CN108052099A - A kind of embedded autonomous driving vehicle automated driving system - Google Patents
A kind of embedded autonomous driving vehicle automated driving system Download PDFInfo
- Publication number
- CN108052099A CN108052099A CN201711147206.7A CN201711147206A CN108052099A CN 108052099 A CN108052099 A CN 108052099A CN 201711147206 A CN201711147206 A CN 201711147206A CN 108052099 A CN108052099 A CN 108052099A
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- China
- Prior art keywords
- vehicle
- testing agency
- embedded
- driving system
- automated driving
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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 or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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 or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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 or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
Abstract
The present invention relates to a kind of embedded autonomous driving vehicle automated driving systems, including pavement state testing agency, vehicle operation testing agency, data communication mechanism and DPA data processing activity, in vehicle centre console, DPA data processing activity is run testing agency, data communication mechanism and vehicle driving computer circuits and is electrically connected with pavement state testing agency, vehicle respectively by data communication mechanism for DPA data processing activity and data communication means.One aspect of the present invention can effectively improve flexibility and the versatility of Vehicular automatic driving system, installation, maintenance and replacement operation, on the other hand severe current the defects of lacking Redundancy Design between automated driving system and manual drive system is also effectively avoided, so as to greatly improve automatic driving vehicle reliability of operation.
Description
Technical field
System is driven automatically the present invention relates to a kind of, belongs to autonomous driving vehicle technical field.
Background technology
With the popularization and use of unmanned technology, automatic driving vehicle has progressively obtained promotion and application, has currently existed
It carries out in automatic driving vehicle operation, used automated driving system is often used and is directly integrated in vehicle control electronics
Structure, although can effectively meet the needs used, cause automated driving system upgrading in actual use, dimension
Shield and troubleshooting task difficulty are big, and work efficiency is low, while the basic control circuit also there are vehicle operation with driving automatically
Control circuit part is sailed there are more common sparing, it is mutually dry so as to cause existing in automated driving system and manual drive operation
Situation is disturbed, and easily causes to cause vehicle whole due to arbitrary a set of system failure between automated driving system and manual drive system
It can not run, so as to cause larger hard influence on vehicle use reliability, therefore for this problem, there is an urgent need to develop one
The brand-new automatic driving of kind washes system, to meet the needs of actual use.
The content of the invention
The object of the invention, which is that, overcomes above-mentioned deficiency, provides a kind of embedded software process right management method and machine
Structure.
To achieve the above object, the present invention is to be achieved through the following technical solutions：
A kind of embedded autonomous driving vehicle automated driving system, including pavement state testing agency, vehicle operation detection machine
Structure, data communication mechanism and DPA data processing activity, DPA data processing activity and data communication means are in vehicle centre console, number
Testing agency, data communication machine are run with pavement state testing agency, vehicle by data communication mechanism respectively according to processing mechanism
Structure and the electrical connection of vehicle driving computer circuits, wherein data communication mechanism include wireless communication apparatus, serial communication device, and
The wireless communication apparatus, serial communication device are parallel with one another, and vehicle operation testing agency at least two, one of them is embedded in
Vehicle centre console outer surface, remaining vehicle operation testing agency is in seat rear surface, and pavement state testing agency is extremely
Five few, one of them is mounted on roof peak outer surface, and remaining each pavement state testing agency surround vertical axis not
Vehicle chassis side surface again, wherein each pavement state testing agency axis is horizontal by 0 ° -90 ° angles.
Further, the pavement state testing agency is hinged by turntable mechanism and vehicle external surface.
Further, the pavement state testing agency includes temperature sensor, humidity sensor, wind speed and direction sensing
Device, range unit, width gage, monitoring camera, night vision device, level meter, data acquisition circuit and bearing base, the carrying
Pedestal is the cavity body structure that cross section is rectangle, inside set a partition plate and pass through partition plate bearing base is divided into test chamber
And working chamber, the test chamber is corresponding with bearing base front end face, the temperature sensor, humidity sensor, wind speed and wind
It is embedded in sensor, range unit, width gage, monitoring camera, night vision device, level meter and monitors intracavitary, and temperature sensor,
The corresponding bearing base front end of humidity sensor, wind speed wind direction sensor, range unit, monitoring camera, night vision device, level meter
Face and side surface are evenly distributed with several detection holes, the data acquisition circuit in working chamber, and respectively with temperature sensor, wet
Spend sensor, wind speed wind direction sensor, range unit, width gage, monitoring camera, night vision device and level meter electrical connection.
Further, the data acquisition circuit sets at least one communication serial ports, and the communication serial ports is embedded in and holds
Carry base rear end face.
Further, the range unit includes laser ranging system, supersonic range finder, the monitoring camera
Head includes monitoring camera and 3-D scanning camera.
Further, vehicle operation testing agency includes control circuit, GNSS satellite positioner, video acquisition
Camera, microphone, display, fingerprint identification device and plummer, the video acquisition camera, microphone, display,
Fingerprint identification device is connected by turntable mechanism with plummer upper surface, and the control circuit, GNSS satellite positioner are equal
In plummer, and control circuit is known respectively with GNSS satellite positioner, monitoring camera, microphone, display, fingerprint
Other device electrical connection.
Further, the plummer include pedestal, workbench and ratchet mechanism, the workbench be located at pedestal just on
Side, and pass through ratchet mechanism and be hinged, the pedestal, workbench and ratchet mechanism are mutually coaxially distributed, and the work
Make platform with pedestal in 0-45 ° of angles, the workbench is the rectangular airtight cavity structure in cross section, and the control is electric
Road, GNSS satellite positioner are in workbench.
Further, the data acquisition circuit and control circuit are used in DSP or fpga chip any one are
The circuit structure on basis.
The method of the present invention system structure is simple, and operation and implementation are easy, on the one hand can effectively improve Vehicular automatic driving
On the other hand system, installation, maintenance and the flexibility of replacement operation and versatility also effectively avoid severe current automatic Pilot
The defects of lacking Redundancy Design between system and manual drive system, so as to greatly improve the reliable of automatic driving vehicle operation
Property.
Description of the drawings
Fig. 1 is schematic structural view of the invention；
Fig. 2 is pavement state testing agency structure chart；
Fig. 3 runs testing agency's structure chart for vehicle.
Specific embodiment
As shown in Fig. 1-3, a kind of embedded autonomous driving vehicle automated driving system, including pavement state detection machine
Structure 1, vehicle operation testing agency 2, data communication mechanism 3 and DPA data processing activity 4, DPA data processing activity 1 and data communication device
Structure 3 in the vehicle centre console 5, DPA data processing activity 4 by data communication mechanism 3 respectively with pavement state testing agency 1,
Vehicle operation testing agency 2, data communication mechanism 3 and vehicle driving computer circuits 6 are electrically connected, wherein data communication mechanism 3
Including wireless communication apparatus, serial communication device, and wireless communication apparatus, serial communication device are parallel with one another, vehicle operation inspection
Mechanism 2 at least two is surveyed, one of them is embedded in 5 outer surface of vehicle centre console, and remaining vehicle operation testing agency 2 is embedded in vehicle seat
In 7 rear surface of chair, pavement state testing agency 1 at least five, one of them is mounted on roof peak outer surface, remaining each road
Surface state testing agency 1 around vertical axis no longer vehicle chassis side surface, wherein each 1 axis of pavement state testing agency with
Horizontal plane is in 0 ° -90 ° angles.
In the present embodiment, the pavement state testing agency 1 is hinged by turntable mechanism 8 with vehicle external surface.
In the present embodiment, the pavement state testing agency 1 includes temperature sensor 101, humidity sensor 102, wind
Fast wind transducer 103, range unit 104, width gage 105, monitoring camera 106, night vision device 107, level meter 108, data
Acquisition Circuit 109 and bearing base 100, the bearing base 100 are the cavity body structure that cross section is rectangle, inside set one
Bar partition plate 9 simultaneously passes through partition plate 9 bearing base 100 is divided into test chamber 10 and working chamber 11, the test chamber 10 and carrying
100 front end face of pedestal corresponds to, the temperature sensor 101, humidity sensor 102, wind speed wind direction sensor 103, ranging dress
104, width gage 105, monitoring camera 106, night vision device 107, level meter 108 are put in monitoring chamber 10, and temperature sensing
Device 101, humidity sensor 102, wind speed wind direction sensor 103, range unit 104, width gage 105, monitoring camera 106, night
Several detection holes 12 are evenly distributed with depending on instrument 107,108 corresponding 100 front end face of bearing base of level meter and side surface, the data are adopted
Collector 109 in the working chamber 11, and respectively with temperature sensor 101, humidity sensor 102, wind speed wind direction sensor
103rd, range unit 104, width gage 105, monitoring camera 106, night vision device 107, level meter 108 are electrically connected.
In the present embodiment, the data acquisition circuit sets at least one communication serial ports 13, and the communication serial ports 13
Embedded in 100 rear end face of bearing base.
In the present embodiment, the range unit 104 includes laser ranging system, supersonic range finder, the prison
Controlling camera 106 includes monitoring camera and 3-D scanning camera.
In the present embodiment, vehicle operation testing agency 2 includes control circuit 201, GNSS satellite positioner
202nd, video acquisition camera 203, microphone 204, display 205, fingerprint identification device 206 and plummer 207, described regards
Frequency acquisition camera 203, microphone 204, display 205, fingerprint identification device 206 pass through on turntable mechanism 8 and plummer 207
Surface connects, and the control circuit 201, GNSS satellite positioner are in plummer, and control circuit 201, GNSS
Satellite positioning device 202, video acquisition camera 203, microphone 204, display 205, fingerprint identification device 206 electrically connect
It connects.
In the present embodiment, the plummer 207 includes pedestal 2071, workbench 2072 and ratchet mechanism 2073, described
Workbench 2072 is located at directly over pedestal 2071, and passes through ratchet mechanism 2073 and be hinged, the pedestal 2071, workbench
2072 and the mutually coaxial distribution of ratchet mechanism 2073, and the workbench 2072 with pedestal 2071 in 0-45 ° of angles, it is described
Workbench 2072 be the rectangular airtight cavity structure in cross section, the control circuit 201, GNSS satellite positioner
202 in workbench 2072.
In the present embodiment, the data acquisition circuit 109 and control circuit 201 are used in DSP or fpga chip times
Anticipate it is a kind of based on circuit structure.
The present invention in the specific implementation, completes pavement state testing agency, vehicle operation testing agency, data communication first
Mechanism and DPA data processing activity installation positioning, and make pavement state testing agency, vehicle operation testing agency and data processor
It is electrically connected between structure by data communication mechanism, while the driving electricity that data communication mechanism and vehicle are passed through by DPA data processing activity
Brain circuit electrical connects, and completes equipment installation.
After equipment installation is completed, external environment, road surface shape when on the one hand being run by pavement state testing agency
Spacing is detected and by the data feedback of detection to DPA data processing activity between condition and barrier, is on the other hand transported by vehicle
Row testing agency positions current vehicle location, and continuous collecting, and the vehicle that will be collected are carried out to interior personal information
Location information and personnel identity information are fed back in vehicle operation testing agency, then run testing agency to acquisition by vehicle
The data arrived carry out calculation process, obtain preliminary operation control signal, while the vehicle in vehicle driving computer is running
The data acquisitions such as speed, engine speed are run to vehicle in testing agency, and with being compared by preliminary operation control signal
To computing, so as to which the vehicle finally obtained under conditions present runs final control signal, vehicle is then run into final control letter
It number feeds back in vehicle driving computer circuits, and final control signal is run according to vehicle, travel condition of vehicle is controlled.
The method of the present invention system structure is simple, and operation and implementation are easy, on the one hand can effectively improve Vehicular automatic driving
On the other hand system, installation, maintenance and the flexibility of replacement operation and versatility also effectively avoid severe current automatic Pilot
The defects of lacking Redundancy Design between system and manual drive system, so as to greatly improve the reliable of automatic driving vehicle operation
Property.
The basic principles, main features and the advantages of the invention have been shown and described above.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the above embodiments and description only describe this
The principle of invention, without departing from the spirit and scope of the present invention, various changes and modifications of the present invention are possible, these changes
Change and improvement all fall within the protetion scope of the claimed invention.The claimed scope of the invention by appended claims and its
Equivalent thereof.
Claims (8)
1. a kind of embedded autonomous driving vehicle automated driving system, it is characterised in that：The embedded automatic Pilot vapour
Automobile-used automated driving system includes pavement state testing agency, vehicle operation testing agency, data communication mechanism and data processing
In vehicle centre console, DPA data processing activity is led to by data for mechanism, the DPA data processing activity and data communication means
It interrogates mechanism and runs testing agency, data communication mechanism and vehicle driving computer circuits with pavement state testing agency, vehicle respectively
Electrical connection, wherein the data communication mechanism includes wireless communication apparatus, serial communication device, and the wireless telecommunications
Device, serial communication device are parallel with one another, and vehicle operation testing agency at least two, one of them is controlled in vehicle
Platform outer surface, remaining vehicle operation testing agency is in seat rear surface, and the pavement state testing agency is at least
Five, one of them is mounted on roof peak outer surface, and remaining each pavement state testing agency surround vertical axis no longer
Vehicle chassis side surface, wherein each pavement state testing agency axis is horizontal by 0 ° -90 ° angles.
2. a kind of embedded autonomous driving vehicle automated driving system according to claim 1, it is characterised in that：It is described
Pavement state testing agency be hinged by turntable mechanism and vehicle external surface.
3. a kind of embedded autonomous driving vehicle automated driving system according to claim 1, it is characterised in that：It is described
Pavement state testing agency include temperature sensor, humidity sensor, wind speed wind direction sensor, range unit, width gage, prison
It is that cross section is rectangle to control camera, night vision device, level meter, data acquisition circuit and bearing base, the bearing base
Cavity body structure, inside set a partition plate and pass through partition plate bearing base is divided into test chamber and working chamber, the detection
Chamber is corresponding with bearing base front end face, the temperature sensor, humidity sensor, wind speed wind direction sensor, range unit, survey
Wide instrument, monitoring camera, night vision device, level meter are embedded in monitoring intracavitary, and temperature sensor, humidity sensor, wind speed and direction
The corresponding bearing base front end face of sensor, range unit, monitoring camera, night vision device, level meter and side surface are uniformly distributed several
Detection hole, the data acquisition circuit in the working chamber, and respectively with temperature sensor, humidity sensor, wind speed and direction
Sensor, range unit, width gage, monitoring camera, night vision device and level meter electrical connection.
4. a kind of embedded autonomous driving vehicle automated driving system according to claim 3, it is characterised in that：It is described
Data acquisition circuit set at least one communication serial ports, and the communication serial ports is embedded in bearing base rear end face.
5. a kind of embedded autonomous driving vehicle automated driving system according to claim 3, it is characterised in that：It is described
Range unit include laser ranging system, supersonic range finder, the monitoring camera include monitoring camera and three
Tie up scan camera shooting head.
6. a kind of embedded autonomous driving vehicle automated driving system according to claim 1, it is characterised in that：It is described
Vehicle operation testing agency include control circuit, GNSS satellite positioner, video acquisition camera, microphone, display,
Fingerprint identification device and plummer, the video acquisition camera, microphone, display, fingerprint identification device pass through turntable
Mechanism is connected with plummer upper surface, and the control circuit, GNSS satellite positioner control electricity in plummer
Road is electrically connected respectively with GNSS satellite positioner, monitoring camera, microphone, display, fingerprint identification device.
7. a kind of embedded autonomous driving vehicle automated driving system according to claim 6, it is characterised in that：It is described
Plummer include pedestal, workbench and ratchet mechanism, the workbench is located at pedestal surface, and it is mutual to pass through ratchet mechanism
Hinged, pedestal, workbench and the ratchet mechanism is mutually coaxially distributed, and the workbench is pressed from both sides with pedestal in 0-45 °
Angle, the workbench are the rectangular airtight cavity structure in cross section, and the control circuit, GNSS satellite positioner are equal
In workbench.
8. a kind of embedded autonomous driving vehicle automated driving system according to claim 3 and 6, it is characterised in that：
The data acquisition circuit and control circuit are used in the circuit structure of DSP or fpga chip based on any one.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711147206.7A CN108052099A (en) | 2017-11-17 | 2017-11-17 | A kind of embedded autonomous driving vehicle automated driving system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711147206.7A CN108052099A (en) | 2017-11-17 | 2017-11-17 | A kind of embedded autonomous driving vehicle automated driving system |
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| Publication Number | Publication Date |
|---|---|
| CN108052099A true CN108052099A (en) | 2018-05-18 |
Family
ID=62119177
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711147206.7A Pending CN108052099A (en) | 2017-11-17 | 2017-11-17 | A kind of embedded autonomous driving vehicle automated driving system |
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| CN (1) | CN108052099A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108748148A (en) * | 2018-06-04 | 2018-11-06 | 常州信息职业技术学院 | A kind of intelligence climbing robot intelligent electric control system and its control method |
| CN110296738A (en) * | 2019-06-15 | 2019-10-01 | 江苏华兮网络科技工程有限公司 | A kind of automatic intelligent drives the control equipment of wireless transmission |
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Application publication date: 20180518 |