CN108153296A - A kind of vehicle-mounted complex control system of unmanned ground vehicle and control method - Google Patents
A kind of vehicle-mounted complex control system of unmanned ground vehicle and control method Download PDFInfo
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- CN108153296A CN108153296A CN201710118078.7A CN201710118078A CN108153296A CN 108153296 A CN108153296 A CN 108153296A CN 201710118078 A CN201710118078 A CN 201710118078A CN 108153296 A CN108153296 A CN 108153296A
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- 238000000034 method Methods 0.000 title claims abstract description 17
- 230000015572 biosynthetic process Effects 0.000 claims abstract description 78
- 238000012544 monitoring process Methods 0.000 claims abstract description 45
- 238000007726 management method Methods 0.000 claims abstract description 24
- 230000002265 prevention Effects 0.000 claims description 15
- 238000009434 installation Methods 0.000 claims description 13
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- 230000015556 catabolic process Effects 0.000 claims description 6
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- 230000005540 biological transmission Effects 0.000 description 3
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- 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
- G05D1/0287—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
- G05D1/0291—Fleet control
- G05D1/0297—Fleet control by controlling means in a control room
Abstract
The present invention provides a kind of vehicle-mounted complex control system of unmanned ground vehicle and control method, which includes three layers, respectively：Onboard parameter configuration management module, vehicle positioning orientation module and onboard system monitoring module；Vehicle-mounted formation maneuvering planning module and vehicle-mounted planning tracking module；Vehicle-mounted information recording module and vehicular motion control decision module；Technical solution provided by the invention realizes system supervisory of the unmanned ground vehicle under various control pattern, can flexibly switch different control models.
Description
Technical field
The invention belongs to unmanned systems platform software structure system design field, in particular to a kind of unmanned ground vehicles
Vehicle-mounted complex control system and control method.
Background technology
Ground unmanned systems belong to complicated intelligence system, including autonomous driving pattern, remote control pattern, traveling of forming into columns
Pattern, manual intervention pattern etc., each module in system can be subdivided into the mutually independent node of various functions.For complicated intelligence
For energy system, the structure system of perfect in shape and function is needed to support the realization of its system function, and monitor the son under each pattern in real time
System running state.
Based on being realized in the existing design of unmanned ground vehicle system with function, lack effective management of process software,
Whole Software Architecture Design is not considered simultaneously, is not easy to ground unmanned systems and is integrated.In existing ground unmanned systems technology
It is related to the interaction of the much informations such as environment sensing, location navigation, executing agency, control instruction, due to a lack of effective process monitoring hand
Section, it is impossible to effectively the problems in supervision and investigation information interactive process；Unmanned ground vehicle include autonomous driving, remote control,
It forms into columns traveling, the control means such as manual intervention, lacks easily switching method between different mode.Unmanned ground vehicle system level
Confusion is divided, is unfavorable for the integrated and exploitation of large scale system.
For existing unmanned ground vehicle is overcome to lack effective architecture design and the inflexible defect of pattern switching, need
The complex control system and control method of a kind of unmanned ground vehicle are provided.
Invention content
To meet the needs of prior art development, the present invention provides a kind of vehicle-mounted complex control systems of unmanned ground vehicle
And control method.
The vehicle-mounted complex control system of unmanned ground vehicle provided by the invention, which is characterized in that the control system includes
Onboard parameter configuration management module, vehicle positioning orientation module and onboard system monitoring module；
Vehicle-mounted formation maneuvering planning module and vehicle-mounted planning tracking module；
Vehicular motion control decision module；
The control system difference JA(junction ambient) detecting sensor system, platform synthesis managing and control system and long-range drive manipulate
Unit；The environment sensing sensing system includes environment sensing map building module and urgent danger prevention map building module；Institute
It states the long-range manipulation unit that drives and connects the vehicle positioning orientation module, the onboard parameter configuration management module, described respectively
Vehicle-mounted formation maneuvering planning module and the vehicular motion control decision module；
The onboard system monitoring module receives and decomposes the task that the long-range driving manipulation unit issues, and will decompose
Subtask distribute to the vehicle-mounted formation maneuvering planning module, it is described it is vehicle-mounted planning tracking module, the environment sensing map
Creation module and the vehicular motion control decision module, while receive the vehicle-mounted formation maneuvering planning module, described vehicle-mounted
Plan the operating status of tracking module, the environment sensing map building module feedback.
Preferably, the onboard system monitoring module turns after receiving the startup order that the long-range driving manipulation unit is sent out
Enter " condition monitoring " state, and successively to the vehicle-mounted formation maneuvering system, the vehicle-mounted planning tracking module, the environment sense
Know that map building module is sent and start order, while the feedback information of receiving module operating status；
Vehicle positioning orientation module and the onboard parameter configuration management mould described in the long-range driving manipulation unit starting
Block.
Preferably, the motor-driven task that the long-range driving manipulation unit is sent out includes：
It forms into columns, the onboard system monitoring module issues formation maneuvering task to the vehicle-mounted formation maneuvering planning module,
Formation maneuvering mode task is issued to the vehicle-mounted planning tracking module, is issued independently to the vehicular motion control decision module
Driving task；
System shutdown, the onboard system monitoring module issue waiting task to the vehicle-mounted formation maneuvering planning module,
To the planning tracking module sending system parking task, issue autonomous driving to the vehicular motion control decision module and appoint
Business；
Remote driving, the onboard system monitoring module issue waiting task to the vehicle-mounted formation maneuvering planning module,
Waiting task is issued to the vehicle-mounted planning tracking module, issuing remote driving to the vehicular motion control decision module appoints
Business；Or,
System shutdown, the onboard system monitoring module issue waiting task to the vehicle-mounted formation maneuvering planning module,
Autonomous driving task is issued to the vehicle-mounted planning tracking module, autonomous driving is issued to the vehicular motion control decision module
Task.
Preferably, under the formation maneuvering task, when the vehicle-mounted formation maneuvering system receiver moves task：Judge this vehicle
Role and the positioning and directing information for reading this vehicle and other vehicles perform formation maneuvering planning algorithm；To it is described it is vehicle-mounted planning with
Track module sends reference path and reference velocity；Start heartbeat signal to the long-range manipulation unit that drives.
Preferably, the vehicle-mounted planning tracking module reads reference path, reference velocity, positioning and directing information, current vehicle
It perception map message that state, environment sensing map building module are sent out and long-range drive the degradation that manipulation unit is sent and makes
Use banner message；
It is pre- according to reference path and positioning and directing information if being judged as the use that do not degrade using mark according to the degradation
Sentence reference path and the travel direction of vehicle traveling, and local path is planned on map is perceived；
It is used if degrading, then according to reference path and the reference path of positioning and directing information anticipation vehicle traveling and traveling
Direction, according to environmental constraints adjust automatically travel speed.
Preferably, the vehicular motion control decision module receives control instruction：It instructs, then reads if remote driving
Remote driving control instruction；It is instructed if autonomous driving, then reads autonomous driving instruction and remote driving instruction；
The vehicular motion control decision module will according to the urgent danger prevention function that the long-range driving manipulation unit is set
It asks, when judging control instruction for dangerous instruction, then hedging stops, and otherwise issues control instruction.
Preferably, the function of the onboard parameter configuration management module includes：The chassis parameter of acquisition is issued into vehicle-mounted rule
Draw tracking module and vehicular motion control decision module；
The chassis sensor installation parameter of acquisition is issued into environment sensing map building module and urgent danger prevention map building
Module；
The chassis positioning and directing device parameter of acquisition is issued into vehicle positioning orientation module, vehicle-mounted planning tracking module, vehicle
Control decision module, environment sensing map building module and urgent danger prevention map building module are moved in carrying.
The present invention provides a kind of control method using vehicle-mounted complex control system again, and the control method includes：
After onboard system starts, receive the order of upper strata remote control unit and read the status information of lower module；Root
According to the control task and status information of reception, the subtask that son is performed by each module is decomposed and issues, while update oneself state；
The driving mode of vehicle is controlled according to the status information of each module feedback.
Further, the control task of the reception includes：When motor-driven task is formation maneuvering, the onboard system prison
Control module issues formation maneuvering task to the vehicle-mounted formation maneuvering planning module, and volume is issued to the vehicle-mounted planning tracking module
Team's maneuver model task, autonomous driving task is issued to the vehicular motion control decision module；
When motor-driven task is system shutdown, the onboard system monitoring module is to the vehicle-mounted formation maneuvering planning module
Waiting task is issued, to the planning tracking module sending system parking task, under the vehicular motion control decision module
From main driving task；
When motor-driven task is remote driving, the onboard system monitoring module is to the vehicle-mounted formation maneuvering planning module
Waiting task is issued, waiting task is issued to the vehicle-mounted planning tracking module, under the vehicular motion control decision module
Send out remote driving task；
When motor-driven task is system shutdown, the onboard system monitoring module is to the vehicle-mounted formation maneuvering planning module
Waiting task is issued, autonomous driving task is issued to the vehicle-mounted planning tracking module, to the vehicular motion control decision mould
Block issues autonomous driving task.
Further, the status information for reading lower module includes：
(1) judge this vehicle role and read the positioning and directing information of this vehicle and other vehicles, perform formation maneuvering planning and calculate
Method simultaneously uploads reference path and reference velocity；
(2) configuration file is read, obtains and uploads chassis parameter, positioning and directing equipment installation parameter and sensor installation ginseng
Number；
(3) reference path and reference velocity are read, positioning and directing information, vehicle's current condition, perceives map message and drop
Grade uses banner message path planning using banner message, and according to degrading.
Further, the driving mode for controlling vehicle according to the status information of each module feedback includes：
According to urgent danger prevention functional requirement, if the safety to control task is judged as safety, control task is issued, it is no
Then hedging stops；
Banner message path planning is used according to described degrade：
If being judged as the use that do not degrade, according to reference path and positioning and directing information, the reference arm of prediction vehicle enforcement
Diameter and travel direction, and the path planning on map is perceived；
It is used if being judged as degrading, according to reference path and positioning and directing information, the reference path of prediction vehicle enforcement
And travel direction, and according to environmental constraints adjust automatically travel speed and driving path.
Compared with the latest prior art, technical solution provided by the invention has the advantages that：
1st, technical solution provided by the invention includes onboard parameter configuration management mould by building including the control system
Block, vehicle positioning orientation module and onboard system monitoring module；Vehicle-mounted formation maneuvering planning module and vehicle-mounted planning tracking module；
Three layers of system software architecture for passing rank of vehicular motion control decision module, modularization management difference control model, while to mould
Communication between block is monitored and abnormal investigation, improves the completeness of unmanned ground vehicle overall system design, while to adjust
Examination personnel provide system exception warning, and timely alignment system problem location improves the intelligent of unmanned ground vehicle, ensures ground
The Effec-tive Function of the unmanned platform in face.
2nd, technical solution provided by the invention uses the control framework of hierarchical, and high level completes top layer planning, control force
Degree is big, and concern range is wide, and the duration is long, and the intelligence degree for making unmanned ground vehicle is high；Low layer control dynamics are small, pay close attention to model
Enclose narrow, the duration is short, is more focused on treatment of details.
3rd, technical solution provided by the invention realizes system supervisory of the unmanned ground vehicle under various control pattern,
Different control models can flexibly be switched, in time lock abnormal problem where, improve unmanned Platform Designing completeness and can
It is managerial.
Description of the drawings
Fig. 1 is vehicle-mounted integrated decision-making control system architecture figure provided by the invention；
Fig. 2 is onboard system monitoring module service chart provided by the invention；
Fig. 3 is vehicle-mounted formation maneuvering planning module service chart provided by the invention；
Fig. 4 is vehicular motion control decision module service chart provided by the invention；
Fig. 5 is onboard parameter configuration management module service chart provided by the invention；
Fig. 6 is vehicle-mounted planning tracking module service chart provided by the invention.
Specific embodiment
Below with reference to Figure of description, technical solution provided by the invention is discussed in detail in a manner of specific embodiment.
In technical solution provided by the invention, unmanned ground vehicle uses the control framework of hierarchical, in hierarchical
It controls in framework, every layer all by one or more module compositions for completing certain function.It is multiple through having for entire hierarchical structure
The information flow in direction, from upper stream to lower floor, each layer state feedback and heat transfer agent are then flowed to from lower floor for order or assignment instructions
Information sharing is realized on upper strata.In this framework, each module runs all in accordance with preset controlling cycle, in each control
It is performed in period and reads 5 buffering area, pretreatment, decision, subsequent processing, write-in buffering area operations：
Buffering area is read, is mainly used for reading the order of the state and upper layer module of lower module；
Pretreatment, for order and status information is filtered or other preliminary treatments；
Decision mainly according to order and status information task resolution, generates the subtask performed by lower module；
Subsequent processing, mainly the update module state of itself, for upper layer module decision；
Buffering area is written, for subtask information to be written to the command buffer of lower module for its execution.
The vehicle-mounted synthetical decision system figure of unmanned ground vehicle as shown in Figure 1, the vehicle-mounted integrated decision-making control of unmanned ground vehicle
System processed includes：
Positioned at the onboard parameter configuration management module of first layer, vehicle positioning orientation module, Vehicular video switching control mould
Block and onboard system monitoring module；Vehicle-mounted formation maneuvering planning module and vehicle positioned at the second layer is in local path planning and tracking
Module；Positioned at the vehicle-mounted information recording module of third layer and vehicular motion control decision module.
The vehicle-mounted integrated decision-making control system of unmanned ground vehicle is with including remote system, environment sensing sensing system peace
The external system of platform synthesis managing and control system cooperates；Environment sensing sensing system include environment sensing map building module and
Urgent danger prevention map building module；Remote system includes long-range driving manipulation unit, remote task load manipulates unit and long-range
Cooperate with command and control unit.
The computer of vehicle-mounted integrated decision-making control system after the power is turned on, plan by onboard system monitoring module, vehicle-mounted formation maneuvering
Module, vehicle-mounted planning tracking module, vehicle positioning orientation module automatic running, enter " ready " state after self-test success；Vehicle
After control decision module, onboard parameter configuration management module self-test success are moved in carrying, working condition is directly entered, these modules
Software does not have unlatching, closing function.After environment sensing sensing system and platform integrated pipe control system are electric on computers certainly
Dynamic operation enters " ready " state after self-test success.
At this point, driver can start order by remotely driving manipulation unit and being sent to onboard system monitoring module；Vehicle
Loading system monitoring module receives system action command, then is transferred to " condition monitoring " state, and immediately to vehicle-mounted formation maneuvering mould
Environment sensing map building module in block, vehicle-mounted planning tracking module, environment sensing sensing system sends startup life successively
It enables.After each module receives startup order, it is transferred to " formation maneuvering ", " planning tracking ", " environment sensing map building " shape respectively
State, while to upper strata module feedback software operation state.
The startup of vehicle positioning orientation module and platform integrated pipe control system is realized by remotely driving manipulation unit.Remotely
It drives manipulation unit and is sent to vehicle positioning orientation module and start order, to initialize positioning and directing equipment.In order to the bottom of to
Disk is controlled, and there is provided chassis controls to enable, and chassis control is enabled is opened and is closed by remotely driving manipulation unit
Closed operation.The chassis control that receives of platform synthesis managing and control system enables when being true, and platform synthesis management and control software performs vehicle-mounted running
The motion control commands that dynamic control decision software is sent.
The operation method of each main modular includes in vehicle-mounted integrated decision-making control system：
(1) onboard system monitoring module
The read and write commands message schematic diagram of onboard system monitoring module as shown in Figure 2, onboard system monitoring module
The long-range motor-driven task for driving manipulation unit and issuing is decomposed, subtask is assigned to other modules.
(a) when control instruction is " formation maneuvering plan ", software performs the corresponding program of formation maneuvering plan；To vehicle-mounted
Formation maneuvering planning module issues " formation maneuvering task ", and " formation maneuvering pattern " task is issued to vehicle-mounted planning tracking module,
" autonomous driving " task is issued to vehicular motion control decision module；
(b) when control instruction is " system shutdown plan ", software performs the corresponding program of system shutdown plan；To vehicle-mounted
Formation maneuvering planning module issues " waiting for task ", " system shutdown " task is issued to vehicle-mounted planning tracking module, to vehicle-mounted running
Dynamic control decision module issues " autonomous driving " task；
(c) when control instruction is " remote driving plan ", software performs the corresponding program of remote driving plan；To vehicle-mounted
Formation maneuvering module issues " waiting for task ", waiting task is issued to vehicle-mounted planning tracking module, to vehicular motion control decision
Module issues " remote driving " task；
(d) when control instruction is autonomous driving plan, software performs the corresponding program of autonomous driving plan；To vehicle-mounted volume
The motor-driven module of team issues waiting task, issues " autonomous driving " task to vehicle-mounted planning tracking module, determines to vehicular motion control
Plan module issues " autonomous driving " task.
The type of message of onboard system monitoring module and the side of sending and receiving of message are as shown in table 1：
1 onboard system monitoring module messaging list of table
(2) vehicle-mounted formation maneuvering planning module
Vehicle-mounted formation maneuvering planning module information as shown in Figure 3 sends and receives schematic diagram, according to receiving
Task scheme operation formation maneuvering planning algorithm, generate unmanned platform intelligent behavior, realize multi-platform formation maneuvering.
(a) formation maneuvering task scheme is parsed, judges this vehicle role；
(b) the positioning and directing information of this vehicle positioning and directing information and other vehicles is read；
(c) formation maneuvering planning algorithm is performed, ensure navigator role and the formation of role's platform is followed to plan；
(d) reference path and reference velocity are sent to vehicle-mounted planning tracking module.
Vehicle-mounted formation maneuvering module and onboard system monitoring module, vehicle-mounted planning tracking module, vehicular motion control decision
The module configuration item of the vehicle-mounted integrated decision-making control system such as module, vehicle positioning orientation module has data interaction.Main basis is remote
Journey drives the motor-driven task scheme for manipulating unit and sending, command car positioning and directing data, other unmanned vehicle positioning and directing data, sheet
The instruction of vehicle positioning and directing data and system monitoring system performs formation maneuvering planning algorithm, to vehicle-mounted planning tracking module hair
Reference path and reference velocity are sent, while is sent to onboard system monitoring module and drives manipulation heartbeat signal, to vehicular motion control
Decision-making module processed sends maneuver model.Motor-driven security monitoring and perception map building software only read reference path, reference velocity
(also referred to as global path point and independent navigation maximum speed) is for the realization of its software algorithm.
The information of vehicle-mounted formation maneuvering planning module is sent and received shown in table 2：
The information list of 2 vehicle-mounted formation maneuvering planning module of table
(3) vehicular motion control decision module
Vehicular motion control decision module message information as shown in Figure 4 sends and receives schematic diagram, vehicular motion control
Decision-making module carries out comprehensive analysis, the unmanned platform of decision to remote driving motion control instruction, autonomous driving motion control instruction
Required execution motion control instruction.Specific requirement is as follows：
(a) motion control instruction that onboard system monitoring module is sent, the analysis platform maneuver model to be performed are read；
If (b) remote driving pattern, remote driving motion control instruction is read；
Remote driving order and positioning and directing information are read, if the mark that stops in emergency puts 1, sends order of stopping in emergency,
Terminate the motion control period；Otherwise, throttle, brake and the steering data of remote driving order are read, and analyzes remote driving and refers to
It enables.If the hedging of remote driving mode command, which enables, puts 1, instruction of stopping in emergency is performed, terminates the motion control period；Otherwise,
It sends and continues driving instruction.
If (c) autonomous driving pattern, autonomous driving motion control instruction and remote driving motion control instruction are read；And
Judge whether current kinetic is manual intervention under autonomous driving pattern；It reads distant control function and drives order and positioning and directing letter
Breath if the mark that stops in emergency puts 1, sends order of stopping in emergency, terminates the motion control period；
Otherwise, the message of autonomous driving order accessory channel is read, and is according to the steering and brake of remote driving order
No is the control instruction that 0 judgement is sent.
(d) according to the long-range urgent danger prevention functional requirement for driving and manipulating unit and setting, safety is carried out to motion control instruction
Property judge, if decision instruction is dangerous, hedging parking；Otherwise send instructions down；
(e) it sends unmanned platform current motion state (current vehicle speed and curvature) to vehicle-mounted independent navigation planning software or keeps away
Dangerous cutoff command.
Vehicular motion control decision module manipulates unit, urgent danger prevention map building module, platform synthesis with long-range drive
The external system and onboard system monitoring module of the vehicle-mounted integrated decision-making control system such as managing and control system, vehicle-mounted planning tracking mould
The modules such as block, vehicle-mounted formation maneuvering planning module, vehicle positioning orientation module, onboard parameter configuration management module generate data and hand over
Mutually.Vehicular motion control decision module mainly carries out the remote driving instruction and autonomous driving instruction that remotely drive manipulation unit
Decision judges that motion control instruction is sent to platform synthesis managing and control system performs.In addition, vehicular motion control decision module root
According to hedging map and current state, collision prevention analysis is carried out to motion control instruction, the motion control instruction of filtering hazardous ensures flat
Vertically and horizontally collision prevention is safe for platform.
The message sink and transmission details of vehicular motion control decision system are as shown in table 3：
The message sink of 3 vehicular motion control decision system of table and start Verbose Listing
(4) onboard parameter configuration management module
Onboard parameter configuration management module schematic diagram as shown in Figure 5 reads configuration file and issues chassis to other software
The information such as parameter, sensing system installation parameter, positioning and directing equipment installation parameter.Specific requirement is as follows：
(a) configuration file is read, obtains chassis parameter, positioning and directing equipment installation parameter, sensor installation parameter；
(b) chassis parameter is sent to vehicle-mounted planning tracking module, vehicular motion control decision module；
(c) chassis sensor installation parameter is sent to environment sensing map building module and hedging map building module；
(d) chassis positioning and directing device parameter is sent to vehicle positioning orientation module, vehicle-mounted planning tracking module, vehicle-mounted
Motion control decision-making module, environment sensing map building module and hedging map building module.
Onboard parameter configuration management module configuration file, and send it to other modules.Configuration management file mainly wraps
Chassis parameter, positioning and directing equipment installation site parameter and detecting sensor installation site parameter etc. are included, it is as shown in table 4 below：
4 onboard parameter configuration management module message sink of table and transmission list
(5) vehicle-mounted planning tracking module
Shown in vehicle-mounted planning tracking module hum pattern as described in Figure 6, according to reference path, reference velocity, positioning and directing
Information, vehicle's current condition information and local environment sensing model, realizing route planning and speed planning.Specific requirement is as follows：
(a) reference path and reference velocity are read；
(b) the positioning and directing information that vehicle mounted guidance control software is sent is read；
(c) current state (present speed and current curvature) that vehicle mounted guidance control software is sent is read；
(d) the perception map message that environment sensing map building module is sent is read；
(e) the long-range degradation for driving manipulation unit transmission is read using banner message, and according to degrading using mark, judgement is
No degrade uses：
If not degrading use, local path is planned on map is perceived；According to reference path and positioning and directing information, sentence
The reference path and travel direction that disconnected vehicle currently to be travelled；And the grating map provided in environment sensing map building module
Middle realization local paths planning ensures the vertically and horizontally crashworthiness of vehicle；
It is used if degrading, should realize Global path following control when not considering local environment sensor model；According to ginseng
Path and positioning and directing information are examined, judges the current reference path to be travelled of vehicle and travel direction；Realization does not consider part
Sector planning and speed planning during environment sensing model, wherein, the desired speed of speed planning cannot be more than what upper strata was specified
Max. speed；According to environmental constraints adjust automatically travel speed, ensure the rollover safety of vehicle；
(f) independent navigation motion control instruction is sent to vehicle mounted guidance control software；
Vehicle-mounted planning tracking module manipulates unit, environment sensing map building module, platform synthesis management and control with long-range drive
System etc. and onboard system monitoring module, onboard system monitoring module, vehicle-mounted formation maneuvering planning module, vehicle positioning orientation
The interaction datas such as module, vehicular motion control decision module, onboard parameter configuration management module.It is vehicle-mounted planning tracking module according to
Local sensing map, positioning and directing information and reference path perform sector planning, parking planning and tracing control, to vehicle-mounted running
Dynamic control decision module sends independent navigation motion control instruction, specific as shown in table 5：
The instruction list of the vehicle-mounted planning tracking module of table 5
The above embodiments are merely illustrative of the technical scheme of the present invention and are not intended to be limiting thereof, although with reference to above-described embodiment pair
The present invention is described in detail, those of ordinary skill in the art still can to the present invention specific embodiment into
Row modification either equivalent replacement these without departing from any modification of spirit and scope of the invention or equivalent replacement, applying
Within the claims of the pending present invention.
Claims (10)
1. a kind of vehicle-mounted complex control system of unmanned ground vehicle, which is characterized in that the control system is matched including onboard parameter
Put management module, vehicle positioning orientation module and onboard system monitoring module；Vehicle-mounted formation maneuvering planning module and vehicle-mounted planning
Tracking module；Vehicular motion control decision module；
The control system difference JA(junction ambient) detecting sensor system, platform synthesis managing and control system and long-range driving manipulation are single
Member；The environment sensing sensing system includes environment sensing map building module and urgent danger prevention map building module；It is described
The long-range manipulation unit that drives connects the vehicle positioning orientation module, the onboard parameter configuration management module, the vehicle respectively
Carry formation maneuvering planning module and the vehicular motion control decision module；
The onboard system monitoring module receives and decomposes the task that the long-range driving manipulation unit issues, and by the son of decomposition
Task distributes to the vehicle-mounted formation maneuvering planning module, the vehicle-mounted planning tracking module, the environment sensing map building
Module and the vehicular motion control decision module, while receive the vehicle-mounted formation maneuvering planning module, the vehicle-mounted planning
The operating status of tracking module, the environment sensing map building module feedback.
2. the system as claimed in claim 1, which is characterized in that the onboard system monitoring module receives the long-range driving behaviour
" condition monitoring " state is transferred to, and successively to the vehicle-mounted formation maneuvering system, the vehicle after the startup order that control unit is sent out
Carry planning tracking module, the environment sensing map building module sends and starts order, while receiving module operating status is anti-
Feedforward information；
Vehicle positioning orientation module and the onboard parameter configuration management module described in the long-range driving manipulation unit starting.
3. the system as claimed in claim 1, which is characterized in that the motor-driven task packet that the long-range driving manipulation unit is sent out
It includes：
It forms into columns, the onboard system monitoring module issues formation maneuvering task to the vehicle-mounted formation maneuvering planning module, to institute
It states vehicle-mounted planning tracking module and issues formation maneuvering mode task, autonomous driving is issued to the vehicular motion control decision module
Task；
System shutdown, the onboard system monitoring module issues waiting task to the vehicle-mounted formation maneuvering planning module, to institute
Planning tracking module sending system parking task is stated, autonomous driving task is issued to the vehicular motion control decision module；
Remote driving, the onboard system monitoring module issues waiting task to the vehicle-mounted formation maneuvering planning module, to institute
It states vehicle-mounted planning tracking module and issues waiting task, remote driving task is issued to the vehicular motion control decision module；
Or, system shutdown, the onboard system monitoring module issue waiting task to the vehicle-mounted formation maneuvering planning module, to
The vehicle-mounted planning tracking module issues autonomous driving task, and issuing autonomous driving to the vehicular motion control decision module appoints
Business.
4. system as claimed in claim 3, which is characterized in that under the formation maneuvering task, the vehicle-mounted formation maneuvering system
When system receives motor-driven task：Judge this vehicle role and read the positioning and directing information of this vehicle and other vehicles, perform formation maneuvering
Planning algorithm；Reference path and reference velocity are sent to the vehicle-mounted planning tracking module；Start to the long-range manipulation unit that drives
Heartbeat signal.
5. system as claimed in claim 3, which is characterized in that the vehicle-mounted planning tracking module reads reference path, reference
Perception map message that speed, positioning and directing information, current vehicle condition, environment sensing map building module are sent out and long-range
It drives the degradation that manipulation unit is sent and uses banner message；
If being judged as the use that do not degrade using mark according to the degradation, vehicle is prejudged according to reference path and positioning and directing information
Traveling reference path and travel direction, and perceive map on plan local path；
It is used if degrading, then according to reference path and the reference path of positioning and directing information anticipation vehicle traveling and traveling side
To according to environmental constraints adjust automatically travel speed.
6. system as claimed in claim 3, which is characterized in that the vehicular motion control decision module receives control and refers to
It enables：It is instructed if remote driving, then reads remote driving control instruction；It is instructed if autonomous driving, then reads autonomous driving and refer to
It enables and remote driving instructs；
The urgent danger prevention functional requirement that the vehicular motion control decision module is set according to the long-range driving manipulation unit, when
When judging control instruction for dangerous instruction, then hedging stops, and otherwise issues control instruction.
7. the system as claimed in claim 1, which is characterized in that the function of the onboard parameter configuration management module includes：It will
The chassis parameter of acquisition issues vehicle-mounted planning tracking module and vehicular motion control decision module；
The chassis sensor installation parameter of acquisition is issued into environment sensing map building module and urgent danger prevention map building module；
The chassis positioning and directing device parameter of acquisition is issued into vehicle positioning orientation module, vehicle-mounted planning tracking module, vehicle-mounted running
Dynamic control decision module, environment sensing map building module and urgent danger prevention map building module.
8. a kind of control method using control system described in claim 1-7, which is characterized in that the control method includes：
After onboard system starts, receive the order of upper strata remote control unit and read the status information of lower module；According to connecing
The control task and status information of receipts are decomposed and are issued the subtask that son is performed by each module, while update oneself state；According to
The driving mode of the status information control vehicle of each module feedback.
9. method as claimed in claim 8, which is characterized in that the control task of the reception includes：
When motor-driven task is formation maneuvering, the onboard system monitoring module is issued to the vehicle-mounted formation maneuvering planning module
Formation maneuvering task issues formation maneuvering mode task to the vehicle-mounted planning tracking module, determines to vehicular motion control
Plan module issues autonomous driving task；
When motor-driven task is system shutdown, the onboard system monitoring module is issued to the vehicle-mounted formation maneuvering planning module
Waiting task, to the planning tracking module sending system parking task, under the vehicular motion control decision module from
Main driving task；
When motor-driven task is remote driving, the onboard system monitoring module is issued to the vehicle-mounted formation maneuvering planning module
Waiting task issues waiting task to the vehicle-mounted planning tracking module, is issued to the vehicular motion control decision module distant
Control driving task；
When motor-driven task is system shutdown, the onboard system monitoring module is issued to the vehicle-mounted formation maneuvering planning module
Waiting task issues autonomous driving task, under the vehicular motion control decision module to the vehicle-mounted planning tracking module
From main driving task.
10. method as claimed in claim 9, which is characterized in that the status information for reading lower module includes：
(1) judge this vehicle role and read the positioning and directing information of this vehicle and other vehicles, perform formation maneuvering planning algorithm simultaneously
Upload reference path and reference velocity；
(2) configuration file is read, obtains and uploads chassis parameter, positioning and directing equipment installation parameter and sensor installation parameter；
(3) reading reference path and reference velocity, positioning and directing information, vehicle's current condition, perception map message and degradation makes
Banner message path planning is used with banner message, and according to degrading.
Preferably, the driving mode for controlling vehicle according to the status information of each module feedback includes：
According to urgent danger prevention functional requirement, if the safety to control task is judged as safety, control task is issued, is otherwise kept away
Danger parking；
Banner message path planning is used according to described degrade：
If being judged as the use that do not degrade, according to reference path and positioning and directing information, reference path that prediction vehicle is exercised and
Travel direction, and the path planning on map is perceived；
It is used if being judged as degrading, according to reference path and positioning and directing information, reference path and row that prediction vehicle is exercised
Direction is sailed, and according to environmental constraints adjust automatically travel speed and driving path.
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