CN105752078A - Execution mechanism for automatic automobile driver - Google Patents
Execution mechanism for automatic automobile driver Download PDFInfo
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- CN105752078A CN105752078A CN201610289351.8A CN201610289351A CN105752078A CN 105752078 A CN105752078 A CN 105752078A CN 201610289351 A CN201610289351 A CN 201610289351A CN 105752078 A CN105752078 A CN 105752078A
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- Prior art keywords
- steer
- fixed
- braking
- shift fork
- driving
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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
- 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
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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
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking 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
- B60W10/20—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
- 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
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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
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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
Abstract
The invention discloses an execution mechanism for an automatic automobile driver. The execution mechanism comprises a steering part, a braking part and a communication module, wherein the steering part comprises a fixed platform, a steering driving device and an electromagnetic engaging and disengaging device I, the steering driving device forms a planar four-bar mechanism with the fixed platform through rotating pairs, and the electromagnetic engaging and disengaging device I is fixed on the steering driving device; the braking part comprises a braking driving device and an electromagnetic engaging and disengaging device II similar to that of the steering part. The execution mechanism can be used for independently and reliably accomplishing a driving task instead of a driver, can be switched with the driver for the driving task to automatically drive an automobile in a driving process, can also be adapted to different types and different models of automobiles, and can be mounted on an automobile on the basis of not transforming the automobile without influence on normal use of a safety airbag.
Description
Technical field
The present invention relates to a kind of device that driver can be replaced independently to complete driving task, be specifically related to a kind of car autopilot actuator, belong to automatic driving device field.
Background technology
Since two thousand eight China's automobile pollution rapid increase, vehicle traffic accident also steeply rises, and people's security of the lives and property is caused significant damage.Showing according to the United Nations's " road safety whole world status report 2015 ", road traffic death toll tends towards stability at present, is 1,250,000 people when 2013；Cause that the main cause of vehicle accident is the improper driving behavior such as exceed the speed limit, drive when intoxicated.Therefore in " made in China 2025 ", vehicle intellectualized requirement is clearly proposed.It is thus desirable to car autopilot replaces people to complete driving task,
To guarantee driving safety, in addition can energy-saving and emission-reduction, improve economy.
Domestic application publication number is CN102393308A, and name is called the patent of " drive robot for automobile test ".It includes throttle pedipulator, brakes pedipulator, clutch mechanism lower limb and gear shifting manipulator, and it can complete the automatic Pilot of vehicle.But its structure is complicated, energy consumption is big, and maintenance trouble and volume occupy more greatly the position of driver, and cannot realize the switching between drive robot and driver in driving procedure.
Domestic application publication number is CN102637058A, and name is called the patent of " automatic robot driver ".Its body part divides the horizontal sliding platform including moving forward and backward, for the mechanical hand turned to and the pedipulator for braking, accelerating.It can adapt to the vehicle of steering wheel of differing heights and size.But its structure is complicated, volume is big, and reliability is low, it is impossible to realize the task switching between drive robot and driver.
Summary of the invention
For the deficiencies in the prior art, it is an object of the invention to provide a kind of car autopilot actuator, it can replace driver to be independently reliably completed driving task, and in driving procedure can and driver between realize driving task switching, make vehicle realize automatic Pilot, additionally it is possible to adapt to dissimilar, the vehicle of different model, on basis vehicle not transformed, so that it may be arranged on vehicle, and without influence on the normal use of air bag.
Technical scheme is as follows, in conjunction with accompanying drawing:
A kind of car autopilot actuator, including knuckle section, brake portion, communication module, described knuckle section includes fixed platform, steer-drive, electromagnetic clutch device；Described knuckle section includes fixed platform, steer-drive, electromagnetic clutch device, and steer-drive, with revolute pair and fixed platform composition lanar four rod mechanism, turns to electromagnetic clutch device to be fixed on steer-drive；Described steer-drive includes steer motor fixed mount 11 and reducer integrated steer motor 10, turns to driving gear 12, turns to driving reset gear spring 13, gear ring 1, steer motor 10 is fixed on steer motor fixed mount 11, driving gear 12 is turned to be socketed on the driving axle of steer motor 10, turning to driving reset gear spring 13 to be pressed on and turn on driving gear 12, gear ring 1 is fixed on the steering wheel and is engaged with turning to driving gear 12.
Further, described fixed platform includes 4, support of No. two connecting rods 8, No. three connecting rods 7, connecting rod 6, a screw shell 5, No. three connecting rods 8, connecting rod 6 of 7, support is hinged successively, No. two connecting rods 4 are connected by screw shell 5 with No. three connecting rods 7, a number support 8 is fixed on Vehicle Control Panel, and No. two connecting rods 4 and a connecting rod 6 are all rotationally connected with described steer-drive.
Further, described electromagnetic clutch device is turned to include an electric magnet 19, a number shift fork 17, a number shift fork back-moving spring 18, a number shifting fork pin 16, a number electric magnet 19 is fixed on steer motor fixed mount 11, between a number shift fork 17 and an electric magnet 19, coupling part has chute, a number shift fork back-moving spring 18 is between steer motor fixed mount 11 and a shift fork 17, number shift fork 17 bottom is connected with the driving gear 12 that turns to of described steer-drive by revolute pair, a number shifting fork pin 16 is rotatably connected on a shift fork 17, a number shift fork 17 can around shifting fork pin 16 fixed-axis rotation.
Further, described steer-drive also includes angular-rate sensor 9, and angular-rate sensor 9 is connected to steer motor 10 front end.
Further, described brake portion includes brake and braking electromagnetic clutch device, and braking electromagnetic clutch device is fixed in brake；Described brake includes and reducer integrated braking motor 30, braking motor fixed mount 22, jaw clutch 26, wire wheel 24, wire wheel back-moving spring 23, braking motor fixed mount 22 is fixed on the chassis under driver's cabin, braking motor 30 is fixed on braking motor fixed mount 22, jaw clutch 26 is fixed on the driving axle of braking motor 30, wire wheel 24 engages with jaw clutch 26 and empty set is on the driving axle of braking motor 30, and wire wheel back-moving spring 23 is pressed on wire wheel 24.
Further, described braking electromagnetic clutch device includes No. two electric magnet 29, No. two shift fork back-moving springs 28, No. two shift forks 27, No. two shifting fork pin 25, No. two electric magnet 29 are fixed on braking motor fixed mount 22, between No. two shift forks 27 and No. two electric magnet 29, coupling part has chute, No. two shift fork 27 bottoms are connected with the wire wheel 24 of described brake by revolute pair, No. two shift fork back-moving springs 28 are between braking motor fixed mount 22 and No. two shift forks 27, No. two shifting fork pin 25 are rotatably connected on No. two shift forks 27, No. two shift forks can around No. two shifting fork pin 25 fixed-axis rotations.
Further, described communication module includes controller, controller signals generator, controller signals receptor, knuckle section signal generator, knuckle section signal receiver, brake portion signal generator, brake portion signal receiver, controller communicates to connect with controller signals generator and controller signals receptor respectively, controller signals generator communicates to connect with knuckle section signal receiver and brake portion signal receiver simultaneously, and knuckle section signal generator and brake portion signal generator communicate to connect with controller signals receptor respectively.
Present invention simultaneously provides a kind of car autopilot, including environment sensing unit, path planning unit, path trace unit, control unit and actuator, described actuator includes knuckle section, brake portion, communication module；Automobile external environment and traffic are informed path planning unit by environment sensing；Path planning unit calculates running car optimal path and running car optimal path is informed control unit；Control unit, according to automobile self parameter such as speed and position and attitude, sends control instruction to the control part of actuator；Car autopilot is realized feedback control according to the driving path that automobile is actual by path trace unit.
The present invention reaches to provide the benefit that: driver can be replaced independently to complete driving task, and can realize the driving task switching between driver in driving procedure, it is provided that more drive manner selects.Performance element knuckle section adopts communication module to couple with brake portion with controller, when ensureing data transmission bauds and precision, it is easy to automatic pilot actuator layout on vehicle, can adapt to dissimilar, the vehicle of different model, there is higher adaptability, and former vehicle is not transformed, do not affect the normal use of air bag.And present configuration is simple, it is simple to controlling, volume is little.Additionally the present invention adopts feedback control, it is possible to reduce systematic error, makes vehicle travel according to desired trajectory.
Accompanying drawing explanation
Fig. 1 is the front view of knuckle section
Fig. 2 is the front view of steer motor assembly
Fig. 3 is the front view of brake portion
Fig. 4 is communication module block diagram
nullWherein: 1-gear ring，Number motor fixation clamp of 2-，No. bis-motor fixation clamps of 3-，No. bis-connecting rods of 4-，5-screw shell，Number connecting rod of 6-，No. tri-connecting rods of 7-，Number support of 8-，9-angular-rate sensor，10-steer motor，11-steer motor fixed mount，12-turns to driving gear，13-turns to driving reset gear spring，Number spring base of 14-，Number sleeve of 15-，Number shifting fork pin of 16-，Number shift fork of 17-，Number shift fork back-moving spring of 18-，No. 19 electric magnet，No. bis-sleeves of 20-，No. bis-spring bases of 21-，22-braking motor fixed mount，23-wire wheel back-moving spring，24-wire wheel，No. bis-shifting fork pin of 25-，26-jaw clutch，No. bis-shift forks of 27-，No. bis-shift fork back-moving springs of 28-，No. bis-electric magnet of 29-，30-braking motor，31-base，32-linear movement pick-up
Detailed description of the invention
A kind of car autopilot embodiment present invention proposed below with reference to accompanying drawing is described in detail.
A kind of car autopilot actuator, including knuckle section, brake portion, communication module.
Referring to Fig. 1, steer motor assembly shown in Fig. 2, knuckle section includes fixed platform, steer-drive, turn to electromagnetic clutch device, fixed platform includes No. two connecting rods 4, a number support 8, No. three connecting rods 7, a number connecting rod 6, screw shell 5, a number motor fixation clamp 2, No. two motor fixation clamps 3, steer-drive includes steer motor fixed mount 11, with reducer integrated steer motor 10, turn to driving gear 12, turn to driving reset gear spring 13, a number spring base 14, gear ring 1, angular-rate sensor 9, a number sleeve 15, electromagnetic clutch device is turned to include an electric magnet 19, a number shift fork 17, a number shift fork back-moving spring 18, a number shifting fork pin 16.
No. three connecting rods 8, connecting rod 6 of 7, support is hinged successively, a number support 8 is fixed on Vehicle Control Panel, No. two connecting rods 4 are connected by screw shell 5 with No. three connecting rods 7, and a motor fixation clamp 2 and No. two connecting rods 4 are rotationally connected, and No. two motor fixation clamps 3 and a connecting rod 6 are rotationally connected.Steer-drive forms lanar four rod mechanism with revolute pair with described fixed platform by 2, No. two motor fixation clamps 3 of a motor fixation clamp, steer-drive can be carried out position adjustment, steer-drive attitude can be finely tuned by screw shell 5, makes knuckle section can adapt to the vehicle of different model, specification.Electromagnetic clutch device is turned to be fixed on the steer motor fixed mount 11 of steer-drive.Steer motor 10 is fixed on steer motor fixed mount 11, angular-rate sensor 9 is connected to steer motor 10 front end, driving gear 12 is turned to be socketed on the driving axle of steer motor 10, driving reset gear spring 13 one end is turned to be supported on a spring base 14, the other end is pressed on and turns on driving gear 12, and gear ring 1 is fixed on the steering wheel and engaged with turning to driving gear 12.A number electric magnet 19 is fixed on steer motor fixed mount 11, number shift fork 17 bottom by revolute pair and turns to driving gear 12 to connect, a number shift fork back-moving spring 18 is between steer motor fixed mount 11 and a shift fork 17, and a shifting fork pin 16 is rotatably connected on a shift fork 17.Between a number shift fork 17 and an electric magnet 19, coupling part has chute, and a shift fork can a relative electric magnet horizontal movement and up and down motion；A number shift fork 17 is connected by revolute pair with turning to driving gear 12, and a shift fork 17 can around shifting fork pin 16 fixed-axis rotation.Turn to driving reset gear spring 18 to be fitted on a spring base, turn to driving reset gear spring 18 to make to turn to driving gear 12 to compress a shift fork 17 all the time.During number electric magnet 19 power-off, turn to and drive gear 12 to be in poised state under turning to the effect driving reset gear spring 18 and a shift fork 17, keep the engagement with gear ring 1.When a number electric magnet 19 is energized, under the effect of electromagnetic force, driving gear 12 is turned to be disengaged from gear ring 1.
Participating in Fig. 3, brake portion includes brake and the braking electromagnetic clutch device similar with knuckle section electromagnetic clutch device.Brake includes and reducer integrated braking motor 30, braking motor fixed mount 22, jaw clutch 26, wire wheel 24, wire wheel back-moving spring 23, No. two spring bases 21, No. two sleeves 20, linear movement pick-up 32, bases 31.Braking electromagnetic clutch device includes 29, No. two shift fork back-moving springs of No. two electric magnet, 27, No. two shifting fork pin 25 of 28, No. two shift forks.Braking electromagnetic clutch device is fixed in brake.
Braking motor fixed mount 22 is fixed on the chassis under driver's cabin, braking motor 30 is fixed on braking motor fixed mount 22, jaw clutch 26 is fixed on the driving axle of braking motor 30, wire wheel 24 engages with jaw clutch 26 and empty set is on the driving axle of braking motor 30, wire wheel back-moving spring 23 one end is supported on No. two spring bases 21, and the other end is pressed on wire wheel 24.No. two electric magnet 29 are fixed on braking motor fixed mount 22, No. two shift forks 27 are connected by revolute pair and wire wheel 24, No. two shift fork back-moving springs 28 are between braking motor fixed mount 22 and No. two shift forks 27, and No. two shifting fork pin 25 are rotatably connected on No. two shift forks 27.Between No. two shift forks 27 and No. two electric magnet 29, coupling part has chute, and No. two shift forks can relative No. two electric magnet horizontal movements and up and down motion；No. two shift forks 27 are connected by revolute pair with wire wheel 24, and No. two shift forks can around No. two shifting fork pin 25 fixed-axis rotations.Wire wheel back-moving spring 23 is fitted on No. two spring bases 21, and wire wheel back-moving spring 23 makes wire wheel 24 compress No. two shift forks 27 all the time.During No. two electric magnet 29 power-off, wire wheel 24 is in poised state under the effect of wire wheel back-moving spring 23 and No. two shift forks 27, keeps the engagement with jaw clutch 26.When No. two electric magnet 29 are energized, under the effect of electromagnetic force, wire wheel 24 and jaw clutch 26 are disengaged from.
Communication module flow chart shown in Figure 4, communication module includes controller, controller signals generator, controller signals receptor, knuckle section signal generator, knuckle section signal receiver, brake portion signal generator, brake portion signal receiver, controller communicates to connect with controller signals generator and controller signals receptor respectively, controller signals generator communicates to connect with knuckle section signal receiver and brake portion signal receiver simultaneously, knuckle section signal generator and brake portion signal generator communicate to connect with controller signals receptor respectively.Communication module is transmitted for two-way communication and the signal of knuckle section, brake portion and control unit.Communication module is reserved with wireless communication port, and it is used for server or high in the clouds transmitting and receiving data.
A kind of car autopilot, including environment sensing unit, path planning unit, path trace unit, control unit and actuator, environment sensing unit includes radar, images first-class sensor.Automobile external environment and traffic are informed path planning unit by it.Path planning unit calculates running car optimal path and running car optimal path is informed control unit.Control unit, according to automobile self parameter such as speed and position and attitude, sends control instruction to the controller of actuator.Car autopilot can be realized feedback control according to the driving path that automobile is actual by path trace unit.The knuckle section of actuator includes steer motor angular-rate sensor, and brake portion also includes linear movement pick-up, and by actual steering wheel corner, brake pressure feedback is to controller, and then car autopilot actuator is carried out feedback control.
Introduce the operation principle of the present invention briefly below:
When path planning unit goes out optimal path according to the data schema of environment sensing unit and is sent to control unit, the controller control instruction according to control unit, controls steer motor 10 and braking motor 30 moves.When steer motor 10 rotates under the control of the controller, slowed down by decelerator, make to turn to driving gear 12 to rotate, now turn to and drive gear 12 and fixing gear ring 1 to be on the steering wheel in engagement, and then drive steering wheel to rotate.The angular velocity of steer motor 10 reality is fed back to controller by the angular-rate sensor 9 being fixed in steer motor 10, and then knuckle section is carried out feedback control, makes steering wheel accurately move according to the control instruction of control unit.After driver connects the switch of electromagnetic clutch, a number electric magnet 19 is energized, make a shift fork 17 overcome a shift fork back-moving spring 18 and turn to the spring force driving reset gear spring 13, make to turn to driving gear 12 to be disengaged from gear ring 1 around shifting fork pin 16 fixed-axis rotation.And then can turn to by manual control.
When the control instruction of control unit received by controller, braking motor 30 rotates under the control of the controller, after carrying decelerator and slowing down, jaw clutch 26 is driven to rotate, and then drive the wire wheel 24 engaged with jaw clutch 26 to rotate, pull brake pedal motion by the steel wire being wrapped on wire wheel 24 and then complete braking maneuver.After driver connects electromagnetic switching clutch, No. two electric magnet 29 are energized, and under the effect of electromagnetic force, make No. two shift forks 27 overcome the spring force of No. two shift fork back-moving springs 28 and wire wheel back-moving spring 23, thus around No. two shifting fork pin 25 fixed-axis rotations.Wire wheel 24 and jaw clutch 26 is promoted to be disengaged from.Thus artificially braking.
Claims (8)
1. a car autopilot actuator, it is characterised in that including knuckle section, brake portion, communication module, described knuckle section includes fixed platform, steer-drive, electromagnetic clutch device；Described knuckle section includes fixed platform, steer-drive, electromagnetic clutch device, and steer-drive, with revolute pair and fixed platform composition lanar four rod mechanism, turns to electromagnetic clutch device to be fixed on steer-drive；Described steer-drive includes steer motor fixed mount (11), with reducer integrated steer motor (10), turn to driving gear (12), turn to driving reset gear spring (13), gear ring (1), steer motor (10) is fixed on steer motor fixed mount (11), driving gear (12) is turned to be socketed on the driving axle of steer motor (10), turn to driving reset gear spring (13) to be pressed on and turn in driving gear (12), gear ring (1) is fixed on the steering wheel and is engaged with turning to driving gear (12).
2. a kind of car autopilot actuator as claimed in claim 1, it is characterized in that, described fixed platform includes No. two connecting rods (4), a number support (8), No. three connecting rods (7), a number connecting rod (6), screw shell (5), No. three connecting rods (7), a number support (8), a number connecting rod (6) is hinged successively, No. two connecting rods (4) are connected by screw shell (5) with No. three connecting rods (7), a number support (8) is fixed on Vehicle Control Panel, No. two connecting rods (4) and a connecting rod (6) are all rotationally connected with described steer-drive.
null3. a kind of car autopilot actuator as claimed in claim 1，It is characterized in that，Described electromagnetic clutch device is turned to include an electric magnet (19)、A number shift fork (17)、A number shift fork back-moving spring (18)、A number shifting fork pin (16)，A number electric magnet (19) is fixed on steer motor fixed mount (11)，Between a number shift fork (17) and an electric magnet (19), coupling part has chute，A number shift fork back-moving spring (18) is positioned between steer motor fixed mount (11) and a shift fork (17)，Number shift fork (17) bottom is connected with driving gear (12) that turns to of described steer-drive by revolute pair，A number shifting fork pin (16) is rotatably connected on a shift fork (17)，A number shift fork (17) can around shifting fork pin (16) fixed-axis rotation.
4. a kind of car autopilot actuator as claimed in claim 1, it is characterised in that described steer-drive also includes angular-rate sensor (9), and angular-rate sensor (9) is connected to steer motor (10) front end.
5. a kind of car autopilot actuator as claimed in claim 1, it is characterised in that described brake portion includes brake and braking electromagnetic clutch device, and braking electromagnetic clutch device is fixed in brake；Described brake includes and reducer integrated braking motor (30), braking motor fixed mount (22), jaw clutch (26), wire wheel (24), wire wheel back-moving spring (23), braking motor fixed mount (22) is fixed on the chassis under driver's cabin, braking motor (30) is fixed on braking motor fixed mount (22), jaw clutch (26) is fixed on the driving axle of braking motor (30), wire wheel (24) engages with jaw clutch (26) and empty set is on the driving axle of braking motor (30), wire wheel back-moving spring (23) is pressed on wire wheel (24).
6. a kind of car autopilot actuator as claimed in claim 5, it is characterized in that, described braking electromagnetic clutch device includes No. two electric magnet (29), No. two shift fork back-moving springs (28), No. two shift forks (27), No. two shifting fork pin (25), No. two electric magnet (29) are fixed on braking motor fixed mount (22), between No. two shift forks (27) and No. two electric magnet (29), coupling part has chute, No. two shift fork (27) bottoms are connected with the wire wheel (24) of described brake by revolute pair, No. two shift fork back-moving springs (28) are positioned between braking motor fixed mount (22) and No. two shift forks (27), No. two shifting fork pin (25) are rotatably connected on No. two shift forks (27), No. two shift forks can around No. two shifting fork pin (25) fixed-axis rotations.
7. a kind of car autopilot actuator as claimed in claim 1, it is characterized in that, described communication module includes controller, controller signals generator, controller signals receptor, knuckle section signal generator, knuckle section signal receiver, brake portion signal generator, brake portion signal receiver, controller communicates to connect with controller signals generator and controller signals receptor respectively, controller signals generator communicates to connect with knuckle section signal receiver and brake portion signal receiver simultaneously, knuckle section signal generator and brake portion signal generator communicate to connect with controller signals receptor respectively.
8. a car autopilot, it is characterised in that including environment sensing unit, path planning unit, path trace unit, control unit and actuator, described actuator includes knuckle section, brake portion, communication module；Automobile external environment and traffic are informed path planning unit by environment sensing；Path planning unit calculates running car optimal path and running car optimal path is informed control unit；Control unit, according to automobile self speed and position and attitude parameter, sends control instruction to the control part of actuator；Car autopilot is realized feedback control according to the driving path that automobile is actual by path trace unit.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610289351.8A CN105752078B (en) | 2016-05-04 | 2016-05-04 | A kind of car autopilot executing agency |
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| CN201610289351.8A CN105752078B (en) | 2016-05-04 | 2016-05-04 | A kind of car autopilot executing agency |
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| CN105752078B CN105752078B (en) | 2018-11-02 |
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| CN108005030A (en) * | 2018-01-11 | 2018-05-08 | 天津大学 | A kind of unmanned longitudinally controlled device of roller applied to construction of hydro project |
| CN108021129A (en) * | 2016-11-04 | 2018-05-11 | 本田技研工业株式会社 | Vehicle control system, control method for vehicle and the medium for storing wagon control program |
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| CN104616561A (en) * | 2014-12-05 | 2015-05-13 | 中国人民解放军空军航空大学军事仿真技术研究所 | Large transport airplane control loading simulator |
| CN104794924A (en) * | 2015-05-07 | 2015-07-22 | 苏州首旗信息科技有限公司 | Automatic automotive navigation driving system |
| CN205615510U (en) * | 2016-05-04 | 2016-10-05 | 吉林大学 | Car automatic pilot actuating mechanism |
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| CN108021129A (en) * | 2016-11-04 | 2018-05-11 | 本田技研工业株式会社 | Vehicle control system, control method for vehicle and the medium for storing wagon control program |
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| CN108021129B (en) * | 2016-11-04 | 2021-02-26 | 本田技研工业株式会社 | Vehicle control system, vehicle control method, and medium storing vehicle control program |
| CN106627735A (en) * | 2017-01-18 | 2017-05-10 | 陈建生 | Direction control device with auxiliary driving function and kart |
| CN108005030A (en) * | 2018-01-11 | 2018-05-08 | 天津大学 | A kind of unmanned longitudinally controlled device of roller applied to construction of hydro project |
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