CN107291074A - A kind of miniature intelligent vehicle system - Google Patents
A kind of miniature intelligent vehicle system Download PDFInfo
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- CN107291074A CN107291074A CN201610864680.0A CN201610864680A CN107291074A CN 107291074 A CN107291074 A CN 107291074A CN 201610864680 A CN201610864680 A CN 201610864680A CN 107291074 A CN107291074 A CN 107291074A
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- 230000007613 environmental effect Effects 0.000 claims abstract description 15
- 230000008447 perception Effects 0.000 claims abstract description 11
- 238000001514 detection method Methods 0.000 claims abstract description 4
- 238000012546 transfer Methods 0.000 claims description 2
- 238000011161 development Methods 0.000 description 5
- 238000011160 research Methods 0.000 description 5
- 230000008901 benefit Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- 241001269238 Data Species 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 230000002776 aggregation Effects 0.000 description 1
- 238000004220 aggregation Methods 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 238000004422 calculation algorithm Methods 0.000 description 1
- 230000001149 cognitive effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000000116 mitigating effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000087 stabilizing effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Electromagnetism (AREA)
- Acoustics & Sound (AREA)
- Toys (AREA)
Abstract
The present invention discloses a kind of system of miniature intelligent vehicle, including the top section being made up of embedded computer, the underclad portion that is made up of single-chip microcomputer and executing agency and sensor.The environmental perception module (101) on upper strata realizes the detection to the oneself state information and the environmental information residing for it of miniature intelligent vehicle, the control decision module (102) on upper strata calculates control instruction and is issued to lower floor's instruction interface module (104) by the interface module (103) on upper strata according to the information detected, lower floor's instruction interface module (104) receives the decision instruction on upper strata and by adjusting executing agency (106) come execute instruction, sensor (107) distance that measures of underlying transducer signal acquisition module (105) collection simultaneously and speed are simultaneously sent to high-level interface module (103), signal is fed back to control decision module (102) so that it makes next step instruction by interface module.So as to realize the autonomous driving of miniature car.
Description
Technical field
The present invention relates to Vehicular automatic driving technical field, particularly a kind of miniature intelligent vehicle system.
Background technology
Pilotless automobile, also referred to as intelligent automobile, be it is a kind of can realize the wheeled mobile robot of autonomous driving, be one
The individual height for integrating the functions such as environment sensing, programmed decision-making, motion control is intelligent, information system.Unmanned vapour
The research purpose of car is to make computer generation for people to complete vehicle driving tasks, makes up the deficiency of pilot steering, realizes vehicle
Safe, reliable, efficient driving.Effective burden for mitigating driver is reduced driver tired driving by pilotless automobile
Phenomenon, is conducive to improving traffic safety；Meanwhile, coordinate urban traffic control system, traffic can be realized with reasonable distribution traffic flow
The smooth operation of system.
Miniature intelligent vehicle is the down-scaled version of pilotless automobile, miniature only physical size and financial cost, but
Driving behavior and the traffic characteristics of vehicle can be kept, autonomous driving is realized, correlative study achievement can be intelligent driving technology
Research provides reference and used for reference.And it is possible to simulate local urban traffic flow situation by miniature intelligent vehicle, and then study many
Intelligent vehicle interbehavior cognitive model and regulate and control method accordingly, make it possible intelligent driving and Duo Che interactions, and to be large-scale
The many car interactions of automatic driving vehicle and municipal intelligent traffic provide main theoretical basis of the reform of Chinese economic structure or technical support.Miniature intelligent vehicle is due to collection
In used automatically control, the technology such as computer vision, artificial intelligence, sensor, electric circuit electronics technical, have become scientific research and religion
The carrier and experiment porch of interdisciplinary research in field.
Existing miniature intelligent vehicle platform mostly use independent development pattern, each research institution's stand-alone development oneself it is hard
Part platform, the interface of the functional module group used is different, ununified interface standard, causes the module of same type not
Can not be general on same miniature intelligent vehicle platform.The substantial amounts of repeated labor of hardware development aspect so can be not only produced, is made out
Hair personnel do not need singly to carry out algorithm Design and Features exploitation, to take into account hardware development yet.
The content of the invention
(1) technical problem to be solved
The technical problem to be solved in the present invention is to provide a kind of modularization, combined there is the miniature of autonomous driving function
Car.Utilize the modular construction of software view, in that context it may be convenient to complete the autonomous traveling of bicycle and the formation control of many cars.For
The autonomous traveling of bicycle, only relies on the sensing module of itself and gathers the lane information of miniature traffic environment and utilize control and decision-making
Module produces control and just can realized.For the check traffic current Simulations of many cars, it is only necessary to build a total control and determine
The sensing module and lower module interface that plan module is respectively connecting to each independent miniature intelligent vehicle may make up one and be based on
The miniature traffic environment emulation platform of unmanned traffic of many cars.
(2) technical scheme
The invention provides a kind of miniature intelligent vehicle system, including executing agency, sensor and control system, the control
System includes top section and underclad portion, and top section includes environmental perception module, control decision module and interface module, institute
Stating underclad portion includes instruction interface module and collecting sensor signal module：
The environmental perception module is used for the oneself state information for detecting the miniature intelligent vehicle and the environment letter residing for it
Breath；
The control decision module is used for the environment letter according to the oneself state information of the miniature intelligent vehicle and residing for it
The information that breath and underclad portion are transmitted calculates control instruction；
The interface module, the information transfer for the top section and underclad portion；
The instruction interface module, for receiving the control instruction, so that the executing agency performs the control and referred to
Order；
The collecting sensor signal module, the signal for gathering the sensor detection.
In said system, each module of the top section is made up of embedded computer.
In said system, each module of the underclad portion is made up of single-chip microcomputer.
In said system, the sensor includes ultrasonic sensor and velocity sensor.
In said system, each module of the top section is realized by the processor of all-purpose computer.
In said system, the modules of the top section and underclad portion provide unified external interface.
(3) beneficial effect
The invention provides a kind of modular structure, it is larger that its top section mainly completes some complicated, amounts of calculation
Calculating task, realized by the powerful universal computer platform of performance, and lower floor mainly completes some simple, places of low speed signal
Science and engineering is made, and the design being so layered helps to play the advantage of different platform to realize mutual supplement with each other's advantages.
Environmental perception module, control decision module, physical layer interface module be all in the universal computer platform on upper strata with
Scalable software form realizes that therefore exploitation upgrading also becomes simple.Each mould is developed on general Software Development Platform
Block, while modules also provide unified external interface with constituting atom module, combine these atom modules can realize it is many
The formation traveling of car, can also realize the simulation to traffic environment.
Brief description of the drawings
Fig. 1 is the structured flowchart of miniature intelligent vehicle system of the present invention.
Embodiment
For the object, technical solutions and advantages of the present invention are more clearly understood, below in conjunction with specific embodiment, and reference
Accompanying drawing, the present invention is described in further detail.
Fig. 1 is the structured flowchart of miniature intelligent vehicle system of the present invention, as illustrated, the system includes executing agency 106, passed
Sensor 107 and control system, the control system include top section and underclad portion, and top section includes environmental perception module
101st, control decision module 102 and interface module 103, the underclad portion include instruction interface module 104 and sensor signal
Acquisition module 105：
Environmental perception module 101 realizes the environmental information detection to the oneself state information of miniature intelligent vehicle and residing for it,
The data that control decision module 102 is fed back according to the information detected and lower floor calculate control instruction and by interface module
103 are issued to instruction interface module 104, and instruction interface module 104 receives the decision instruction on upper strata and by adjusting executing agency
106 carry out execute instruction, while the distance that measures of collection sensor 107 of collecting sensor signal module 105 and speed and being sent to
Signal is fed back to control decision module 102 so that it makes next step instruction by interface module 103, interface module 103.
Embodiments in accordance with the present invention top section needs one based on X86 or ARM's and is provided with Linux general meter
ROS is installed as the developing operation framework of software on calculation machine, computer.Environmental perception module is write under ROS Development Frameworks
101st, control decision module 102, interface module 103 are used as three single nodes.Environmental perception module 101 should be from camera
Or the route of other kinds of sensor detected vehicle traveling, provide the letter such as the position and direction of vehicle in current driving road
Breath.The aggregation of data decision-making that the reception environmental perception module 101 of control decision module 102 and interface module 103 are transmitted provides miniature
Steering and velocity information needed for car next step traveling, to realize that left-hand bend, right-hand bend, straight trip, acceleration, brake etc. are acted.Connect
The exchange work of two layer datas above and below the main completion of mouth mold block 103.
Underclad portion completes the speed of bottom by instruction interface module 104 and executing agency 106 using single-chip microcomputer as core
Control and course changing control, speed control use widely used PID controller, and it target set point and is passed through with being received from upper strata
Speed encoder on car mold chassis is returned and the pulse signal of velocity correlation obtains current vehicle to single chip computer measurement
Speed, then electric key economize on electricity tune output stabilizing speed of the control output to motor is calculated by PID controller.Course changing control is in reception
The steering order of layer and then the signal for issuing steering wheel by single-chip microcomputer regulation enter to adjust the steering of the rotation completion car of steering wheel.Simultaneously
The collecting work of vehicle-mounted low-speed sensor is completed by sensor 107 and collecting sensor signal module 105.The single-chip microcomputer cycle
Collection waits the triggering of sensor to complete the collection of sensor information, and sends corresponding after the read requests on upper strata are obtained
Data.
Particular embodiments described above, has been carried out further in detail to the purpose of the present invention, technical scheme and beneficial effect
Describe in detail bright, it should be understood that the foregoing is only the present invention specific embodiment, be not intended to limit the invention, it is all
Within the spirit and principles in the present invention, any modification, equivalent substitution and improvements done etc. should be included in the protection of the present invention
Within the scope of.
Claims (6)
1. a kind of miniature intelligent vehicle system, including executing agency, sensor and control system, the control system include upper layer part
Divide and underclad portion, top section includes environmental perception module, control decision module and interface module, the underclad portion includes
Instruction interface module and collecting sensor signal module：
The environmental perception module is used for the oneself state information and the environmental information residing for it for detecting the miniature intelligent vehicle；
The control decision module be used for the environmental information according to residing for the oneself state information of the miniature intelligent vehicle and its with
And the information that underclad portion is transmitted calculates control instruction；
The interface module, the information transfer for the top section and underclad portion；
The instruction interface module, for receiving the control instruction, so that the executing agency performs the control instruction；
The collecting sensor signal module, the signal for gathering the sensor detection.
2. miniature intelligent vehicle system according to claim 1, it is characterised in that each module of the top section is by being embedded in
Formula computer is constituted.
3. miniature intelligent vehicle system according to claim 1, it is characterised in that each module of the underclad portion is by monolithic
Mechanism into.
4. miniature intelligent vehicle system according to claim 1, it is characterised in that the sensor includes ultrasonic sensor
And velocity sensor.
5. miniature intelligent vehicle system according to claim 1, it is characterised in that each module of the top section is by general
The processor of computer is realized.
6. miniature intelligent vehicle system according to claim 1, it is characterised in that the top section and underclad portion it is each
Individual module provides unified external interface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610864680.0A CN107291074A (en) | 2016-09-29 | 2016-09-29 | A kind of miniature intelligent vehicle system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610864680.0A CN107291074A (en) | 2016-09-29 | 2016-09-29 | A kind of miniature intelligent vehicle system |
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| Publication Number | Publication Date |
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| CN107291074A true CN107291074A (en) | 2017-10-24 |
Family
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| CN201610864680.0A Pending CN107291074A (en) | 2016-09-29 | 2016-09-29 | A kind of miniature intelligent vehicle system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108594810A (en) * | 2018-04-08 | 2018-09-28 | 百度在线网络技术（北京）有限公司 | Method, apparatus, storage medium, terminal device and the automatic driving vehicle of data processing |
| CN108919797A (en) * | 2018-06-06 | 2018-11-30 | 上海国际汽车城（集团）有限公司 | A kind of automated driving system of electronic minibus |
| CN109969192A (en) * | 2017-12-28 | 2019-07-05 | 郑州宇通客车股份有限公司 | A kind of vehicle and automatic driving control system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109969192A (en) * | 2017-12-28 | 2019-07-05 | 郑州宇通客车股份有限公司 | A kind of vehicle and automatic driving control system |
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