoring voltage changes，Electro-photographic head monitoring front and back and surrounding wagon flow、People information and picture rich in detail，Temperature sensor monitors vehicle body temperature，Vehicle speed sensor monitoring speed，Smell sensor monitoring-car smell，Tyre pressure sensor monitoring tire pressure，Acceleration is unbalance, and the normal acceleration of vehicle climb and fall monitored by analyzer，The sound clutter that acoustoelectric sensor monitoring is peripheral，Photoconductive resistance detection front red light amber light，Traffic signal receptor receives traffic police's signal，Radar range finder measures the distance of the people's car barrier after Herba Plantaginis and car，Laser range finder monitoring night and the boisterous remote people's car distance of obstacle of sleet haze、Humistor detection sleet haze.Information is passed through bus and gateway passes to computer by the sensor, module, and by calculating, process, comparing, level is recessive, it does not have when noting abnormalities, and automobile continues to keep straight on.Once find there are abnormal conditions, computer calculates, processes, compares, level is dominant, instruction clearance lamps bright light, electronic gear control module and slow down, image according to infrared camera, radar range finder, laser range finder and electro-photographic head determines the distance that distance is dangerous, send instruction bright light, blow a whistle, deceleration of repeatedly stopping, select home to deflect to the left to overtake other vehicles or deflection allows car to the right, and open left and right turn signal, warning, electronic gear control module, the execution of electronic power assist steering system；If checked by sensor; image according to infrared camera, radar range finder, laser range finder and electro-photographic head determines distance; reaffirm dangerous existence; and apart from dangerous close time; computer instruction Automotive electronic hydraulic brake module automatic emergency brake is met an urgent need; start security system; front and back alarm lamp bright light, electric horn are blown a whistle; LED alarm lamp is glimmered; and landed by front and back protective device for tyre; protection car stranger's car barrier safety, opens the air bag for protection passenger inside the vehicle in safety shield.
When, after the de-danger of automotive safety, the Information recovering of Sensor monitoring is normal, and computer calculates and compares, and when level is recessive, automobile resets, and continues to keep straight on.When passenger confirms there is turning path in road from GPS, automobile is according to vehicle speed sensor and running time, reaching on the time turning section, by the gray scale of Sensor monitoring cement pavement and zebra crossing with or without, opening of reddish yellow lamp is gone out, in front without barrier, zebra crossing are nobody's car barrier horizontally and vertically, turning road surface is wider, when being safe from danger, computer instruction electronic power assist steering system is turned left, bright left steering lamp, or turn right, bright right turn lamp, to guarantee that safety turns to, after turning to, abnormal information is not monitored because of sensor, automobile continues to keep straight on.
When every passenger on automobile arrives at, computer instruction parking of automobile, let down passengers.
The full automatic intelligent (unmanned) of the present invention drives a car, the monitor in bus follow the tracks of Taking Pictures recording.After automobile completes the path that passenger specifies, without take advantage of drive task time, automobile continues to drive to the terminus that car owner originally set, and turns to tune to opposing lane, after returning to car owner garage by original route, computer instruction reversing automobile, parks.
Owing to have employed such scheme, the full automatic intelligent (unmanned) of the present invention drives a car and has reply barrier, vehicle spontaneous combustion, vehicle flat tire, overtake other vehicles and knock into the back and daytime, night, sleet haze environment, and make a dash across the red light, there is vehicle accident in front, congested with cars, when rear car faces a danger, after traffic police sends traffic control signal, the full automatic intelligent (unmanned) of the present invention drives a car photographic head, infrared sensing element, electromagnetic inductor, acceleration is unbalance, and analyzer climb and fall produces signal code, pass through bus, computer calculates and compares, depending on dangerous distance, actively bright light shows exterior feature, blow a whistle, report to the police, repeatedly stop deceleration, bright left steering lamp, deflection to the left is overtaken other vehicles or bright right turn lamp, deflection to the right gives way；When dangerous close time, emergency brake also starts security system protection people's car barrier safety.The present invention is because have employed traffic signal receptor, electro-photographic head, infrared camera, radar range finder, laser range finder, luminance sensor, gray-scale sensor, no matter daytime, or night, sleet haze environment, the people of surrounding, car, barrier can be reacted, the distance of computed range, than relatively hazardous presence or absence.Simultaneously; have employed CAN; make that vehicle electric wire is less, circuit more neatly, more power saving, more environmental protection, safer; meet automobile CAN-bus and the development trend of " the Internet+", intelligent automobile, pilotless automobile; adapt to the safeguard protection of more vehicle, it is to avoid vehicle occurs because of electric wire aging short circuit spontaneous combustion or the accident blown out.The present invention more can automatic monitoring round-the-clock, comprehensive, strick precaution than existing " universal automatic vehicle safety protection device ", " hot-short protector ", " all-round full-automatic bus Safety protective device for motor vehicle " patent of invention; actively, people, car, barrier safety are protected intelligently, it is to avoid randomness that human operators drives a car and the generation of infringement violating the regulations.And the also ad hoc security system of the present invention, people, car and barrier safety is protected when tyre explosion；When emergency brake, the air bag in safety shield is opened, and protects passenger inside the vehicle's safety, and has the generation of anti-spontaneous combustion, runflat, anti-combustible combustion explosion safety accident.Present invention employs fail-safe software and car owner's cryptoguard, specially to the unmanned service of passenger having IC-card by bus, it is possible to prevent hacker from invading, the safety of protection automobile.Thus, the full automatic intelligent (unmanned) of the present invention drives a car more superior than background technology, more advanced, more practical, safer.
Accompanying drawing illustrates to be presented herein below accompanying drawing is illustrated slightly:
Fig. 1: full automatic intelligent (unmanned) drives a car module map
Fig. 2: full automatic intelligent (unmanned) drives a car programme diagram
Fig. 3: full automatic intelligent (unmanned) drives a car effect figure of information collection module and unmanned manipulation
Fig. 4: full automatic intelligent (unmanned) drives a car sensor, computer, function structure chart
Fig. 5: full automatic intelligent (unmanned) drives a car each sensor, computer, execution maincenter, bus link block figure
Fig. 6: drive a car sensor, module, computer, execution, security parts of full automatic intelligent (unmanned) are connected figure with CAN
Fig. 7: full automatic intelligent (unmanned) drives a car three-dimensional appearance and sensor scheme of installation
Fig. 8: full automatic intelligent (unmanned) drives a car profile
Fig. 9: full automatic intelligent (unmanned) drives a car front and back tire protective device structure figure
Figure 10: full automatic intelligent (unmanned) drives a car safety shield structure chart
null1、Traffic police's signal receiver 2、Thermo-sensitive resistor 3、Front microphone 4、Acceleration is unbalance analyzer 5、Front and back infrared emission pipe parallel connection 6、Gray-scale sensor 7、Smell sensor 8、555 integrated circuit human inductors 9、Electromagnetic inductor 10、Tyre pressure sensor 11、Luminance sensor 12、Humistor 13、Photoconductive resistance 14、Vehicle speed sensor 15、Rear microphone 16、Infrared camera 17、Variable resistance 18、Resistance 19、Crystal oscillator 20、Crystal oscillator 21、Resistance 22、Drive motor 23、Left steering lamp 24、Right turn lamp 25、Telegraph key 26、Constant-current source 27、LED alarm lamp 28、Electric horn 29、Front tyre preventer 30、Ammeter 31、Rear tyre preventer 32、Voltmeter 33、Safety shield 34、Accumulator 35、Relay 36、Armature 37、CAN multiple twin bus 38、PC computer 39、Electro-photographic head 40、ADC0809 mould revolution chip 41、SJA1000 chip 42、P82C250 chip 43、6N137 chip 44、6N137 chip 45、GPS position finder 46、Crystal oscillator 47、Gateway 48、Monitor 49、Radar range finder 50、Laser range finder 51、P82C250 chip 52、Electronic gear controls module 53、6N137 chip 54、6N137 chip 55、Crystal oscillator 56、DAC0800 chip 57、555 integrated chips 58、Electronic power assist steering module 59、Front alarm lamp 60、Rear alarm lamp 61、Electronic lock 62、Electro-hydraulic brake module 63、Wire 64、SJA1000 chip 65、ADC0809 mould revolution chip 66、Automobile 67、Electromagnetic valve 68、Porose cylinder 69、Skin wheel 70、Air bag 71、Divider resistance 72、Clearance lamps
Detailed description of the invention loads onto bus on the automobile 66 have power supply, and by information acquisition sensor, module, GPS, monitor, drive system, electronic lock 61, electronic power assist steering system, EHB, electronic gear controls module, emergency system, security system is placed in bus and analyzes, detection, calculated by computer, relatively, process, full automatic intelligent is unmanned to be controlled, realize according to road shape, environment, path and people information, automatically, keep straight on intelligently, left and right turn, braking, exterior feature is shown when facing a danger, emergent alarm, slow down or emergency brake, and move backward after completing task, parking, the unmanned manipulation automobile parked, and make security system therein in emergency brake, blow out, spontaneous combustion and protection people's car barrier safety (Fig. 1 when having fuel gas, Fig. 2, Fig. 3, Fig. 4).
By battery of electric power 34 by divider resistance 17 and constant-current source 26 dividing potential drop, constant current, bus is connected by wire 63 telegraph key 25, weather is obtained by sensor and information acquisition module, environment, vehicle, road conditions and people information, pass through bus, computer, GPS position finder calculates and compares, make to show exterior feature to automobile, slow down, turn to, overtake other vehicles, dodge, with emergent, report to the police, the execution order of security, (GBSC) electronic gear allowing automobile 66 controls module, electronic power assist steering system, EHB, drive system is reacted, and can parking intelligently, park (Fig. 1, Fig. 2, Fig. 3, Fig. 4).Information acquisition system includes sensor and module；Wherein: sensor includes vehicle speed sensor, humidity sensor, gray-scale sensor, car temperature sensor, smell sensor, tyre pressure sensor, luminance sensor, the parallel connection of front and back infrared emission pipe；Module includes infrared camera, electro-photographic head, acceleration analyzer, electromagnetic wave receiver module, acoustic-electric Sensitive Apparatus, reddish yellow lamp identification module, traffic signal reception device, radar range finding module, laser range sensor, by bus and gateway, it is connected with computer, GPS position finder, monitor；Brakes includes electronic gear module；Steering includes electronic power assist steering module；Computing system includes bus, gateway, computer, monitor；Warning system includes clearance lamps, front and back alarm lamp, left and right turn signal, electric horn, LED alarm lamp；Emergency system includes several revolving die chip, oscillating circuit, relay, EHB；Security system includes safety shield in front and back protective device for tyre, car.
The CAN of the present invention is known technology, and it is made up of mould revolution chip, communication controler, photoisolator, transceiver and crystal oscillator, connects the stranded bus 37 (Fig. 5) of CAN.
The present invention obtains information by sensor, front and back infrared emission pipe parallel connection, infrared camera, electro-photographic head, GPS position finder, radar range finding module, laser range sensor, calculate compare by bus, gateway, computer, monitor, controlled module, electronic power assist steering module, electro-hydraulic brake module, number revolving die chip, oscillating circuit, relay by electronic gear, then receive power supply and security system, warning system, drive system, brakes and emergency system entrance execution program execution (Fig. 1, Fig. 2, Fig. 3, Fig. 4).
One group of ADC0809 mould revolution chip 40 input has 8 input pins, with wire 63 connect traffic police's signal receiver 1, thermo-sensitive resistor 2, front microphone 3 respectively, acceleration is unbalance analyzer 4, infrared emission pipe 5, gray-scale sensor 6, smell sensor 7,555 integrated circuit human inductor 8；ADC0809 mould revolution chip 40 output termination CAN communication controler SJA1000 chip 41, communication controler SJA1000 chip 41 exports, and by optoelectronic isolating element 6N137 chip 43 and 6N137 chip 44, receives on CAN transceiver P82C250 chip 42.Another group ADC0809 mould revolution chip 65 input also has 8 input pins, connects electromagnetic inductor 9, tyre pressure sensor 10, luminance sensor 11, humistor 12, photoconductive resistance 13, vehicle speed sensor 14, rear microphone 15, infrared camera 16 respectively with wire 63；ADC0809 mould revolution chip 65 output termination CAN communication controler SJA1000 chip 64, communication controler SJA1000 chip 64 exports, and by optoelectronic isolating element 6N137 chip 53,6N137 chip 54, receives on CAN transceiver P82C250 chip 51.PC computer 38, GPS position finder 45, monitor 48, electronic gear control module 52, gateway 47, radar range finding module 49, laser range sensor 50, electronic lock 61, (EHB) electro-hydraulic brake module 62, electronic power assist steering module 58 are connected in CAN multiple twin bus 37, and electronic power assist steering module 58 couple left steering lamp 23 right turn lamp 24 and be followed by battery of electric power 34 negative pole；CAN transceiver P82C250 chip 42 and CAN transceiver P82C250 chip 51, by anti-tampering process of guaranteeing the quality, are respectively outputted in the CAN multiple twin bus 37 of PC computer 38, GPS position finder 45, monitor 48, electronic gear control module 52, gateway 47.PC computer 38 adopts 5V power supply, and GPS position finder 45, monitor 48, electronic gear control module 52, radar range finder 49, laser range finder 50, electronic lock 61, (EHB) electro-hydraulic brake module 62, electronic power assist steering module 58 adopt 15V power supply；And in CAN multiple twin bus 37, load onto electro-photographic head 39, electro-photographic head 39 power supply meets 5V.Be converted to analogue signal by CAN multiple twin bus 37 by number revolving die chip DAC0800 chip 56 again, then pass through 555 integrated chips 57 and amplify vibration, enter relay 35.Switched as SP3T by the armature 36 of relay 35, switching circuit a, b, c binding post, alarm lamp 60, electric horn 28, LED alarm lamp 27, front tyre preventer 29 rear tyre preventer 30, safety shield 33 circuit after conversion normality, clearance lamps 72 and front alarm lamp 59.Wherein a binding post is empty, is normal condition at ordinary times；B binding post series connection clearance lamps 72 connects battery of electric power 34 negative pole；After the front alarm lamp 59 of c binding post parallel connection LED alarm lamp 27, electric horn 28, front tyre preventer 29, rear tyre preventer 31, safety shield 33 and series connection and rear alarm lamp 60, connect battery of electric power 34 negative pole.The positive pole of battery of electric power 34 divides three tunnels, and armature 36 connected by relay 35 of leading up to；Divider resistance 71 of leading up to connects radar range finder 49, laser range finder 50, automotive electronics brake module 62, electronic gear control module 52, (EPS) electronic power assist steering module 58, electronic lock 61, makes 15V power supply and powers；Two-way is separated again after another road series current table 30, constant-current source 26, telegraph key 25, one tunnel series connection variable resistance 17 one-tenth 5V power supply is powered, and 5V cathode power supply wire 63 connects the input of traffic police's signal receiver 1, thermo-sensitive resistor 2, front microphone 3, acceleration is unbalance analyzer 4, front and back infrared emission pipe parallel connection 5, gray-scale sensor 6, smell sensor 7,555 integrated circuit human inductor 8, electromagnetic inductor 9, tyre pressure sensor 10, luminance sensor 11, humistor 12, photoconductive resistance 13, vehicle speed sensor 14, rear microphone 15, infrared camera 16 respectively；Separate again two-way simultaneously, a road series resistance 18, connect communication controler SJA1000 chip 41, another road series resistance 21, connect communication controler SJA1000 chip 64；Another road divided again after series current table 30, constant-current source 26, telegraph key 25 connects driving motor 22 positive pole, drives motor 22 negative pole to connect the negative pole of battery of electric power 34.Shunt voltage table 32 between accumulator 34 positive pole and cathode conductor 63.Introduce in ADC0809 mould revolution chip 40 in 500KHZ crystal oscillator 19 circuit and ADC0809 mould revolution chip 65 again and introduce 500KHZ crystal oscillator 20 circuit, introduce in CAN communication controller SJA1000 chip 41 and 16MHZ crystal oscillator 46 circuit and communication controler SJA1000 chip 64 introduce 16MHZ crystal oscillator 55 circuit.Open telegraph key 25, then variable resistance 17 is regulated, make PC computer 38 and GPS position finder 45 normal operation, then CAN programming, test are carried out, load onto car owner's password and antivirus software, run, make the full automatic intelligent (unmanned) of the present invention drive a car circuit and normal vehicle operation, whenever and wherever possible reply hacker invade into, to guarantee automotive networking safety (Fig. 5, Fig. 6).
nullTraffic police's signal receiver 1 is positioned in car and receives the control signal that traffic sends，Thermo-sensitive resistor 2 is positioned on monitoring car temperature near driving motor 22，Front microphone 3 is positioned on sound wave before the monitoring car of Herba Plantaginis both sides，Acceleration is unbalance, and analyzer 4 is positioned in car and monitors 30 degree of road with upgrade，Before and after infrared emission pipe parallel connection 5 be positioned on after Herba Plantaginis and car after the monitoring car front truck of both sides the infrared ray of people from left and right car barrier within 100 meters，Gray-scale sensor 6 is positioned on the gray scale of Herba Plantaginis about 3 meters cement pavements of downward-sloping 10 degree of angles monitoring，Smell sensor 7 is positioned on car inner top monitoring car gas odor，555 integrated circuit human inductors 8 are positioned on people's car information of 1 meter, vehicle both sides of monitoring, vehicle tail both sides，Electromagnetic inductor 9 is positioned on car door and receives passenger's IC-card pulse electromagnetic opens electronic lock 61，Tyre pressure sensor 10 is positioned on tire valve and monitors pressure of tire，Luminance sensor 11 is positioned on Herba Plantaginis monitoring light，Humistor 12 is positioned on Herba Plantaginis monitoring air humidity，Photoconductive resistance 13 is positioned on Herba Plantaginis top left side and upwards about becomes the red light amber light in about 30 meters of monitoring front, 5 degree of angles，Vehicle speed sensor 14 is positioned in driving axle housing or transmission case and monitors speed，Rear microphone 15 is positioned on after car sound wave after the monitoring car of both sides，Infrared camera 16 is positioned on Herba Plantaginis and about becomes downwards 3 degree of angles with the centre after car，Can clearly shoot 20 meters of front image and infrared ray；Radar range finder 49 is positioned on car inner top can effectively monitor the scope of 0.3 meter to 3 meters, plays supervision and stops and reversing effect；Laser range finder 50 is positioned on the outer top of car, all can monitor vertical dimension and the horizontal range of the barrier in automobile and 200 meters of front under night, sleet haze weather, it is determined that barrier size；Electro-photographic head 39 is positioned on Herba Plantaginis middle part, can be clearly captured people's car obstructions chart picture of 5 meters.Front tyre preventer 29, rear tyre preventer 31 assemble by electromagnetic valve 67, porose cylinder 68, skin wheel 69, are positioned on the firm position, front portion of front and back tire, protect tire and replace Scrap tire to move ahead；In car, safety shield 33 is manufactured by stiff materials, equipped with air bag 70 in safety shield 33, is positioned on before passenger inside the vehicle's seat, protects passenger's body (Fig. 7, Fig. 8, Fig. 9, Figure 10).
The voltage 24V of automobile 66 accumulator 34 power supply own, calculate power by ammeter 30 and voltmeter 32 and be enough to drive running car.During normal condition, relay 35 armature 36 connects a binding post.nullWhen traffic police's signal receiver 1、Thermo-sensitive resistor 2、Front microphone 3、Acceleration is unbalance analyzer 4、Front and back infrared emission pipe parallel connection 5、Gray-scale sensor 6、Smell sensor 7、555 integrated circuit human inductors 8、Electromagnetic inductor 9、Tyre pressure sensor 10、Luminance sensor 11、Humistor 12、Photoconductive resistance 13、Vehicle speed sensor 14、Rear microphone 15、Either component detection in infrared camera 16、Sensing、Receive front and have barrier、Red light、Overtake other vehicles below the vehicle that knocks into the back、Vehicle interior temperature raises、-car smell is abnormal、Vehicle breaks down、Vehicle climb and fall is unbalance，And because of daytime、Night、There is vehicle accident in sleet haze weather and front、Congested with cars，Traffic police sends traffic control signal，Vehicle and fleet after moving ahead，Capital is driven a car reception by the full automatic intelligent (unmanned) of the present invention，Produce signal、Electric current，Commonly through mould revolution、Communication controler、Phototube Coupling、After the CAN modular circuit of transceiver processes，All can there is interruption reaction on PC computer 38，The ripple information of image or burst occurs，And electro-photographic head 39 detects front and has obstacle information，PC computer 38 commands relays 35 armature 36 connects b binding post、Open clearance lamps 72 and show exterior feature，Or instruction electronic gear controls module 52 and slows down、Or (EPS) electronic power assist steering module 58 turns to and bright left steering lamp 23、Deflection to the left is overtaken other vehicles，Or bright right turn lamp 24、Deflection to the right gives way；Or deceleration of electrons module 62 is braked；The process of oscillating circuit is amplified in the lump by number revolving die, 555 integrated chips 57, the reply state of emergency, PC computer 38 instruction (GBSC) electronic gear controls module 52 and slows down, relay 35 armature 36 connects c binding post, the front alarm lamp 59 connecting series connection and rear alarm lamp 60 and reports to the police, or front tyre preventer 29 and rear tyre preventer contact to earth for more than 31 time, electric horn 28 is blown a whistle, LED alarm lamp 27 is glimmered, automobile 66 emergency brake, it is prevented that accident occurs in automobile.When the temperature sensor thermo-sensitive resistor 2 in Automobile detects car temperature rise or smell sensor 7 detection has fuel gas abnormal smells from the patient, PC computer 38 receives information, calculating is compared, automobile is likely to spontaneous combustion, or when having fuel gas in car, PC computer 38, instruction automobile emergency brake, bright light is reported to the police, it is prevented that automobile is because of the danger of spontaneous combustion or combustibles, explosive initiation.Simultaneously because of tyre pressure sensor 10, to monitor tire pressure too high or reduce suddenly; it is likely to blow out when scrapping; PC computer 38 instruction front tyre preventer 29 and rear tyre preventer 31 land to be protected vehicle body; arranged and protect the barrier before tire by front tyre preventer 29; and skin wheel 69 rolling; Scrap tire is replaced to continue stably to move ahead when ensureing automobile flat tire, it is prevented that the generation of overturn accident.
Passenger shows electronic lock 61 by IC-card by bus from the outer electromagnetic inductor 9 of car, and automobile 66 automatically opens up car door subsequently, closes telegraph key 25 starting storage battery 34 and opens driving motor 22, start drive system in 3 seconds；nullThe full automatic intelligent (unmanned) of the present invention drives a car 66 craspedodromes，The infrared ray of the people's car barrier in front and back infrared emission pipe first 100 meters of 5 monitoring cars in parallel，Gray-scale sensor 6 monitors the Lycoperdon polymorphum Vitt of cement road，Luminance sensor 11 monitors weather rain or shine，Infrared camera 16 monitors the cloudy day、Night and sleet haze vile weather infrared ray、People's car barrier，The ammeter 30 monitoring current change of current sensor，The voltmeter 32 monitoring voltage change of voltage sensor，Electro-photographic head 39 monitors front and back and surrounding wagon flow and people information under fine day and high light，The thermo-sensitive resistor 2 of temperature sensor monitors vehicle body temperature，Vehicle speed sensor 14 monitors speed，Smell sensor 7 monitors-car smell，Tyre pressure sensor 10 monitors tire pressure，The normal acceleration of the climb and fall of acceleration is unbalance analyzer 4 monitors automobile 66，The sound clutter of periphery monitored by the front microphone 3 of acoustoelectric sensor and rear microphone 15，Photoconductive resistance 13 detects the red light amber light in 30 meters of front，Traffic signal receptor 1 receives the control signal that traffic police sends，Radar range finder 49 (model: HR-R-TRS-A) measures people's car barrier of 3 meters after Herba Plantaginis and car，Laser range finder 50 (model C N61M/MLA2-1500，Storehouse number: M33700) monitor night and the 200 meters remote people's car barrier of sleet haze vile weather distance、Humistor 12 detects the power of sleet haze.The sensor and CAN all meet power supply 5V, radar range finder 49, laser range finder 50 are by the 15V power supply after divider resistance 71 dividing potential drop, information is passed to PC computer 39 by CAN multiple twin bus 37 and gateway 47, by calculating, process, comparing, level is recessive, when not noting abnormalities, relay 35 armature 36 connects a binding post, and automobile continues to keep straight on.nullOnce traffic signal receptor 1 receives the control signal that traffic police sends、Or laser range finder 50 (model C N61M/MLA2-1500，Storehouse number: M33700) monitor night and the 200 meters remote people's car barrier of sleet haze vile weather distance、Or front and back infrared emission pipe has people's car barrier infrared ray in 5 100 meters of fronts of monitoring in parallel，Or photoconductive resistance 13 detects 30 meters of front red light amber light，Discovery has abnormal conditions，PC computer 38 calculates、Process、Relatively，Level is dominant，PC computer 38 commands relays 35 armature 36 connects b binding post、Clearance lamps 72 bright light shows exterior feature，Or (GBSC) electronic gear control module 52 is slowed down，And according to infrared camera 16、Radar range finder 49、The image of laser range finder 50 and electro-photographic head 39 determines the distance that distance is dangerous，Instruction warning system bright light is sent at about 20 meters of people's car barrier of distance、Blow a whistle，(GBSC) electronic gear making execution system controls more than 52 point of module and stops deceleration、(EPS) the electronic power assist steering system of electronic power assist steering module 58 performs to turn to，And select the bright left steering lamp 23 of home、Deflection to the left is overtaken other vehicles or bright right turn lamp 24、Deflection to the right allows car；Check again by sensor, according to infrared camera 16, radar range finder 49, the image of laser range finder 50 and electro-photographic head 39 determines distance, confirm dangerous existence, and when dangerous 5 meters of distance, PC computer 38 commands relays 35 armature 36 connects c binding post, automotive electronics brake module 62 automatic emergency brake is met an urgent need, the front alarm lamp 59 of series connection and rear alarm lamp 60 bright light, and start security system, landed by front tyre preventer 29 and rear tyre preventer 31, under radar range finder 49 is supervised, stop in 3 meters to 0.3 meter of distance people's car barrier, protection car stranger's car barrier safety, open safety shield 33 and air bag 70 protects passenger inside the vehicle.Cloudy day weather monitored by luminance sensor 11, humistor 12 detection has sleet haze, gray-scale sensor 6 monitor the gray scale of cement pavement from light gray become Dark grey time, PC computer 38 when information being passed to, instruction (GBSC) electronic gear control module 52 reduces speed, slowing down moves ahead.
When 555 integrated circuit human inductors 8, front microphone 3, electro-photographic head 39, infrared camera 16 sense that the sound of front truck, light, image are more and more nearer, time increasingly stronger, after this car PC computer 38 reception information, it is first that commands relays 35 armature 36 connects b binding post, bright clearance lamps 72 shows exterior feature, instruction electronic power assist steering module 58 deflects to the left and overtakes other vehicles again, and left steering lamp 23 bright light；When 555 integrated circuit human inductors 8, after microphone 15, electro-photographic head 39, infrared camera 16 sense that the sound of rear car, light, image are more and more nearer, more and more stronger, it is deviated to the left when overtaking other vehicles, after this car PC computer 38 reception information, instruction electronic power assist steering module 58 deflects to the right and gives way, and right turn lamp 24 bright light；When infrared camera 16, radar range finder 49, the dangerous existence of image confirming of laser range finder 50 and electro-photographic head 39, and when dangerous 5 meters of distance, or gray-scale sensor 6 monitors cement pavement about 3 meters when having the non-cement Lycoperdon polymorphum Vitt square of large area, confirm that front is probably water or barrier, PC computer 38 when information is passed to, commands relays 35 armature 36 connects c binding post, PC computer 38 instruction automotive electronics brake module 62 automatic emergency brake, front alarm lamp 59 and rear alarm lamp 60 bright light, electric horn 28 is blown a whistle, LED alarm lamp 27 is glimmered, front tyre preventer 29 and rear tyre preventer 31 land to be protected vehicle body, protection car stranger's car barrier safety, open safety shield 33 and air bag 70 protects passenger inside the vehicle.
When, after the de-danger of automobile 66 safety, the Information recovering of Sensor monitoring is normal, and PC computer 38 calculates and compares, and when level is recessive, automobile resets, and continues to keep straight on.When passenger determines to confirm there is turning path instrument 45 from GPS, automobile is according to vehicle speed sensor 14 and running time, reaching on the time turning section, monitor the gray scale of cement pavement by gray-scale sensor 6 and electro-photographic head 39 detect zebra crossing with or without, photoconductive resistance 13 detects red light, opening of amber light is gone out, in front without barrier, zebra crossing are nobody's car barrier horizontally and vertically, turning road surface is wider, there is no the non-cement Lycoperdon polymorphum Vitt square of large area, when confirming to be safe from danger, the electric steering system of PC computer 38 instruction electrical steering module 58 turns left, bright left steering lamp 23；Or right-hand rotation, bright right turn lamp 24, to guarantee safety turning.After turning, not monitoring abnormal information because of sensor, automobile continues to keep straight on.
The destination that automobile 66 inputs on PC computer 38 or GPS position finder 45 according to passenger, the prompt passengers when arriving every the destination of the passenger, passenger shows IC-card from electromagnetic inductor in car 9, PC computer 38 instruction parking of automobile, open electronic lock 61, open car door, let down passengers.Passenger getting off car leaves 1 meter of of car door, and automobile closes entrance door automatically.
The full automatic intelligent (unmanned) of the present invention drives a car, the monitor 48 in CAN multiple twin bus 37 follow the tracks of Taking Pictures recording.After automobile completes the path that passenger specifies, without take advantage of drive task time, automobile continues to drive to the terminus that car owner originally set, and turns to tune to opposing lane, after returning to car owner garage by original route, PC computer 38 instruction reversing automobile.In reversing process, if having people's car barrier beyond 3 meters of automobile 66 rear, infrared camera 16, radar range finder 49, laser range finder 50 and electro-photographic head 39, electro-photographic head 39, 555 integrated circuit human inductors 8, information is passed to PC computer 38 by rear microphone 15, instruction automobile 66 deceleration of electrons module 62 automatic emergency brake, front alarm lamp 59 and rear alarm lamp 60 bright light, electric horn 28 is blown a whistle, LED alarm lamp 27 is glimmered, front tyre preventer 29 and rear tyre preventer 31 land, wake people's car up to dodge, then under radar range finder 49 is supervised, stop in 3 meters to 0.3 meter of distance people's car barrier.People's car obstacle information is had within the scope of motor vehicle environment 0.3 meter to 1 meter when all of sensor, module do not monitor, by calculating, process, comparing, level is recessive, it does not have during anomaly, PC computer 38 instruction automobile was automatically switched off telegraph key 25 in 3 seconds, parking, parked.

Claims (10)

1. a full automatic intelligent (unmanned) drives a car, it is made up of power supply and drive system, steering, brakes, information acquisition system, computing system, warning system, emergency system and security system, it is characterized in that: on the automobile have power supply, load onto bus, and information acquisition sensor, module, GPS position finder, monitor, drive system, electronic lock, electronic power assist steering system, EHB, electronic gear control, emergency system, security system are placed in bus；One group of mould revolution chip input has 8 input pins, connects traffic police's signal receiver, thermo-sensitive resistor, front microphone respectively, acceleration is unbalance analyzer, front and back infrared emission pipe parallel connection, gray-scale sensor, smell sensor, 555 integrated circuit human inductors；Mould revolution chip output connects CAN communication controler, and communication controler exports, and by optocoupler components, receives in CAN transceiver；Another group mould revolution chip input also has 8 input pins, connects electromagnetic inductor, tyre pressure sensor, luminance sensor, humistor, photoconductive resistance, vehicle speed sensor, rear microphone, infrared camera respectively；Mould revolution chip output connects CAN communication controler, and communication controler exports, and by optocoupler components, receives in CAN transceiver；By anti-tampering process of guaranteeing the quality, it is respectively outputted in the CAN of PC computer, GPS position finder, monitor, electronic gear control module；And gateway, radar range finding module, laser range sensor, electronic lock, EHB, electronic power assist steering system are connected in CAN, and electronic power assist steering system parallel connection left and right turn signal；CAN is loaded onto electro-photographic head；Be converted to analogue signal again through several revolving die chips, then pass through amplification vibration, enter relay；Switched as SP3T by the armature of relay, switching normality, clearance lamps and front and back alarm lamp, electric horn, LED alarm lamp, front and back protective device for tyre, safety shield circuit；Mould revolution chip and CAN communication controller introduce crystal oscillating circuit respectively；
Described information acquisition system includes sensor and module；Wherein: sensor includes vehicle speed sensor, humidity sensor, gray-scale sensor, car temperature sensor, smell sensor, tyre pressure sensor, luminance sensor；Module includes infrared camera, electro-photographic head, acceleration analyzer, electromagnetic wave receiver module, acoustic-electric Sensitive Apparatus, reddish yellow lamp identification module, traffic signal reception device, radar range finding module, laser range sensor, by bus and gateway, it is connected with computer, GPS position finder, monitor；
Described brakes includes electronic gear module；
Described steering includes electronic power assist steering module；
Described computing system includes bus, gateway, computer, monitor；
Described warning system includes clearance lamps, front and back alarm lamp, left and right turn signal, electric horn, LED alarm lamp；
Described emergency system includes several revolving die chip, oscillating circuit, relay, EHB；
Described security system includes safety shield in front and back protective device for tyre, car.
2. full automatic intelligent (unmanned) according to claim 1 drives a car, it is characterized in that: one group of ADC0809 mould revolution chip input has 8 input pins, connect traffic police's signal receiver, thermo-sensitive resistor, front microphone respectively with wire, acceleration is unbalance analyzer, infrared emission pipe, gray-scale sensor, smell sensor, 555 integrated circuit human inductors；ADC0809 mould revolution chip output connects CAN communication controler SJA1000 chip, and communication controler SJA1000 chip exports, and by optoelectronic isolating element 6N137 chip and 6N137 chip, receives on CAN transceiver P82C250 chip；Another group ADC0809 mould revolution chip input also has 8 input pins, connects electromagnetic inductor, tyre pressure sensor, luminance sensor, humistor, photoconductive resistance, vehicle speed sensor, rear microphone, infrared camera respectively with wire；ADC0809 mould revolution chip output connects CAN communication controler SJA1000 chip, and communication controler SJA1000 chip exports, and by optoelectronic isolating element 6N137 chip, 6N137 chip, receives on CAN transceiver P82C250 chip；PC computer, GPS position finder, monitor, electronic gear control module, gateway, radar range finding module, laser range sensor, electronic lock, electro-hydraulic brake module, electronic power assist steering module are connected in CAN multiple twin bus, and electronic power assist steering wired in parallel connects left steering lamp right turn lamp and is followed by battery of electric power negative pole；CAN transceiver P82C250 chip and CAN transceiver P82C250 chip, by anti-tampering process of guaranteeing the quality, are respectively outputted in the CAN multiple twin bus of PC computer, GPS position finder, monitor, electronic gear control module, gateway；PC computer adopts 5V power supply, and GPS position finder, monitor, electronic gear control module, radar range finder, laser range finder, electronic lock, electro-hydraulic brake module, electronic power assist steering module employing 15V power supply；And in CAN multiple twin bus, load onto electro-photographic head, electro-photographic head power supply meets 5V；Be converted to analogue signal by CAN multiple twin bus by number revolving die chip DAC0800 chip again, then pass through 555 integrated chips and amplify vibration, enter relay 35；Switched as SP3T by the armature of relay, switch circuit a, b, c binding post, alarm lamp, electric horn, LED alarm lamp, front tyre preventer rear tyre preventer, safety shield circuit after conversion normality, clearance lamps and front alarm lamp；Wherein a binding post is empty, b binding post series connection clearance lamps connects battery of electric power negative pole, after the front alarm lamp of c binding post parallel connection LED alarm lamp, electric horn, front tyre preventer, rear tyre preventer, safety shield and series connection and rear alarm lamp, connect battery of electric power negative pole；The positive pole of battery of electric power divides three tunnels, and armature connected by relay of leading up to；Divider resistance of leading up to connects radar range finder, laser range finder, automotive electronics brake module, electronic gear control module, electronic power assist steering module, electronic lock, makes 15V power supply and powers；Two-way is separated again after another road series current table, constant-current source, telegraph key, one tunnel series connection variable resistance becomes 5V power supply to power, and 5V cathode power supply wire connects the input of traffic police's signal receiver, thermo-sensitive resistor, front microphone, acceleration is unbalance analyzer, front and back infrared emission pipe parallel connection, gray-scale sensor, smell sensor, 555 integrated circuit human inductors, electromagnetic inductor, tyre pressure sensor, luminance sensor, humistor, photoconductive resistance, vehicle speed sensor, rear microphone, infrared camera respectively；Separate again two-way simultaneously, a road series resistance, connect communication controler SJA1000 chip, another road series resistance, connect communication controler SJA1000 chip；Another road divided again after series current table, constant-current source, telegraph key connects driving motor positive pole, drives motor negative pole to connect the negative pole of battery of electric power；Shunt voltage table between battery positive voltage and cathode conductor；Introduce in ADC0809 mould revolution chip in 500KHZ crystal oscillating circuit and ADC0809 mould revolution chip again and introduce 500KHZ crystal oscillating circuit, introduce in CAN communication controller SJA1000 chip and 16MHZ crystal oscillating circuit and communication controler SJA1000 chip introduce 16MHZ crystal oscillating circuit；Open telegraph key, then regulate variable resistance, make PC computer and GPS position finder normal operation, then carry out CAN programming, test, load onto car owner's password and antivirus software.
null3. full automatic intelligent (unmanned) according to claim 1 drives a car，It is characterized in that: traffic police's signal receiver is positioned in car，Thermo-sensitive resistor is positioned near driving motor，Front microphone is positioned on Herba Plantaginis both sides，Acceleration is unbalance, and analyzer is positioned in car，Before and after infrared emission pipe parallel connection be positioned on both sides after Herba Plantaginis and car，Gray-scale sensor is positioned on the downward-sloping 10 degree of angles of Herba Plantaginis，Smell sensor is positioned on car inner top，555 integrated circuit human inductors are positioned on vehicle tail both sides，Electronic lock and electromagnetic inductor are all positioned on car door，Tyre pressure sensor is positioned on tire valve，Luminance sensor is positioned on Herba Plantaginis，Humistor is positioned on Herba Plantaginis，Photoconductive resistance is positioned on Herba Plantaginis top left side and upwards about becomes 5 degree of angles，Vehicle speed sensor is positioned in driving axle housing or transmission case，Rear microphone is positioned on both sides after car，Infrared camera is positioned on that Herba Plantaginis is backward with car lower about becomes 3 degree of angles；Radar range finder is positioned on car inner top, laser range finder is positioned on the outer top of car；Electro-photographic head is positioned on Herba Plantaginis middle part；Front tyre preventer, rear tyre preventer are positioned on the firm position, front portion of front and back tire；In car, safety shield is positioned on before passenger inside the vehicle's seat.
4. full automatic intelligent (unmanned) according to claim 1 drives a car, and it is characterized in that: front tyre preventer, rear tyre preventer assemble by electromagnetic valve, porose cylinder, skin wheel.
5. full automatic intelligent (unmanned) according to claim 1 drives a car, and it is characterized in that: in car, safety shield is manufactured by stiff materials, equipped with air bag in safety shield.
6. full automatic intelligent (unmanned) drive manner that the full automatic intelligent (unmanned) of a kind drives a car, it is characterized in that: on full automatic intelligent (unmanned) drives a car, open constant-current source telegraph key, then variable resistance is regulated, make PC computer and GPS position finder normal operation, then CAN programming, test are carried out, load onto car owner's password and antivirus software, run, the full automatic intelligent (unmanned) making the present invention drives a car circuit and normal vehicle operation, whenever and wherever possible reply hacker invade into, to guarantee automotive networking safety；
nullWhen traffic police's signal receiver、Thermo-sensitive resistor、Front microphone、Acceleration is unbalance analyzer、Infrared emission pipe、Gray-scale sensor、Smell sensor、555 integrated circuit human inductors、Electromagnetic inductor、Tyre pressure sensor、Luminance sensor、Humistor、Photoconductive resistance、Vehicle speed sensor、Rear microphone、Either component detection in infrared camera、Sensing、Receive front and have barrier、Red light、Overtake other vehicles below the vehicle that knocks into the back、Vehicle interior temperature raises、-car smell is abnormal、Vehicle breaks down、Vehicle climb and fall is unbalance，And because of daytime、Night、There is vehicle accident in sleet haze weather and front、Congested with cars，Traffic police sends traffic control signal，Vehicle and fleet after moving ahead，Capital is driven a car acceptance by the full automatic intelligent (unmanned) of the present invention，Produce signal、Electric current，Commonly through mould revolution、Communication controler、Phototube Coupling、After the CAN modular circuit of transceiver processes，All can there is interruption reaction on PC computer，The ripple information of image or burst occurs，And there is obstacle information in photographic head detection front，In the lump by number revolving die、Amplify the process of oscillation module circuit，Open clearance lamps，Or instruction electronic gear controls module and slows down、Or electronic power assist steering module turns to，And bright left steering lamp、Deflection to the left is overtaken other vehicles，Or bright right turn lamp、Deflection to the right gives way；Or the armature of the braking of deceleration of electrons module, relay switchs as SP3T, switching circuit, the reply state of emergency, before and after connecting, alarm lamp, front and back protective device for tyre repeatedly land, before and after alarm lamp bright light, electric horn is blown a whistle, LED alarm lamp is glimmered, emergency brake, it is prevented that accident occurs in automobile；
When the temperature sensor in Automobile detects car temperature rise or smell sensor detection has fuel gas abnormal smells from the patient, connecting computer is collected mail and is ceased, calculating is compared, automobile is likely to spontaneous combustion, or when having fuel gas in car, odiferous information is delivered to computer, instruction automobile emergency brake, bright light is reported to the police, it is prevented that automobile is because of the danger of spontaneous combustion or combustibles, explosive initiation；
Because tyre pressure sensor monitoring tire pressure is too high or reduces suddenly; when being likely to blow out; before and after computer instruction, protective device for tyre lands and vehicle body is protected; by front and back protective device for tyre; arrange and protect the barrier before tire; and skin wheel rolls, and can continue stably to move ahead, it is prevented that the generation of overturn accident when ensureing automobile flat tire；
When emergency brake, front and back alarm lamp bright light, electric horn are blown a whistle, and LED alarm lamp is glimmered, and open the air bag in safety shield in car in the lump, protect passenger inside the vehicle；
Passenger opens electronic lock by IC-card by bus, starts electric power starting motor, starts drive system；nullAutomobile is kept straight on，The infrared ray of infrared emission pipe monitoring far ahead barrier、The Lycoperdon polymorphum Vitt of gray-scale sensor monitoring cement road，Luminance sensor monitoring weather rain or shine with light at night，The infrared image of infrared camera shooting clear，Current sensor monitoring current changes，Voltage sensor monitoring voltage changes，Electro-photographic head monitoring front and back and surrounding wagon flow、People information and picture rich in detail，Temperature sensor monitors vehicle body temperature，Vehicle speed sensor monitoring speed，Smell sensor monitoring-car smell，Tyre pressure sensor monitoring tire pressure，Acceleration is unbalance, and the normal acceleration of vehicle climb and fall monitored by analyzer，The sound clutter that acoustoelectric sensor monitoring is peripheral，Photoconductive resistance detection front red light amber light，Traffic signal receptor receives traffic police's signal，Radar range finder measures the distance of the people's car barrier after Herba Plantaginis and car，Laser range finder monitoring night and the boisterous remote people's car distance of obstacle of sleet haze、Humistor detection sleet haze；Information is passed through bus and gateway passes to computer by described sensor, and by calculating, process, comparing, level is recessive, it does not have when noting abnormalities, and automobile continues to keep straight on；Once find there are abnormal conditions, computer calculates, processes, compares, level is dominant, instruction clearance lamps bright light, electronic gear control module and slow down, image according to infrared camera, radar range finder, laser range finder and electro-photographic head determines the distance that distance is dangerous, send instruction bright light, blow a whistle, deceleration of repeatedly stopping, select home to deflect to the left to overtake other vehicles or deflection allows car to the right, and open left and right turn signal, warning, electronic gear control module, the execution of electronic power assist steering system；Check again by sensor; image according to infrared camera, radar range finder, laser range finder and electro-photographic head determines distance; confirm dangerous existence; and apart from dangerous close time; computer instruction Automotive electronic hydraulic brake module automatic emergency brake is met an urgent need; start security system; front and back alarm lamp bright light, electric horn are blown a whistle; LED alarm lamp is glimmered; and landed by front and back protective device for tyre; protection car stranger's car barrier safety, opens the air bag for protection passenger inside the vehicle in safety shield；
When, after the de-danger of automotive safety, the Information recovering of Sensor monitoring is normal, and computer calculates and compares, and when level is recessive, automobile resets, and continues to keep straight on；When passenger confirms there is turning path in road from GPS, automobile is according to vehicle speed sensor and running time, reaching on the time turning section, by the gray scale of Sensor monitoring cement pavement and zebra crossing go out with or without, opening of reddish yellow lamp, in front without barrier, zebra crossing horizontally and vertically nobody's car barrier, turning road surface is wider, be safe from danger time, computer instruction electronic power assist steering system is turned left, bright left steering lamp, or right-hand rotation, bright right turn lamp, to guarantee safety turning；After turning, not monitoring abnormal information because of sensor, automobile continues to keep straight on；
When every passenger on automobile arrives at, computer instruction parking of automobile, let down passengers；
After automobile completes the path that passenger specifies, without take advantage of drive task time, automobile continues to drive to the terminus that car owner originally set, and turns to tune to opposing lane, after returning to car owner garage by original route, computer instruction reversing automobile, parking, parks.
7. full automatic intelligent (unmanned) drive manner that full automatic intelligent (unmanned) according to claim 6 drives a car, is characterized in that: the voltage 24V of the battery feed of automobile own, calculates power by ammeter and voltmeter and is enough to drive running car；During normal condition, the armature of relay connects a binding post；nullWhen traffic police's signal receiver、Thermo-sensitive resistor、Front microphone、Acceleration is unbalance analyzer、Front and back infrared emission pipe is in parallel、Gray-scale sensor、Smell sensor、555 integrated circuit human inductors、Electromagnetic inductor、Tyre pressure sensor、Luminance sensor、Humistor、Photoconductive resistance、Vehicle speed sensor、Rear microphone、Either component detection in infrared camera、Sensing、Receive front and have barrier、Red light、Overtake other vehicles below the vehicle that knocks into the back、Vehicle interior temperature raises、-car smell is abnormal、Vehicle breaks down、Vehicle climb and fall is unbalance，And because of daytime、Night、There is vehicle accident in sleet haze weather and front、Congested with cars，Traffic police sends traffic control signal，Vehicle and fleet after moving ahead，Capital is driven a car reception by the full automatic intelligent (unmanned) of the present invention，Produce signal、Electric current，Commonly through mould revolution、Communication controler、Phototube Coupling、After the CAN modular circuit of transceiver processes，All can there is interruption reaction on PC computer，The ripple information of image or burst occurs，And there is obstacle information in electro-photographic head detection front，The PC computer instruction armature of relay connects b binding post、Open clearance lamps and show exterior feature，Or instruction electronic gear controls module and slows down、Or electronic power assist steering module turns to and bright left steering lamp、Deflection to the left is overtaken other vehicles，Or bright right turn lamp 24、Deflection to the right gives way；Or deceleration of electrons module is braked；The process of oscillating circuit is amplified in the lump by number revolving die, 555 integrated chips, the reply state of emergency, PC computer instruction electronic gear controls module and slows down, the armature of relay connects c binding post, the front alarm lamp connecting series connection and rear alarm lamp and reports to the police, or front tyre preventer and rear tyre preventer repeatedly contact to earth, electric horn is blown a whistle, LED alarm lamp is glimmered, automobile emergency brake, it is prevented that accident occurs in automobile.
8. full automatic intelligent (unmanned) drive manner that full automatic intelligent (unmanned) according to claim 6 drives a car, it is characterized in that: passenger shows electronic lock by IC-card by bus from the outer electromagnetic inductor of car, automobile automatically opens up car door subsequently, close telegraph key starting storage battery in 3 seconds and open driving motor, start drive system；Information was connected CAN multiple twin bus and gateway passes to PC computer by sensor, module, and by calculating, process, comparing, level is recessive, it does not have when noting abnormalities, the armature of relay 36 connects a binding post, and automobile continues to keep straight on；Once find there are abnormal conditions, PC computer calculates, process, relatively, level is dominant, the PC computer instruction armature of relay connects b binding post, clearance lamps bright light shows exterior feature, or electronic gear controls module and slows down, and according to infrared camera, radar range finder, the image of laser range finder and electro-photographic head determines the distance that distance is dangerous, instruction warning system bright light is sent at about 20 meters of people's car barrier of distance, blow a whistle, the electronic gear making execution system controls module and repeatedly puts deceleration of stopping, the electronic power assist steering system of electronic power assist steering module performs to turn to, and select the bright left steering lamp of home, deflection to the left is overtaken other vehicles or bright right turn lamp, deflection to the right allows car；Check again by sensor, according to infrared camera, radar range finder, the image of laser range finder and electro-photographic head determines distance, confirm dangerous existence, and when dangerous 5 meters of distance, the PC computer instruction armature of relay connects c binding post, automotive electronics brake module automatic emergency brake is met an urgent need, the front alarm lamp of series connection and rear alarm lamp bright light, and start security system, landed by front tyre preventer and rear tyre preventer, under radar range finder is supervised, stop in 3 meters to 0.3 meter of distance people's car barrier, protection car stranger's car barrier safety, open safety shield and air bag for protection passenger inside the vehicle；
When 555 integrated circuit human inductors, front microphone, electro-photographic head, infrared camera sense that the sound of front truck, light, image are more and more nearer, time increasingly stronger, this car PC connecting computer is collected mail after breath, it is first that commands relays armature connects b binding post, bright clearance lamps shows exterior feature, instruction electronic power assist steering module deflects to the left and overtakes other vehicles again, and left steering lamp bright light；
When 555 integrated circuit human inductors, after microphone, electro-photographic head, infrared camera sense that the sound of rear car, light, image are more and more nearer, more and more stronger, it is deviated to the left when overtaking other vehicles, this car PC connecting computer is collected mail after breath, instruction electronic power assist steering module deflects to the right and gives way, and right turn lamp bright light；
Work as infrared camera, radar range finder, the dangerous existence of image confirming of laser range finder and electro-photographic head, and when dangerous 5 meters of distance, or when gray-scale sensor monitoring cement pavement about 3 meters has large area non-cement Lycoperdon polymorphum Vitt square, confirm that front is probably water or barrier, PC computer when information is passed to, commands relays armature connects c binding post, PC computer instruction automotive electronics brake module automatic emergency brake, front alarm lamp and rear alarm lamp bright light, electric horn is blown a whistle, LED alarm lamp is glimmered, front tyre preventer 29 and rear tyre preventer land；
The destination that automobile inputs on PC computer or GPS position finder according to passenger, the prompt passengers when arriving every the destination of the passenger, passenger shows IC-card from electromagnetic inductor in car, PC computer instruction parking of automobile, open electronic lock, open car door, let down passengers；Passenger getting off car leaves 1 meter of of car door, and automobile closes entrance door automatically；
In reversing process, people's car barrier is had beyond 3 meters of automobile rear, information is passed to PC computer by infrared camera, radar range finder, laser range finder and electro-photographic head, electro-photographic head, 555 integrated circuit human inductors, rear microphone, instruction automotive electronics brake module automatic emergency brake, front alarm lamp and rear alarm lamp bright light, electric horn are blown a whistle, LED alarm lamp flicker, front tyre preventer and rear tyre preventer land, waking people's car up to dodge, then under radar range finder is supervised, stop in 3 meters to 0.3 meter of distance people's car barrier；
People's car obstacle information is had within the scope of motor vehicle environment 0.3 meter to 1 meter when all of sensor, module do not monitor, by calculating, process, comparing, level is recessive, it does not have during anomaly, PC computer instruction automobile was automatically switched off telegraph key in 3 seconds, parking, parked.
9. full automatic intelligent (unmanned) drive manner that full automatic intelligent (unmanned) according to claim 6 drives a car, it is characterized in that: luminance sensor monitoring weather rain or shine with light at night, humistor detection sleet haze, gray-scale sensor monitoring cement pavement gray scale from light gray become Dark grey time, PC computer when information being passed to, instruction electronic gear controls module reduction speed, slowing down moves ahead.
10. full automatic intelligent (unmanned) drive manner that full automatic intelligent (unmanned) according to claim 6 drives a car, it is characterized in that: the gray scale of gray-scale sensor monitoring cement pavement, electro-photographic head detection zebra crossing go out with or without, photoconductive resistance detection red light, opening of amber light, in front without barrier, zebra crossing horizontally and vertically nobody's car barrier, turning road surface is wider, there is no a large area non-cement Lycoperdon polymorphum Vitt square time safety turning.
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