CN106740858A - Pavement behavior induction installation and method and its pilotless automobile - Google Patents
Pavement behavior induction installation and method and its pilotless automobile Download PDFInfo
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- CN106740858A CN106740858A CN201710018115.7A CN201710018115A CN106740858A CN 106740858 A CN106740858 A CN 106740858A CN 201710018115 A CN201710018115 A CN 201710018115A CN 106740858 A CN106740858 A CN 106740858A
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- 230000006698 induction Effects 0.000 title claims abstract description 18
- 238000009434 installation Methods 0.000 title claims abstract description 18
- 238000000034 method Methods 0.000 title claims abstract description 14
- 230000002123 temporal effect Effects 0.000 claims abstract description 8
- 230000006399 behavior Effects 0.000 claims description 29
- 230000001133 acceleration Effects 0.000 claims description 11
- 230000003321 amplification Effects 0.000 claims description 4
- 239000004568 cement Substances 0.000 claims description 4
- 238000001514 detection method Methods 0.000 claims description 4
- 238000003199 nucleic acid amplification method Methods 0.000 claims description 4
- 239000010426 asphalt Substances 0.000 claims description 3
- 230000005055 memory storage Effects 0.000 claims description 3
- 230000001939 inductive effect Effects 0.000 abstract 1
- 238000012544 monitoring process Methods 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013499 data model Methods 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 239000004576 sand Substances 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
- 238000004148 unit process Methods 0.000 description 1
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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/18—Propelling the vehicle
- B60W30/182—Selecting between different operative modes, e.g. comfort and performance modes
-
- 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
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo or light sensitive means, e.g. infrared sensors
- B60W2420/403—Image sensing, e.g. optical camera
Abstract
The invention discloses a kind of pavement behavior induction installation and method and its pilotless automobile, belong to unmanned device field, for the road inductive of pilotless automobile, it includes wheel speed sensors, vibrating sensor and signal processing unit, wherein described wheel speed sensors and vibrating sensor are connected with signal processing unit by way of electric signal, the signal processing unit at least includes central processing unit, the storage chip of read-write erasing, temporal cache unit, output circuit, the data that wherein central processing unit is used for transferring in storage chip are compared with the data in the unit of temporal cache, and the result output after comparing.In view of above-mentioned technical proposal, the present invention can realize the feedback of the information in road surface unit interval or interval time, and be coordinated with the information of road surface harvester of pilotless automobile, realize that the master control system of automatic Pilot realizes the traveling of complex road condition.
Description
Technical field
The invention belongs to unmanned device field, specifically, more particularly to a kind of pavement behavior induction installation and side
Method and its pilotless automobile.
Background technology
With the raising of scientific level, unmanned vehicle is gradually presented the trend increased with technology innovation, and nobody drives
Sailing automobile can realize automatic Pilot when road conditions are preferable by self-contained GPS, video camera and sensing radar, and by letter
Number transfer device is realized and the information of remote control personnel and exchanging for ordering.But, in the complex situation of pavement behavior
Under, unmanned vehicle still needs to be switched to the pattern of pilot steering, to avoid the generation of dangerous situation.
Pavement behavior includes preferable pitch and cement pavement, also including complex gravel road and hollow section, no
Same road surface adapts to the control from different speed and steering wheel, and traditional built-in system by camera and carries map merely
The support of data can not well meet unpiloted demand.
The content of the invention
It is an object of the invention to provide a kind of pavement behavior induction installation and method and its pilotless automobile, it can
The feedback of the information in road surface unit interval or interval time is realized, and is carried out with the information of road surface harvester of pilotless automobile
Coordinate, realize that the master control system of automatic Pilot realizes the traveling of complex road condition.
To reach above-mentioned purpose, the present invention is achieved by the following technical solutions：
A kind of pavement behavior induction installation, the induction installation includes wheel speed sensors, vibrating sensor and signal transacting list
Unit, wherein the wheel speed sensors and vibrating sensor are connected with signal processing unit by way of electric signal, the letter
Number processing unit at least includes central processing unit, the storage chip of read-write erasing, temporal cache unit, output circuit, wherein
Central processing unit is used for the data transferred in storage chip and is compared with the data in the unit of temporal cache, and after comparing
Result is exported.
Further speaking, heretofore described wheel speed sensors use high-precision hall formula ABS wheel speed sensors.
Further speaking, heretofore described vibrating sensor is sensed using relative type motor electrokinetic transducer, electric vortex type
Device, inductance type transducer, capacitance type sensor, inertia-type electrokinetic transducer, piezoelectric acceleration transducer, piezoelectric forces sensing
One kind in device, resistance strain.
A kind of pilotless automobile for being provided with the pavement behavior induction installation, the wheel portion of the pilotless automobile
Position is provided with vibrating sensor and wheel speed sensors, and the signal of vibrating sensor and wheel speed sensors is by signal amplification circuit, filter
Signal processing unit is transmitted signals to after wave circuit, signal is fed back into unmanned vapour after signal processing unit processes signal
The master control system of car, the master control system of pilotless automobile receives after signal by controlling rotating speed, the steering wheel of engine
To realize evading.
A kind of pavement behavior determination methods of the pilotless automobile for being provided with above-mentioned pavement behavior induction installation, the judgement
Method is comprised the following steps：
1) collection vibration acceleration unit interval or interval time, is detected by the above-mentioned vibrating sensor of any one
Interior vibration acceleration value, and signal processing unit is transferred to by way of electric signal；List is determined by wheel speed sensors
The instantaneous velocity of running car in position time or interval time；
2) after, signal processing unit receives the detection signal of vibrating sensor, wheel speed sensors, by integral operation
Mode realizes the vibration velocity in unit interval or interval time, and thus obtains shaking in unit interval or interval time
Dynamic frequency value；
3), above-mentioned vibration frequency value is contrasted by the numerical value stored with signal processing unit memory storage chip, number
When value difference is not in 0~1.5% error range, vibration frequency value that signal processing unit will be measured and storage numeric ratio into
Work(, outputs signal to the master control system of pilotless automobile；
4) after, the master control system of pilotless automobile receives signal, by control the rotating speed of engine, steering wheel come
Realize reduction of speed or evade.
5), wheel speed sensors continue to gather the instantaneous velocity of running car, and signal is fed back into master control system, enter one
Form speed of the step section automobile on different road surfaces.
Further speaking, the storage chip of the read-write erasing inside heretofore described signal processing unit is stored with
Asphalt road, cement road, gravel road, muddy and ruthed lane, the model of vibration data of hollow.
Further speaking, heretofore described pilotless automobile also includes being used to monitor the camera of pavement behavior,
The camera can feed back to the master control of pilotless automobile by way of the road condition information that collects is by electric signal
System processed, master control system is contrasted by the information of road surface that camera is collected with the vibration frequency value of vibrating sensor.
Further speaking, when the information of road surface that heretofore described camera is collected is consistent with vibration frequency, master control
System processed carries out the reduction of speed of pilotless automobile；When the information of road surface that camera is collected is consistent with vibration frequency part, explanation
There is hollow in road surface, master control system carries out the reduction of speed of pilotless automobile and steering wheel action is evaded；Camera is gathered
When the information of road surface for arriving is inconsistent with vibration frequency, pilotless automobile is to artificial control model or passes through for master control system switching
Apparatus for transmitting signal feeds back to teleworker.
Compared with prior art, the beneficial effects of the invention are as follows：
The present invention is built in the control of pilotless automobile by gathering model of vibration of the different roads in same model
In module, the pavement behavior that pilotless automobile is travelled is judged by the real time data for gathering, and as pilotless automobile
The supplement of the camera of pavement monitoring and auxiliary, realize progress of the pilotless automobile in pavement behavior monitoring direction.
Specific embodiment
Technical scheme described herein is described further with reference to embodiment.
Embodiment 1：A kind of pavement behavior induction installation, the induction installation includes wheel speed sensors, vibrating sensor and letter
Number processing unit, wherein the wheel speed sensors and vibrating sensor are connected with signal processing unit by way of electric signal
Connect, the signal processing unit at least includes central processing unit, the storage chip of read-write erasing, temporal cache unit, output
The data that circuit, wherein central processing unit are used for transferring in storage chip are compared with the data in the unit of temporal cache, and
Result output after comparing.
Embodiment 2：A kind of pavement behavior induction installation, wherein the wheel speed sensors are taken turns using high-precision hall formula ABS
Fast sensor.The vibrating sensor uses relative type motor electrokinetic transducer, eddy current sensor, inductance type transducer, electric capacity
Formula sensor, inertia-type electrokinetic transducer, piezoelectric acceleration transducer, piezoelectric force transducer, resistance strain
In one kind.The structure of remainder is identical with the structure and annexation described in embodiment 1 with annexation.
Embodiment 3：A kind of pilotless automobile, the pilotless automobile at least includes steering wheel, master control system, starts
Machine, vehicle to run system, master control system include automatic Pilot and pilot steering both of which, in the vehicle of pilotless automobile
Vibrating sensor and wheel speed sensors are provided with running gear, vibrating sensor is located in wheel, vibrating sensor and wheel speed are passed
The signal of sensor by transmitting signals to signal processing unit after signal amplification circuit, filter circuit, at signal processing unit
Signal is fed back to the master control system of pilotless automobile, the master control system of pilotless automobile receives signal after reason signal
Afterwards by controlling the rotating speed of engine, steering wheel to realize evading.
Embodiment 4：The determination methods of the pilotless automobile pavement behavior that a kind of embodiment 3 is used, wherein the method
Comprise the following steps：
1) collection vibration acceleration unit interval or interval time, is detected by the above-mentioned vibrating sensor of any one
Interior vibration acceleration value, and signal processing unit is transferred to by way of electric signal；List is determined by wheel speed sensors
The instantaneous velocity of running car in position time or interval time；
2) after, signal processing unit receives the detection signal of vibrating sensor, wheel speed sensors, by integral operation
Mode realizes the vibration velocity in unit interval or interval time, and thus obtains shaking in unit interval or interval time
Dynamic frequency value；
3), above-mentioned vibration frequency value is contrasted by the numerical value stored with signal processing unit memory storage chip, number
When value difference is not in 0~1.5% error range, vibration frequency value that signal processing unit will be measured and storage numeric ratio into
Work(, outputs signal to the master control system of pilotless automobile；
4) after, the master control system of pilotless automobile receives signal, by control the rotating speed of engine, steering wheel come
Realize reduction of speed or evade；
5), wheel speed sensors continue to gather the instantaneous velocity of running car, and signal is fed back into master control system, enter one
Form speed of the step section automobile on different road surfaces.
The storage chip of the read-write erasing inside wherein described signal processing unit is stored with asphalt road, cement road, sand
Shi Lu, muddy and ruthed lane, the model of vibration data of hollow.
The pilotless automobile also includes being used to monitor the camera of pavement behavior, and the camera can be by collecting
Road condition information the master control system of pilotless automobile is fed back to by way of electric signal, master control system is by taking the photograph
The information of road surface collected as head is contrasted with the vibration frequency value of vibrating sensor.
When the information of road surface that the camera is collected is consistent with vibration frequency, master control system carries out pilotless automobile
Reduction of speed；When the information of road surface that camera is collected is consistent with vibration frequency part, illustrate that road surface has hollow, master control system
The reduction of speed and steering wheel action for carrying out pilotless automobile are evaded；The information of road surface that camera is collected is with vibration frequency not
When consistent, master control system switches pilotless automobile and feeds back to long-range behaviour to artificial control model or by apparatus for transmitting signal
Make personnel.
In view of above-described embodiment, when in use, its course of work and mode are as follows for the present invention：
By collection different automobile types, unsteadiness of wheels situation of the different wheel hubs on different road surfaces, the vibration of the type in advance
Situation is that the unsteadiness of wheels acceleration magnitude by collecting realizes the calculating of unsteadiness of wheels speed by integral way, and is passed through
The unit interval or interval time draw the vibration frequency of wheel.Number is generated with the vibration frequency of the above-mentioned wheel for collecting
According to storehouse, and by the storage chip of the read-write erasing of the database purchase to signal processing unit.
Due to heretofore described vibrating sensor include using relative type motor electrokinetic transducer, eddy current sensor,
Inductance type transducer, capacitance type sensor, inertia-type electrokinetic transducer, piezoelectric acceleration transducer, piezoelectric force transducer,
One kind in resistance strain, is arranged at the wheel portion of pilotless automobile, collection in unit interval or interval time
Unsteadiness of wheels situation of such vehicle on road surface.Hall-type ABS wheel speed sensors positioned at wheel position are used to aid in providing
Vibration acceleration in the unit interval or interval time, while the instantaneous velocity for being also used for providing vehicle comes for unmanned
The speed adjustment of master control system provides reference.
The signal that sensor is collected is smaller due to signal value, it is therefore desirable to realize believing sensor using amplifying circuit
Number amplification.Because there is clutter in the vibration signal in the unit interval for collecting or interval time, it is therefore desirable to amplifying
Realize the pretreatment to signal by way of filtering clutter signal afterwards, the noise signal filter mode using filter circuit come
Realize.
Above-mentioned data model is stored to the storage chip of the read-write erasing of signal processing unit, the data are being needed
When, the CPU module of signal processing unit recalls data analogy one by one from storage chip, and with the unit interval for collecting or
Unsteadiness of wheels frequency in interval time is compared, in the error (0~1.5%) for allowing, will therewith after contrasting successfully
The pavement behavior code matched somebody with somebody feeds back to the master control system of pilotless automobile.
The master control system of pilotless automobile can judge road conditions separately through the signal, also can by with unmanned vapour
Camera on car coordinates to be realized image procossing from the comprehensive descision that road surface perceives to realize the control of different road conditions.Individually control
The course of work as described in above-mentioned step, but individually Control constraints in sensor reliability and service life and precision.
During camera and sensor comprehensive descision pavement behavior, camera passes through the pavement image for collecting,
It is transferred to the master control system of pilotless automobile by way of electric signal is transmitted, master control system is taken pictures image by CCD
The Treatment Analysis or master control system of road pavement image are analyzed and processed by apparatus for transmitting signal and teleworker, cloud net
The feedback road surface result such as network calculating, and coordinate the road wheel that the unsteadiness of wheels frequency values that sensor is collected feed back to vibrate feelings
Condition, realizes the reduction of speed of pilotless automobile or evades.
Above-mentioned situation is divided into following several types：
1st, when the information of road surface that the camera is collected is consistent with vibration frequency, master control system carries out unmanned vapour
The reduction of speed of car；
2nd, when the information of road surface that camera is collected is consistent with vibration frequency part, illustrate that road surface has hollow, main control
System carries out the reduction of speed of pilotless automobile and steering wheel action is evaded；
When information of road surface that the 3rd, camera is collected and inconsistent vibration frequency, master control system switching pilotless automobile
Teleworker is fed back to artificial control model or by apparatus for transmitting signal.
Due to the main detection for using vibrating sensor and wheel speed sensors cooperation realization to road conditions of the invention, therefore
Relatively low time delay is needed, to realize the automatic Pilot of pilotless automobile, therefore delay time needs to be less than in the present invention
0.5 second.Wheel speed sensors are arranged close at the gear of wheel, and its performance parameter is as follows：
The requirement performance of vibrating sensor is：
。
Claims (8)
1. a kind of pavement behavior induction installation, it is characterised in that：The induction installation includes wheel speed sensors, vibrating sensor and letter
Number processing unit, wherein the wheel speed sensors and vibrating sensor are connected with signal processing unit by way of electric signal
Connect, the signal processing unit at least includes central processing unit, the storage chip of read-write erasing, temporal cache unit, output
The data that circuit, wherein central processing unit are used for transferring in storage chip are compared with the data in the unit of temporal cache, and
Result output after comparing.
2. pavement behavior induction installation according to claim 1, it is characterised in that：The wheel speed sensors are using high accuracy
Hall-type ABS wheel speed sensors.
3. pavement behavior induction installation according to claim 2, it is characterised in that：The vibrating sensor uses relative type motor
Electrokinetic transducer, eddy current sensor, inductance type transducer, capacitance type sensor, inertia-type electrokinetic transducer, piezoelectric type add
One kind in velocity sensor, piezoelectric force transducer, resistance strain.
4. a kind of unmanned vapour for being provided with the pavement behavior induction installation in claims 1 to 3 described in any claim
Car, it is characterised in that：The wheel position of the pilotless automobile is provided with vibrating sensor and wheel speed sensors, vibrating sensor
With the signal of wheel speed sensors by transmitting signals to signal processing unit after signal amplification circuit, filter circuit, at signal
Signal is fed back to the master control system of pilotless automobile, the master control system of pilotless automobile after reason cell processing signal
Receive after signal by controlling the rotating speed of engine, steering wheel to realize evading.
5. a kind of pavement behavior determination methods of the pilotless automobile for being provided with above-mentioned pavement behavior induction installation, its feature exists
In：The determination methods are comprised the following steps：
1), detected in collection vibration acceleration unit interval or interval time by a kind of any of the above-described vibrating sensor
Vibration acceleration value, and signal processing unit is transferred to by way of electric signal；During by wheel speed sensors come analytical unit
Between or interval time in running car instantaneous velocity；
2) after, signal processing unit receives the detection signal of vibrating sensor, wheel speed sensors, by way of integral operation
The vibration velocity in unit interval or interval time is realized, and thus obtains the vibration in unit interval or interval time frequently
Rate value；
3), above-mentioned vibration frequency value is contrasted by the numerical value stored with signal processing unit memory storage chip, numerical difference
When not in 0~1.5% error range, vibration frequency value and store numeric ratio to success that signal processing unit will be measured,
Output signal to the master control system of pilotless automobile；
4) after, the master control system of pilotless automobile receives signal, by controlling the rotating speed of engine, steering wheel to realize
Reduction of speed is evaded；
5), wheel speed sensors continue to gather the instantaneous velocity of running car, and signal is fed back into master control system, further adjust
Form speed of the section automobile on different road surfaces.
6. pavement behavior determination methods of pilotless automobile according to claim 5, it is characterised in that：At the signal
The storage chip of the read-write erasing inside reason unit is stored with the vibration of asphalt road, cement road, gravel road, muddy and ruthed lane, hollow
Model data.
7. pavement behavior determination methods of pilotless automobile according to claim 6, it is characterised in that：It is described that nobody drives
Sailing automobile also includes being used to monitor the camera of pavement behavior, and the camera can be passed through by the road condition information for collecting
The mode of electric signal feeds back to the master control system of pilotless automobile, and master control system is believed by the road surface that camera is collected
Breath is contrasted with the vibration frequency value of vibrating sensor.
8. pavement behavior determination methods of pilotless automobile according to claim 7, it is characterised in that：The camera
When the information of road surface for collecting is consistent with vibration frequency, master control system carries out the reduction of speed of pilotless automobile；Camera is gathered
When the information of road surface for arriving is consistent with vibration frequency part, illustrate that road surface has hollow, master control system carries out pilotless automobile
The action of reduction of speed and steering wheel evaded；When the information of road surface that camera is collected is inconsistent with vibration frequency, main control system
System switching pilotless automobile feeds back to teleworker to artificial control model or by apparatus for transmitting signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710018115.7A CN106740858A (en) | 2017-01-11 | 2017-01-11 | Pavement behavior induction installation and method and its pilotless automobile |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201710018115.7A CN106740858A (en) | 2017-01-11 | 2017-01-11 | Pavement behavior induction installation and method and its pilotless automobile |
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| CN201710018115.7A Pending CN106740858A (en) | 2017-01-11 | 2017-01-11 | Pavement behavior induction installation and method and its pilotless automobile |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107323454A (en) * | 2017-08-03 | 2017-11-07 | 鄂尔多斯市普渡科技有限公司 | A kind of unmanned speed-regulating device and method of adjustment based on surface evenness |
| CN107883975A (en) * | 2017-10-25 | 2018-04-06 | 张逸哲 | A kind of method and system that pavement behavior is identified in navigation way |
| CN108045375A (en) * | 2017-12-12 | 2018-05-18 | 成都育芽科技有限公司 | A kind of unmanned automatic driving automobile autonomous operation method for controlling driving speed |
| CN108545040A (en) * | 2018-03-15 | 2018-09-18 | 王强源 | A kind of automobile of automatic running |
| CN112406878A (en) * | 2020-10-16 | 2021-02-26 | 山东派蒙机电技术有限公司 | Device and method for evaluating driving road conditions |
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Application publication date: 20170531 |