CN107329466A - A kind of automatic Pilot compact car - Google Patents
A kind of automatic Pilot compact car Download PDFInfo
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- CN107329466A CN107329466A CN201710750718.6A CN201710750718A CN107329466A CN 107329466 A CN107329466 A CN 107329466A CN 201710750718 A CN201710750718 A CN 201710750718A CN 107329466 A CN107329466 A CN 107329466A
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- 230000010365 information processing Effects 0.000 claims description 15
- 230000004888 barrier function Effects 0.000 claims description 13
- 238000009434 installation Methods 0.000 claims description 8
- 238000012544 monitoring process Methods 0.000 claims description 7
- 238000003708 edge detection Methods 0.000 claims description 6
- 238000000034 method Methods 0.000 claims description 4
- 238000012986 modification Methods 0.000 claims description 4
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- 238000004886 process control Methods 0.000 claims 1
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- 230000006399 behavior Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
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Classifications
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- 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
- G05D1/0088—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
-
- 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
- G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
- G05D1/0022—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement characterised by the communication link
-
- 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
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
-
- 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
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
-
- 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
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning 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
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
-
- 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
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
- G05D1/0289—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling with means for avoiding collisions between vehicles
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/21—Pc I-O input output
- G05B2219/21014—Interface, module with relays
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/26—Pc applications
- G05B2219/2603—Steering car
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/26—Pc applications
- G05B2219/2637—Vehicle, car, auto, wheelchair
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Abstract
The invention discloses a kind of automatic Pilot compact car, belong to automatic driving vehicle field, including car body, sensor assembly, controller and traveling performs device, the sensor assembly collection car body position information and environmental information pass to controller, the controller proposes that run routing information passes to traveling performs device, the traveling performs device control car body traveling；The controller built-in intelligence decision-making module, the positional information and environmental information combination prior information that the intelligent decision module is gathered according to sensor proposes driving path.Constantly learnt according to prior information, improve driving mode, driving mode the most safe, efficient can be selected under complicated or special traffic.
Description
Technical field
The present invention relates to a kind of compact car, especially a kind of compact car with Function for Automatic Pilot, for traffic, transport
Or road-cleaning etc., belong to automatic driving vehicle field.
Background technology
Automobile introduces human lives, with isolated mode operation, existing over one hundred year history.In past more than 100 years,
As the important symbol of modern civilization, automobile has overturned the life style of the mankind, has expanded the activity space of the mankind, changes whole
Individual social pattern, greatly improves the movable living quality of the mankind, but automobile, which needs driver to drive, to travel, and take
Excessive human resources.Various unmanned dollies are occurred in that in recent years, and these unmanned dollies can complete transport
Small freight, send with charge free express mail, clean the work such as road or road survey.
Chinese patent document CN101876827A discloses a kind of pilotless automobile, including car body, outside car body
Vehicle-mounted camera and sensor, the gps satellite alignment system in car body and computerized control system, described vehicle-mounted camera
For shooting the real-time road near automobile and traffic information being sent into computerized control system；Described sensor is used to experience
Barrier in automobile forward march, and send obstacle information to computerized control system；Described gps satellite alignment system
For determining optimal path, and obtain the real-time road condition information towards destination approach road, including occur traffic jam or
The traffic information of person's traffic control；Described computerized control system is used for according to fixed from vehicle-mounted camera, sensor and gps satellite
The various information that receive of position system, control the startup of automobile, velocity transformation, direction transformation, brake, overtake other vehicles and stop, tackle
Traffic peak and barrier.But the row that traditional unmanned vehicle can only be obtained according to camera, sensor information and gps system
Car environment determines driving path, can only make fixed driving mode when outside environment is similar according to pre-set programs, presets
It is manually set during program, it is possible to not most safe, optimal traveling scheme, and road conditions are various, preset journey
Sequence is difficult to consider all traffic conditions, runs into that traffic conditions are complex, or traffic accident occur on the road of traveling
During etc. special circumstances, tend not to make optimal traveling scheme, can not only influence unmanned dolly normally to work, can also
Jeopardize safety of the unmanned dolly itself with other vehicles.
The content of the invention
The technical problem to be solved in the present invention be in the prior art unmanned dolly be all can only be by fixed mode
Travelled, can not be made a change under complicated or special traffic, influence traffic safety, and then propose a kind of basis
The automatic Pilot compact car of prior information and sensor information combination driving mode, constantly learns according to prior information, improves row
Mode is sailed, driving mode the most safe, efficient can be selected under complicated or special traffic.
The technical solution used in the present invention is：
A kind of automatic Pilot compact car of the present invention, including car body, sensor assembly, controller and traveling performs device, institute
State sensor assembly collection car body position information and environmental information passes to controller, the controller proposes run routing information
Pass to traveling performs device, the traveling performs device control car body traveling；
The controller built-in intelligence decision-making module, positional information and environment that the intelligent decision module is gathered according to sensor
Information combination prior information proposes driving path.
Further, the also built-in virtual switch of the controller and some program modules, the virtual switch include
Some virtual bus, every bus connects some program modules；By ordering between program module on connection same virtual bus
Read and/or published method enters row data communication, the program module given out information does not safeguard the program module list of subscription, subscription
The program module direct correlation that gives out information of program module discord, each module is only and virtual bus direct communication in logic.
Further, described program module includes sensor information processing module, prior information module and traveling execution mould
Block；
The sensor information processing module be used for handle sensor assembly acquisition data message, identification road, traffic mark,
Barrier, other vehicles and pedestrian；
The prior information module storing map database, traffic rules database and drive recorder experience database, for remembering
Record traveling record, addition and the built-in database of modification, update priori, propose prior information；
The traveling performing module, the route that driving traveling performs device is proposed according to intelligent decision module.
Further, the intelligent decision module includes assignment decisions module and global decisions module；The assignment decisions
Module is used to determine mission mode；The global decisions module is according to sensor information processing module, prior information module and appoints
The information that business decision-making module is transmitted calculates suitable path.
Further, the sensor assembly includes at least one of positioner, radar installations and video camera, described fixed
Position device is used for the positional information for measuring car body；The radar installations, for detecting road information and obstacle information；It is described to take the photograph
Camera is used to shoot the environment image information during traveling.
Further, sensor information processing module includes traffic lights identification module, Traffic Sign Recognition module, barrier
Hinder thing identification module, road detection module and road-edge detection module,
The traffic lights identification module, for analyzing the picture that the video camera is shot, recognizes traffic lights, and with it is pre-
The signal information put is contrasted, and judges traffic signal light condition；
The Traffic Sign Recognition module, for analyzing the picture that the video camera is shot, recognizes traffic sign, and with it is preset
Traffic sign is contrasted, and judges traffic sign implication；
The obstacle recognition module, the barrier data for analyzing radar equipment detection, calculates other vehicles and pedestrian
Transport to state；
The site of road number of the road detection module, the picture shot by the video camera and radar equipment detection
According to identification Road；
The road edge of the road-edge detection module, the picture shot by the video camera and radar equipment detection
Equipment recognizes road edge.
Further, the also built-in logger module of the controller and monitoring module, the logger module are used for
The course of work and data of other program modules；The monitoring module is used for the running situation for monitoring other modules, discovery module
Exception is performed then to send alarm, repair or terminate execution.
Further, the traveling performing module includes some relays, relay steering wheel relay and brake relay
With throttle relay, the steering wheel of the steering wheel relay connection body, control car body is turned to；The brake relay connection is described
The brake of car body, control vehicle stops；The throttle of car body shown in throttle relay connection, control car body starts, accelerate and
Slow down.
Further, in addition to remote control and remote control, the remote control passes through wireless signal connection control
Device processed, the remote control connects controller by communication network.
Further, the controller connects including at least one MUC, at least one electric pressure converter, at least one power supply
What mouth, at least one serial ports, at least one network interface, at least one USB port and at least three I/O mouthfuls were constituted；The power interface
Power supply is connected by electric pressure converter to power for MUC；The MUC connects the communication network by serial ports, network interface and USB port；
The reception device that the MUC passes through an I/O mouthfuls of connection remote controls；The MUC is performed by least two I/O mouthfuls of connection traveling
Device.
Due to using above-mentioned technical proposal, the beneficial effect produced by the present invention is：
（1）Miniature remote control car automated driving system of the present invention, sensor assembly can obtain car body position information and environment
Information；Controller calculates suitable travel route；Traveling performs device can control steering wheel, brake and the throttle of car body, root
According to controller instruction control car body traveling；Controller built-in intelligence decision-making module, the intelligent decision module is adopted according to sensor
The positional information and environmental information combination prior information of collection propose driving path, and prior information is carried according to conventional driving experience
Go out, when running under steam to the similar barrier of driving experience in the past or traffic conditions, propose safety the most and relatively quick
Traveling scheme；The prior information can be constantly updated, and as driving experience increases meeting constantly improve, update traveling side
Formula, can select driving mode the most safe, efficient under complicated or special traffic.
（2）Virtual switch built in controller and some journeys described in Miniature remote control car automated driving system of the present invention
It is made up of on sequence module, virtual switch logic a plurality of virtual bus, every bus connects some program modules, and these modules can
To be distributed on different computers；Intermodule in same bus enters row data communication by subscription/publication mode, and issue disappears
The module of breath does not safeguard subscribing module list, and subscribing module is also got along well news release module direct correlation, and each module is only in logic
With bus direct communication；Each module can complete " hot plug " on virtual bus, with addition, with stopping with removal；Virtually
Interchanger will be peeled off in communication function slave module, need not be in communication with each other between module, need not set up multiple between program module
Miscellaneous communication network, makes module be absorbed in itself issued transaction, improves the speed of service；Virtual switch function is maintained for a long time simultaneously
High-performance transmitting, facilitates system development and maintenance.
（3）Remote control and remote control are added in Miniature remote control car automated driving system of the present invention, institute
State remote control and controller is connected by wireless signal, the remote control connects controller by communication network.Remote control
Device and remote control are that, by manual type remote control, in the case where road conditions are complex, staff proposes
Optimal driving path, can control car body to travel, the prior information module of controller by remote control and remote control
This artificial operation is recorded, and updates prior information, increases traveling experience, the energy that controller handles special traffic problems is improved
Power.
Brief description of the drawings
Fig. 1 is the structural representation of the present invention；
Fig. 2 is virtual switch structural representation of the present invention；
Fig. 3 is present procedure module principle schematic diagram；
Fig. 4 is that invention increases remote control and remote control structural representation；
Fig. 5 is a kind of embodiment structural representation of controller of the present invention；
Wherein：1st, sensor assembly, 2, controller, 3, traveling performs device, 4, relay, 4-1, steering wheel relay, are stopped 4-2
Car relay, 4-3, throttle relay, 5, car body, 6, remote control, 7, remote control.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention：
A kind of automatic Pilot compact car described in present embodiment, as shown in figure 1, including car body 5, controller 2, sensor assembly
1 and traveling performs device 3, the built-in intelligence decision-making module of controller 2；The sensor assembly 1 can be filled with regioselective
Put, radar installations and video camera it is at least one, the positioner is used for the positional information for measuring car body 5；The radar installations,
For detecting road information and obstacle information；The video camera is used to shoot the environment image information during traveling；At this
In embodiment, the preferred orientation device of sensor assembly 1 and radar installations, the sensor assembly 1 pass through positioner
Positional information and environmental information are passed into intelligent decision module with radar installations；
The intelligent decision module includes prior information module, and prior information module provides prior information for intelligent decision module,
The prior information includes traffic rules, cartographic information, driving experience and priori path etc., the intelligence in the present embodiment
The prior information that the positional information and environmental information combination prior information module that decision-making module is gathered by sensor assembly 1 are proposed
Calculate optimal driving path.
Global decisions module is at system each moment, when such as, and multiple decision behaviors are constructed according to vehicle's current condition, and formation is determined
Plan collection, and concentrate each decision behavior to carry out cost evaluation with cost function decision-making.Wherein, environmental information passes through prior information mould
The global and local grid map information of block is obtained；Current time vehicle-state vector is comprising vehicle location, towards angle, speed
Degree, angular speed, acceleration information, the information for merging multiple sensor collections by sensor information processing module are obtained.Cost letter
Number assesses all decision behaviors, and obtaining optimizing decision for global decisions module provides foundation.
When in use, the sensor gathers the positional information of car body 5 and environmental information, the position letter to above-mentioned embodiment
Cease to determine the information of the position of car body 5, such as latitude and longitude information；The environmental information is the environment during car body 5 is travelled,
For ensureing that car body 5 drives safely, in the present embodiment including site of road, road edge information, vehicle, pedestrian and its
His barrier；The prior information module can be constantly updated according to traveling record every time, with driving experience increases can be constantly complete
It is kind, driving mode is updated, the prior information that intelligent decision module can be gathered according to prior information module is combined.
As the improvement of above-mentioned embodiment, as shown in Fig. 2 the also built-in virtual switch of controller described in present embodiment
Machine and some program modules, the virtual switch include some virtual bus, and every bus connects some program modules；Connection
Row data communication is entered by subscription and/or published method between program module on same virtual bus, the program given out information
Module does not safeguard the program module list of subscription, the program module direct correlation that the program module discord of subscription gives out information, and patrols
Collect upper each module and virtual bus direct communication.
When in use, the prior information mode that intelligent decision module subscribes to prior information module is as follows for above-mentioned embodiment,
Intelligent decision module sends the message for the data for subscribing to prior information module to virtual bus first, and virtual bus is to prior information
Module forwards subscribe to message, and prior information module, which is received, sends prior information data to virtual bus after subscription message, virtually
Prior information data transfer is given intelligent decision module by bus.Sensor information processing module, which releases news, gives intelligent decision module
Mode is as follows, and environmental information and positional information are passed to virtual bus by sensor information processing module, and virtual bus will be above-mentioned
Information is transmitted to intelligent decision module.
Present embodiment is the improvement of above-mentioned embodiment, as shown in figure 3, described program module includes the intelligent decision
Module, sensor information processing module, prior information module and traveling performing module；The sensor information processing module is used for
The data message that sensor assembly 1 is obtained is handled, for recognizing road, traffic mark, barrier, other vehicles and pedestrian；Institute
Prior information module storing map database, traffic rules database and drive recorder experience database are stated, for recording traveling
Record, addition and the built-in database of modification, update priori, propose prior information；The traveling performing module, driving row
Sail the route that performs device 3 is proposed according to intelligent decision module.
Present embodiment is the improvement of above-mentioned embodiment, and the intelligent decision module includes assignment decisions module and the overall situation
Decision-making module；The assignment decisions module is used to determine mission mode；The mission mode is the compact car of Function for Automatic Pilot
Performed traveling task, in the present embodiment including Car following model, passing mode, tracking pattern, lane-change pattern, parking mould
Formula and avoidance pattern etc.；The global decisions module is according to sensor information processing module, priori mapping module and assignment decisions
The information that module is transmitted calculates suitable path, and when such as example running into barrier, assignment decisions pattern is true according to prior information
Determine avoidance pattern or car-parking model, barrier size, shape that global decisions pattern is calculated according to sensor information processing module
The information such as shape and translational speed, and map, conventional similar obstacles thing that priori pattern is provided detour experience, with reference to assignment decisions
The pattern that pattern is determined is calculated, it is determined that optimal driving mode.
Present embodiment as above-mentioned embodiment improvement, sensor information processing module include traffic lights identification
Module, Traffic Sign Recognition module, obstacle recognition module, road detection module and road-edge detection module,
The traffic lights identification module, for analyzing the picture that the video camera is shot, recognizes traffic lights, and with it is pre-
The signal information put is contrasted, and judges traffic signal light condition；
The Traffic Sign Recognition module, for analyzing the picture that the video camera is shot, recognizes traffic sign, and with it is preset
Traffic sign is contrasted, and judges traffic sign implication；
The obstacle recognition module, the barrier data for analyzing radar equipment detection, calculates other vehicles and pedestrian
Transport to state；
The site of road number of the road detection module, the picture shot by the video camera and radar equipment detection
According to identification Road；
The road edge of the road-edge detection module, the picture shot by the video camera and radar equipment detection
Equipment recognizes road edge.
As the improvement of above-mentioned embodiment, the also built-in logger module of the controller and prison in the present embodiment
Module is controlled, the logger module is used for the course of work and data of other program modules；Checked during for safeguarding or overhaul
Whether each program module is normally run；The monitoring module is used for the running situation for monitoring other modules, and discovery module is performed
It is abnormal then send alarm, repair or terminate perform.
As the improvement of above-mentioned embodiment, the traveling performing module includes some relays 4 in the present embodiment,
Relay includes steering wheel relay 4-1, brake relay 4-2 and throttle relay 4-2, the steering wheel relay 4-1 connection cars
The steering wheel of body 5, steering wheel relay 4-1 switches, action directly control the work of steering wheel, control steering wheel operating, so as to control car body 5
Turn to；The brake relay 4-2 connections brake, control car body 5 stops；The throttle of the throttle relay 4-3 connection bodies,
Above-mentioned relay receives the signal of controller 2, and car body traveling is controlled according to signal.
As the improvement of above-mentioned embodiment, as shown in figure 4, present embodiment adds remote control 6 and remote control
Device 7, the remote control 6 connects controller 2 by wireless signal, and the remote control 7 is connected by communication network
Controller 2.Remote control 6 and remote control 7 are by manual type remote control, in the complex situation of road conditions
Under, staff proposes optimal driving path, by remote control and remote control 7 car body 5 can be controlled to travel, controlled
The prior information module of device 2 records this artificial operation, and updates prior information.
As the improvement of above-mentioned embodiment, as shown in figure 5, controller 2 described in present embodiment includes at least one
MUC, at least one electric pressure converter, at least one power interface, at least one serial ports, at least one network interface, at least one USB
What mouth was constituted with least three I/O mouthfuls；The power interface connects power supply by electric pressure converter and powered for MUC；The MUC leads to
Cross serial ports, network interface and USB port and connect the communication network；The reception device that the MUC passes through an I/O mouthfuls of connection remote controls；
The MUC travels performs device 3 by least two I/O mouthfuls of connection.
The above-described embodiments are merely illustrative of preferred embodiments of the present invention, not to the structure of the present invention
Think and scope is defined.On the premise of design concept of the present invention is not departed from, technology of this area ordinary person to the present invention
The all variations and modifications that scheme is made, all should drop into protection scope of the present invention, claimed technology contents of the invention,
All record in detail in the claims.
Claims (10)
1. a kind of automatic Pilot compact car, including car body（5）, it is characterised in that also including sensor assembly（1）, controller（2）
With traveling performs device（3）, the sensor assembly（1）Gather car body（5）Positional information and environmental information pass to controller
（2）, the controller（2）Propose that run routing information passes to traveling performs device（3）, the traveling performs device（3）Control
Car body processed（5）Traveling；
The controller（2）Built-in intelligence decision-making module, positional information that the intelligent decision module is gathered according to sensor and
Environmental information combination prior information proposes driving path.
2. automatic Pilot compact car according to claim 1, it is characterised in that the controller（2）Also built-in virtual switch
Machine and some program modules, the virtual switch include some virtual bus, and every bus connects some program modules；Connection
Row data communication is entered by subscription and/or published method between program module on same virtual bus, the program given out information
Module does not safeguard the program module list of subscription, the program module direct correlation that the program module discord of subscription gives out information, and patrols
Collect upper each module and virtual bus direct communication.
3. automatic Pilot compact car according to claim 1 or claim 2, it is characterised in that described program module is believed including sensor
Cease processing module, prior information module and traveling performing module；
The sensor information processing module is used to handle sensor assembly（1）The data message of acquisition, identification road, traffic mark
Knowledge, barrier, other vehicles and pedestrian；
The prior information module storing map database, traffic rules database and drive recorder experience database, for remembering
Record traveling record, addition and the built-in database of modification, update priori, propose prior information；
The traveling performing module, driving traveling performs device（3）The route proposed according to intelligent decision module.
4. according to any automatic Pilot compact car of claim 1 ~ 3, it is characterised in that the intelligent decision module includes appointing
Business decision-making module and global decisions module；The assignment decisions module is used to determine mission mode；The global decisions module root
The information transmitted according to sensor information processing module, prior information module and assignment decisions module calculates suitable path.
5. according to any automatic Pilot compact car of claim 1 ~ 4, it is characterised in that the sensor assembly（1）Including
At least one of positioner, radar installations and video camera, the positioner are used to measure car body（5）Positional information；Institute
Radar installations is stated, for detecting road information and obstacle information；The video camera is used to shoot the environment picture during traveling
Face information.
6. automatic Pilot compact car according to claim 3, it is characterised in that sensor information processing module includes traffic letter
Signal lamp identification module, Traffic Sign Recognition module, obstacle recognition module, road detection module and road-edge detection mould
Block,
The traffic lights identification module, for analyzing the picture that the video camera is shot, recognizes traffic lights, and with it is pre-
The signal information put is contrasted, and judges traffic signal light condition；
The Traffic Sign Recognition module, for analyzing the picture that the video camera is shot, recognizes traffic sign, and with it is preset
Traffic sign is contrasted, and judges traffic sign implication；
The obstacle recognition module, the barrier data for analyzing radar equipment detection, calculates other vehicles and pedestrian
Transport to state；
The site of road number of the road detection module, the picture shot by the video camera and radar equipment detection
According to identification Road；
The road edge of the road-edge detection module, the picture shot by the video camera and radar equipment detection
Equipment recognizes road edge.
7. according to any automatic Pilot compact car of claim 1 ~ 6, it is characterised in that the controller（2）Also built-in day
Will logging modle and monitoring module, the logger module are used for the course of work and data of other program modules；The prison
Control module is used for the running situation for monitoring other modules, and discovery module execution exception then sends alarm, reparation or terminated and performs.
8. according to any automatic Pilot compact car of claim 3, it is characterised in that the traveling performing module includes some
Relay（4）, the relay include steering wheel relay（4-1）And brake relay（4-2）With throttle relay（4-3）, institute
State steering wheel relay（4-1）Connection body（5）Steering wheel, control car body（5）Turn to；The brake relay（4-2）Connection institute
The brake of car body is stated, control vehicle stops；The throttle relay（4-3）The throttle of car body shown in connection, controls car body（5）Open
Dynamic, acceleration and deceleration.
9. according to any automatic Pilot compact car of claim 1 ~ 8, it is characterised in that also including remote control（6）With it is remote
Process control device（7）, the remote control（6）Controller is connected by wireless signal（2）, the remote control（7）It is logical
Cross communication network connection controller（2）.
10. according to any automatic Pilot compact car of claim 1 ~ 9, it is characterised in that the controller（2）Including at least
One MUC, at least one electric pressure converter, at least one power interface, at least one serial ports, at least one network interface, at least one
Individual USB port and at least three I/O mouthfuls composition；The power interface connects power supply by electric pressure converter and powered for MUC；It is described
MUC connects the communication network by serial ports, network interface and USB port；The reception that the MUC passes through an I/O mouthfuls of connection remote controls
Device；The MUC travels performs device by least two I/O mouthfuls of connection（3）.
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