CN107861502A - A kind of unmanned automobile of intelligent control - Google Patents

A kind of unmanned automobile of intelligent control Download PDF

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Publication number
CN107861502A
CN107861502A CN201711192268.XA CN201711192268A CN107861502A CN 107861502 A CN107861502 A CN 107861502A CN 201711192268 A CN201711192268 A CN 201711192268A CN 107861502 A CN107861502 A CN 107861502A
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China
Prior art keywords
module
automobile body
pin
automobile
analog
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Withdrawn
Application number
CN201711192268.XA
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Chinese (zh)
Inventor
张春华
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Nanjing Shilaier Automobile Electronic Co Ltd
Original Assignee
Nanjing Shilaier Automobile Electronic Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Nanjing Shilaier Automobile Electronic Co Ltd filed Critical Nanjing Shilaier Automobile Electronic Co Ltd
Priority to CN201711192268.XA priority Critical patent/CN107861502A/en
Publication of CN107861502A publication Critical patent/CN107861502A/en
Withdrawn legal-status Critical Current

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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
    • G05D1/0088—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
    • 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
    • G05D1/0055—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements
    • 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
    • G05D1/0055—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements
    • G05D1/0061—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements for transition from automatic pilot to manual pilot and vice versa
    • 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
    • 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
    • G05D1/0248—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 in combination with a laser
    • 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
    • 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
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
    • 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
    • G05B2219/21137—Analog to digital conversion, ADC, DAC
    • 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
    • G05B2219/25—Pc structure of the system
    • G05B2219/25252—Microprocessor

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Automation & Control Theory (AREA)
  • General Physics & Mathematics (AREA)
  • Remote Sensing (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Electromagnetism (AREA)
  • Artificial Intelligence (AREA)
  • Medical Informatics (AREA)
  • Health & Medical Sciences (AREA)
  • Game Theory and Decision Science (AREA)
  • Business, Economics & Management (AREA)
  • Evolutionary Computation (AREA)
  • Optics & Photonics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Multimedia (AREA)
  • Traffic Control Systems (AREA)

Abstract

The invention discloses a kind of unmanned automobile of intelligent control, including automobile body, several laser radars are provided with the bumper of the automobile body front end, gps receiver is provided with the top of the automobile body, the side of the gps receiver is provided with camera, the rear top of the automobile body is provided with manual controller, the automobile body is internally provided with control device, the control device includes microprocessor, power supply, database, environmental perception module, Path Recognition module, fault diagnosis module, velocity measuring module, information communication module, travel control module, LED display module, manual control module and alarm module.Beneficial effect：Compared to traditional Unmanned Systems, its data acquisition accuracy is effectively improved, and effectively breaches its limitation, so as to be effectively improved its driving ability.

Description

A kind of unmanned automobile of intelligent control
Technical field
The present invention relates to automobile technical field, it particularly relates to a kind of unmanned automobile of intelligent control.
Background technology
Current autonomous driving vehicle technology has possessed substantially to be automatically brought into operation and driveability, for example, pacifying on automobile The advanced instruments such as camera, radar sensor and laser detector are filled, the speed limit of highway and roadside can be perceived by them Traffic sign, and the vehicle situation of movement of surrounding, it need to only be navigated if setting out by map.It is unmanned System mainly perceives vehicle-periphery using onboard sensor, and according to perception obtained road, vehicle location and barrier Hinder thing information, control steering and the speed of vehicle, so as to enable the vehicle to reliably and securely be travelled on road.
At present, pilotless automobile is a kind of intelligent automobile, relies primarily on the intelligence based on computer system of in-car Pilot is unmanned to realize.However, in some remote districts, due to being difficult to be accurately positioned on map, so as to cause The data that Unmanned Systems collect when carrying out Path Recognition are not accurate enough, so as to cause Unmanned Systems not complete Navigation drives, and so as to cause its driving ability poor, has some limitations.
The problem of in correlation technique, effective solution is not yet proposed at present.
The content of the invention
The problem of in correlation technique, the present invention proposes a kind of unmanned automobile of intelligent control, to overcome existing correlation Above-mentioned technical problem present in technology.
The technical proposal of the invention is realized in this way：
A kind of unmanned automobile of intelligent control, including automobile body, it is provided with the bumper of the automobile body front end some Individual laser radar, gps receiver is provided with the top of the automobile body, the side of the gps receiver is provided with camera, The rear top of the automobile body is provided with manual controller, and the automobile body is internally provided with control device, described Control device includes microprocessor, power supply, database, environmental perception module, Path Recognition module, fault diagnosis module, speed Detection module, information communication module, traveling control module, LED display module, manual control module and alarm module, it is described micro- Processor is examined with the power supply, the database, the environmental perception module, the Path Recognition module, the failure successively Disconnected module, the velocity measuring module, described information communication module, the traveling control module, the LED display module, institute Manual control module and the alarm module are stated, wherein, the Path Recognition module includes d GPS locating module, record queries mould Block and navigation module, the record queries module include data acquisition module, data analysis contrast module and data outputting module, And the record queries module passes through internet and vehicle administration office's network connection；
Wherein, the data acquisition module includes the first analog-digital converter TLC5510, the second analog-digital converter TLC5510 and volume Journey device FPGA, the programmable device FPGA the first pin respectively with the first pin of the first analog-digital converter TLC5510 and The first pin connection of the second analog-digital converter TLC5510, the second pin of the programmable device FPGA is respectively with described the One analog-digital converter TLC5510 second pin connects with the second pin of the second analog-digital converter TLC5510, the volume Journey device FPGA the 3rd pin is connected with the 3rd pin of the first analog-digital converter TLC5510, the programmable device FPGA's 4th pin is connected with the 3rd pin of the second analog-digital converter TLC5510.
Further, the traveling control module includes lane control module, rate control module and motor drive module.
Further, the environmental perception module includes laser sensor and vision sensor.
Further, the automobile body inside set control exchange button, and it is described control exchange button with it is described Manual control module connects.
Further, display is provided with the driver's cabin of the automobile body, and the display is shown with the LED Module connects.
Further, the automobile body is internally provided with ethernet router, and the ethernet router and institute State the connection of information communication module.
Further, the bottom of the camera is provided with Universal rotary support base.
Further, the velocity measuring module is arranged on the power wheel of the automobile body.
Beneficial effects of the present invention are：By being provided with alarm module and traveling control module so that when any dangerous shape When condition occurs, automobile can automatic alarm simultaneously remind passenger or pedestrian, while travel control module can be in the control of microprocessor Under system immediately stop working parking, so as to efficiently avoid danger generation, so as to be effectively protected passenger or other people The security of the lives and property；By being provided with fault diagnosis module so that it can carry out self-test, so as to the work band to maintainer That comes is greatly convenient；By being provided with manual control module so that it can easily realize that pilot steering and automobile are automatic The conversion of driving；By being provided with record queries module in Path Recognition module so that when automobile enters some remote districts Or when the place of exact display location is unable on map, can be by the data acquisition module in record queries module by from car Pipe network data base in search this regional driving recording situation, and by data analysis contrast module to data at Reason, so as to obtain an accurate traffic navigation route, so as to greatly improve the accuracy of navigation；The present invention is compared to biography The Unmanned Systems of system, its data acquisition accuracy is effectively improved, and effectively breaches its limitation, so as to have Improve its driving ability to effect.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to institute in embodiment The accompanying drawing needed to use is briefly described, it should be apparent that, drawings in the following description are only some implementations of the present invention Example, for those of ordinary skill in the art, on the premise of not paying creative work, can also be obtained according to these accompanying drawings Obtain other accompanying drawings.
Fig. 1 is a kind of scantling plan of the unmanned automobile of intelligent control according to embodiments of the present invention；
Fig. 2 is a kind of system block diagram of the control device of the unmanned automobile of intelligent control according to embodiments of the present invention；
Fig. 3 is a kind of structured flowchart of the record queries module of the unmanned automobile of intelligent control according to embodiments of the present invention；
Fig. 4 is a kind of structured flowchart of the environmental perception module of the unmanned automobile of intelligent control according to embodiments of the present invention；
Fig. 5 is a kind of structured flowchart of the traveling control module of the unmanned automobile of intelligent control according to embodiments of the present invention；
Fig. 6 is a kind of system diagram of the data acquisition module of the unmanned automobile of intelligent control according to embodiments of the present invention.
In figure：
1st, automobile body；2nd, laser radar；3rd, camera；4th, gps receiver；5th, manual controller；6th, vision sensor；7、 D GPS locating module；8th, record queries module；9th, navigation module；10th, fault diagnosis module；11st, velocity measuring module；12nd, data Storehouse；13rd, alarm module；14th, manual control module；15th, LED display module；16th, control module is travelled；17th, information communication mould Block；18th, power supply；19th, microprocessor；20th, environmental perception module；21st, Path Recognition module；22nd, data acquisition module；23rd, number According to analysis contrast module；24th, data outputting module；25th, lane control module；26th, rate control module；27th, motor driving mould Block；28th, laser sensor.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on Embodiment in the present invention, the every other embodiment that those of ordinary skill in the art are obtained, belong to what the present invention protected Scope.
According to an embodiment of the invention, there is provided a kind of unmanned automobile of intelligent control.
As shown in figures 1 to 6, the unmanned automobile of a kind of intelligent control according to embodiments of the present invention, including automobile body 1, institute State and several laser radars 2 are provided with the bumper of the front end of automobile body 1, the top of the automobile body 1 is provided with GPS and connect Device 4 is received, the side of the gps receiver 4 is provided with camera 3, and the rear top of the automobile body 1 is provided with manual control dress 5 are put, the automobile body 1 is internally provided with control device, and the control device includes microprocessor 19（SCT89C52）, electricity Source 18, database 12, environmental perception module 20, Path Recognition module 21, fault diagnosis module 10, velocity measuring module 11, letter Cease communication module 17, traveling control module 16, LED display module 15, manual control module 14 and alarm module 13, micro- place Manage device 19（SCT89C52）Successively with the power supply 18, the database 12, the environmental perception module 20, the Path Recognition Module 21, the fault diagnosis module 10, the velocity measuring module 11, described information communication module 17, the traveling control Module 16, the LED display module 15, the manual control module 14 and the alarm module 13, wherein, the Path Recognition Module 21 includes d GPS locating module 7, record queries module 8 and navigation module 9, and the record queries module 8 includes data acquisition Module 22, data analysis contrast module 23 and data outputting module 24, and the record queries module 8 passes through internet and car pipe Institute's network connection；
Wherein, the data acquisition module 22 include the first analog-digital converter TLC5510, the second analog-digital converter TLC5510 and Programmable device FPGA, the programmable device FPGA the first pin the first pin with the first analog-digital converter TLC5510 respectively Connected with the first pin of the second analog-digital converter TLC5510, the second pin of the programmable device FPGA respectively with it is described First analog-digital converter TLC5510 second pin connects with the second pin of the second analog-digital converter TLC5510, described Programmable device FPGA the 3rd pin is connected with the 3rd pin of the first analog-digital converter TLC5510, the programmable device FPGA The 4th pin be connected with the 3rd pin of the second analog-digital converter TLC5510.
By means of above-mentioned technical proposal, by being provided with alarm module 13 and traveling control module 16 so that when any danger When dangerous situation occurs, automobile meeting automatic alarm simultaneously reminds passenger or pedestrian, while travels the meeting of control module 16 in microprocessor Device 19（SCT89C52）Control under stop working immediately parking, so as to efficiently avoid the generation of danger, so as to effectively protecting Passenger or autre vie property safety；By being provided with fault diagnosis module 10 so that it can carry out self-test, from And to maintainer work bring it is greatly convenient；By being provided with manual control module 14 so that it can be easily Realize pilot steering and the conversion of automatic driving；By being provided with record queries module 8 in Path Recognition module 21, make Proper automobile enters on some remote districts or maps when being unable to the place of exact display location, can pass through record queries module Data acquisition module 22 in 8 is passed through by searching this regional driving recording situation from the network data base of vehicle administration office Data analysis contrast module 23 is handled data, so as to obtain an accurate traffic navigation route, so as to greatly carry The high accuracy of navigation；The present invention is effectively improved its data acquisition accuracy compared to traditional Unmanned Systems, And its limitation is effectively breached, so as to be effectively improved its driving ability.
In addition, the traveling control module 16 includes lane control module 25, rate control module 26 and motor driving mould Block 27, the environmental perception module 20 include laser sensor 28 and vision sensor 6, and the inside of the automobile body 1 is set Button is exchanged in control, and the control is exchanged button and is connected with the manual control module 14, the driver's cabin of the automobile body 1 Display is inside provided with, and the display is connected with the LED display module 15, the automobile body 1 is internally provided with Ethernet router, and the ethernet router is connected with described information communication module 17, the bottom of the camera 3 is set There is Universal rotary support base, the velocity measuring module 11 is arranged on the power wheel of the automobile body 1.
In summary, by means of the above-mentioned technical proposal of the present invention, by being provided with alarm module 13 and traveling control mould Block 16 so that when any unsafe condition occurs, automobile meeting automatic alarm simultaneously reminds passenger or pedestrian, while travels control Module 16 can be in microprocessor 19（SCT89C52）Control under immediately stop working parking, so as to efficiently avoid danger hair It is raw, so as to be effectively protected passenger or autre vie property safety；By being provided with fault diagnosis module 10 so that It can carry out self-test, greatly convenient so as to be brought to the work of maintainer；By being provided with manual control module 14, It is allowd easily to realize pilot steering and the conversion of automatic driving；By being provided with Path Recognition module 21 Record queries module 8 so that, can be with when automobile, which enters, is unable to the place of exact display location on some remote districts or maps By the data acquisition module 22 in record queries module 8 by searching this regional driving from the network data base of vehicle administration office Record situation, and data are handled by data analysis contrast module 23, so as to obtain an accurate traffic navigation road Line, so as to greatly improve the accuracy of navigation；The present invention is effectively improved it compared to traditional Unmanned Systems Data acquisition accuracy, and its limitation is effectively breached, so as to be effectively improved its driving ability.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention God any modification, equivalent substitution and improvements made etc., should be included in the scope of the protection with principle.

Claims (8)

1. the unmanned automobile of a kind of intelligent control, it is characterised in that including automobile body（1）, the automobile body（1）Front end Several laser radars are provided with bumper（2）, the automobile body（1）Top be provided with gps receiver（4）, it is described Gps receiver（4）Side be provided with camera（3）, the automobile body（1）Rear top be provided with manual controller （5）, the automobile body（1）Be internally provided with control device, the control device includes microprocessor（19）, power supply （18）, database（12）, environmental perception module（20）, Path Recognition module（21）, fault diagnosis module（10）, velocity measuring mould Block（11）, information communication module（17）, traveling control module（16）, LED display module（15）, manual control module（14）And report Alert module（13）, the microprocessor（19）Successively with the power supply（18）, the database（12）, the environmental perception module （20）, the Path Recognition module（21）, the fault diagnosis module（10）, the velocity measuring module（11）, described information Communication module（17）, the traveling control module（16）, the LED display module（15）, the manual control module（14）With The alarm module（13）, wherein, the Path Recognition module（21）Including d GPS locating module（7）, record queries module（8） And navigation module（9）, the record queries module（8）Including data acquisition module（22）, data analysis contrast module（23）With Data outputting module（24）, and the record queries module（8）Pass through internet and vehicle administration office's network connection；
Wherein, the data acquisition module（22）Including the first analog-digital converter TLC5510, the second analog-digital converter TLC5510 With programmable device FPGA, the first pin of the programmable device FPGA draws with the first of the first analog-digital converter TLC5510 respectively Pin connects with the first pin of the second analog-digital converter TLC5510, the second pin of the programmable device FPGA respectively with institute The second pin for stating the first analog-digital converter TLC5510 connects with the second pin of the second analog-digital converter TLC5510, institute The 3rd pin for stating programmable device FPGA is connected with the 3rd pin of the first analog-digital converter TLC5510, the programmable device FPGA the 4th pin is connected with the 3rd pin of the second analog-digital converter TLC5510.
A kind of 2. unmanned automobile of intelligent control according to claim 1, it is characterised in that the traveling control module （16）Including lane control module（25）, rate control module（26）And motor drive module（27）.
A kind of 3. unmanned automobile of intelligent control according to claim 1, it is characterised in that the environmental perception module （20）Including laser sensor（28）And vision sensor（6）.
A kind of 4. unmanned automobile of intelligent control according to claim 1, it is characterised in that the automobile body（1）'s Inside sets control to exchange button, and button and the manual control module are exchanged in the control（14）Connection.
A kind of 5. unmanned automobile of intelligent control according to claim 1, it is characterised in that the automobile body（1）'s Display, and the display and the LED display module are provided with driver's cabin（15）Connection.
A kind of 6. unmanned automobile of intelligent control according to claim 1, it is characterised in that the automobile body（1）'s It is internally provided with ethernet router, and the ethernet router and described information communication module（17）Connection.
A kind of 7. unmanned automobile of intelligent control according to claim 1, it is characterised in that the camera（3）Bottom Portion is provided with Universal rotary support base.
A kind of 8. unmanned automobile of intelligent control according to claim 1, it is characterised in that the velocity measuring module （11）It is arranged on the automobile body（1）Power wheel on.
CN201711192268.XA 2017-11-24 2017-11-24 A kind of unmanned automobile of intelligent control Withdrawn CN107861502A (en)

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Application Number Priority Date Filing Date Title
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Application Number Priority Date Filing Date Title
CN201711192268.XA CN107861502A (en) 2017-11-24 2017-11-24 A kind of unmanned automobile of intelligent control

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108829082A (en) * 2018-06-04 2018-11-16 北京智行者科技有限公司 Car body controller
WO2021035427A1 (en) * 2019-08-23 2021-03-04 深圳市速腾聚创科技有限公司 Lidar and autonomous driving device
CN112660145A (en) * 2020-12-24 2021-04-16 李敏 Control system and control method of unmanned vehicle
CN113359750A (en) * 2021-06-23 2021-09-07 江苏高瞻数据科技有限公司 Method and device for remotely controlling vehicle based on intelligent equipment

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108829082A (en) * 2018-06-04 2018-11-16 北京智行者科技有限公司 Car body controller
WO2021035427A1 (en) * 2019-08-23 2021-03-04 深圳市速腾聚创科技有限公司 Lidar and autonomous driving device
CN112789511A (en) * 2019-08-23 2021-05-11 深圳市速腾聚创科技有限公司 Laser radar and autopilot device
CN112660145A (en) * 2020-12-24 2021-04-16 李敏 Control system and control method of unmanned vehicle
CN113359750A (en) * 2021-06-23 2021-09-07 江苏高瞻数据科技有限公司 Method and device for remotely controlling vehicle based on intelligent equipment

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