CN108334072A - A kind of double driving mode control systems of the sweeper based on Beidou navigation - Google Patents

Abstract

The present invention relates to a sweeping vehicle dual driving mode control system based on Beidou navigation, comprising: an intelligent decision-making unit for coordinating and directing the driving and operation of the sweeping vehicle, the intelligent decision-making unit is provided with a mode switching switch for selecting the driving mode; the environment The sensing unit is used to collect road condition information around the vehicle body; the Beidou positioning terminal is used to provide positioning and route navigation for vehicles; the V2I communication device performs information interaction with traffic lights and provides traffic light time information for intelligent decision-making units; brake by wire The unit is used to receive and execute the braking command of the unmanned driving mode of the intelligent decision-making unit; the steering-by-wire unit is used to receive and execute the steering command of the unmanned driving mode of the intelligent decision-making unit; the remote monitoring unit is used to receive real-time environmental information And send control instructions to the intelligent decision-making unit; the battery pack is used to supply power for the entire system. Compared with the prior art, the present invention has the advantages of switchable dual driving modes, accurate unmanned driving and the like.

Description

A dual driving mode control system for sweeping vehicles based on Beidou navigation

technical field

The invention relates to the field of unmanned driving, in particular to a dual-driving mode control system for sweeping vehicles based on Beidou navigation.

Background technique

The navigation methods of unmanned smart cars can be divided into laser radar navigation, visual navigation, Beidou navigation and so on according to the different sensor forms. Lidar navigation can scan the distance information of roads and obstacles in the direction of the vehicle through laser scanning; visual navigation mainly collects image information of the road ahead through cameras; Beidou satellite navigation system is a satellite navigation system independently developed and operated by China. The satellite positioning information of the vehicle is collected through the Beidou positioning terminal. Compared with other types of navigation methods, the Beidou satellite navigation system is safer to use and has higher positioning accuracy. At present, the Beidou satellite navigation system is mostly used in special-purpose vehicles or transport vehicles.

Road sweeper is a cleaning equipment that integrates road cleaning, garbage recycling and transportation. The sweeping brush driven by it is also equipped with a variety of supporting equipment such as fans, dustbins, and water tanks to form an operating system. This brand-new model can complete the work of cleaning the ground, cleaning the curbs and sprinkling water on the ground after cleaning. It is suitable for cleaning operations in various climates and different dry road surfaces. Most of the existing sweeping vehicles use manual driving to ensure the normal work of the sweeping vehicles. There is no complete automatic driving technology applied to the slow-moving vehicles such as sweeping vehicles. With the development of society, the number of motor vehicles on the road increases. The combination of safe driving and efficient operation has become a big problem.

Contents of the invention

The object of the present invention is to provide a sweeping vehicle dual driving mode control system based on Beidou navigation in order to overcome the above-mentioned defects in the prior art.

The purpose of the present invention can be achieved through the following technical solutions:

A dual driving mode control system for sweepers based on Beidou navigation, the system includes:

The intelligent decision-making unit is respectively connected with the vehicle motion control system and the operation system of the sweeping vehicle, and is used to coordinate and direct the driving and operation of the sweeping vehicle. The intelligent decision-making unit is provided with a mode switching switch for selecting a driving mode;

The environmental perception unit is connected with the intelligent decision-making unit, and is used to collect road condition information around the vehicle body;

Beidou positioning terminal, connected with the intelligent decision-making unit, is used to provide positioning and route navigation for vehicles;

The V2I communication device is connected with the intelligent decision-making unit, and provides the time information of the traffic light for the intelligent decision-making unit through the information interaction with the traffic lights;

The brake-by-wire unit is connected with the intelligent decision-making unit, and is used to receive the unmanned driving mode instruction from the intelligent decision-making unit, and complete the braking in the unmanned driving mode;

The wire-controlled steering unit is connected with the intelligent decision-making unit, and is used to receive the unmanned driving mode command from the intelligent decision-making unit, and complete the steering in the unmanned driving mode;

The remote monitoring unit is connected with the environmental perception unit and the intelligent decision-making unit respectively, and is used to receive real-time environmental information and send control instructions to the intelligent decision-making unit;

The battery pack is respectively connected with each of the above-mentioned units, and is used to supply power for the entire system.

Preferably, the environment sensing unit includes a radar module, a camera monitoring module and a vehicle monitoring terminal, the radar module and the camera monitoring module are respectively arranged on the surface of the vehicle body, and the vehicle monitoring terminal is arranged in the electrical cabinet of the cleaning vehicle compartment Inside, the vehicle monitoring terminal is connected with the remote monitoring unit.

Preferably, the radar module includes a medium-to-long-distance millimeter-wave radar and an ultrasonic radar, the medium-to-long-distance millimeter-wave radar is installed at the front and rear ends of the vehicle body, and the ultrasonic radar is installed around the vehicle body. The camera monitoring module includes a monocular camera and a remote monitoring camera, the monocular camera is located at the central part of the windshield of the vehicle body, and the remote monitoring camera is installed on both sides of the vehicle body, on the front bumper of the vehicle body and on the vehicle body rear tail.

Preferably, the medium-to-long-distance integrated millimeter-wave radar adopts two parts, which are respectively installed at the front and rear of the vehicle. The long-distance can realize the detection of the maximum distance of 175 meters in front and rear of the vehicle body, and the angle coverage is 20°. The middle distance can Realize the detection of the maximum distance of 60 meters in front and rear of the vehicle body and the angle coverage of 90°; the ultrasonic radar uses 20 units, four units are respectively installed on the front and rear of the vehicle body, and six units are respectively installed on the left and right sides of the vehicle body. Obstacle distance detection; the monocular camera adopts one, is installed in the middle of the front windshield of the vehicle, and can realize the detection of the distance of 80 meters in front of the vehicle body and the angle coverage of 38 °; the remote monitoring camera adopts four , which are installed on both sides of the vehicle body, on the front bumper and at the rear of the vehicle body, are used to collect video information around the vehicle body and transmit the video data to the vehicle monitoring terminal, which then sends it to the remote monitoring unit. According to the received real-time environmental information, the remote monitoring unit sends corresponding control commands to the intelligent decision-making unit to adjust the driving mode. The environmental perception unit sends the collected vehicle body environment information to the intelligent decision-making unit, which is used for the intelligent decision-making unit to control the driving of the vehicle.

Preferably, the brake-by-wire unit includes a service brake motor, a service brake solenoid valve, a brake controller for controlling the service brake solenoid valve, a brake pedal for preferentially switching the manned driving mode, and a brake pedal for A pedal force sensor for collecting pedal force signals.

Preferably, the control system can realize the dual-driving mode braking and dual-driving mode switching of the sweeper, and the dual-driving mode switching includes switching from manned driving mode to unmanned driving mode and from unmanned driving mode to manned driving mode. mode switching.

The specific content of the dual driving mode braking is that when the sweeper is in the manned driving mode, the original vehicle hydraulic system is used for the service brake to complete the braking action, and the parking brake is used for the original vehicle parking brake system to complete the parking action. ; When the sweeper is in unmanned driving mode, the service brake uses the service brake motor to complete the service brake action, and the parking brake uses the parking brake motor to control the cable to complete the parking action.

The specific content of the dual driving mode switching is as follows:

After the vehicle is powered on, the driver turns on the mode switching switch and issues a switching command between the manned driving mode and the unmanned driving mode; when the mode switching switch is set to the unmanned driving mode, the intelligent decision-making unit sends the switching signal to the braking system. The controller, the brake controller controls the service brake solenoid valve to switch the motor, and completes the switch from the manned driving mode to the unmanned driving mode;

The priority of the brake pedal for driving mode switching is higher than that of the mode switching switch. When the driver depresses the brake pedal in the vehicle body in an emergency, the intelligent decision-making unit receives the signal from the pedal force sensor and switches the unmanned driving mode to the human driver. The driving mode switching command is sent to the braking system of the original vehicle to generate braking, and the mode switching switch is switched back to the manned driving mode to complete the switching from the unmanned driving mode to the manned driving mode.

Compared with the prior art, the present invention has the following advantages:

1. The intelligent decision-making unit of the present invention is provided with a mode switching switch, which can realize dual driving mode control for the sweeping vehicle, that is, manned driving mode or unmanned driving mode, and switching between the dual driving modes; the mode switching switch is set to unmanned In the driving mode, the intelligent decision-making unit sends the switch signal to the brake controller, so that the brake controller controls the service brake solenoid valve to switch the motor, and completes the switch from the manned driving mode to the unmanned driving mode; when the driver is in an emergency When the brake pedal in the vehicle body is depressed, the intelligent decision-making unit receives the signal from the pedal force sensor and sends the command to switch from unmanned driving mode to manned driving mode to the original vehicle braking system to complete the transition from unmanned driving mode to manned driving mode. Switching; dual driving mode can improve the efficiency of cleaning work, further ensure the safety of the driver, and the operation is simple;

2. The present invention utilizes the advantages of the Beidou navigation method, and at the same time integrates and analyzes the information collected by other cameras and radars, and can extract useful information covering a 360° range around the sweeper, and realize the front and rear 80m of the sweeper, and sideways Target detection in the environment within 5m; at the same time, the camera used can output the category information of motor vehicles, non-motor vehicles, pedestrians and scattered objects through the built-in image processing algorithm, and has a lane line of about 95% in sunny days and during the day. The recognition rate of 100% achieves the purpose of perception of the surrounding environment of the vehicle, and through the coordination and cooperation of various units, the sweeper can further accurately clean along the road;

3. The present invention is equipped with a vehicle-mounted monitoring terminal that can communicate with a remote monitoring terminal, can receive control instructions from the remote monitoring terminal, and can upload corresponding data, ensuring that it can accept the scheduling of the dispatching system in the intelligent transportation system, and ensure that The sweeper runs in an orderly and safe manner in the intelligent transportation system; at the same time, the equipped V2I communication device can communicate with the traffic lights at the intersection to ensure that vehicles can pass through the intersection smoothly.

Description of drawings

Fig. 1 is a schematic diagram of the system structure of the present invention;

Fig. 2 is the side view structure schematic diagram of cleaning vehicle;

Fig. 3 is a schematic diagram of the body structure of the cleaning vehicle adopting the present invention;

Fig. 4 is a schematic diagram of the layout of the environmental perception unit of the present invention;

Fig. 5 is a schematic structural diagram of the brake-by-wire unit of the present invention;

Figures 2, 3, and 4 are labeled with:

1. Beidou positioning terminal antenna, 2. Monocular camera, 3. Medium and long-distance integrated millimeter-wave radar, 4. Ultrasonic radar, 5. V2I communication device antenna, 6. Carriage, 7. Ternary lithium battery, 8. Sweeping brush , 9. Electrical cabinet, 10. Remote monitoring camera;

As shown in the label in Figure 5:

I. Vehicle power controller, II, brake controller, III, motor driver, VI, parking brake motor, V, deceleration mechanism, VI, liquid storage tank, VII, brake master cylinder, VIII, pedal force Sensor, IX, brake pedal, X, relay, XI, service brake solenoid valve, XII, brake cylinder.

Detailed ways

The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

The present invention relates to a sweeping vehicle dual driving mode control system based on Beidou navigation, the system includes an intelligent decision-making unit, an environment perception unit connected to the intelligent decision-making unit, a brake-by-wire unit, a steering-by-wire unit, a Beidou positioning terminal, and a V2I Communication unit, remote monitoring unit and battery pack.

The intelligent decision-making unit is set in the vehicle body and is used to control or coordinate each unit to complete corresponding functions. The intelligent decision-making unit can receive information sent by other units, and can also send control instructions to the unit responsible for execution. The intelligent decision-making unit is connected with the vehicle motion control system to order the sweeper to adopt manned driving mode or unmanned driving mode. The vehicle motion control system is equipped with a travel motor that provides braking for the manned driving mode, an original vehicle steering system, an original vehicle braking system, and a battery management system. The intelligent decision-making unit is provided with a mode switching switch. When the mode selection of the mode switching switch is the unmanned driving mode, the intelligent decision-making unit will switch to the unmanned driving mode command and send it to the brake-by-wire unit and the steering-by-wire unit to realize unmanned driving. Braking (including driving, parking, steering, etc.). At the same time, the intelligent decision-making unit can also control the corresponding system to work, such as the operating system.

The environmental perception unit is set on the vehicle body to collect road condition information around the vehicle body; the environmental perception unit includes a radar module, a camera monitoring module and a vehicle monitoring terminal. Radar modules include medium and long-range millimeter-wave radar 3 and ultrasonic radar 4. The camera monitoring module includes a monocular camera 2 and a remote monitoring camera 10. The vehicle-mounted monitoring terminal is located in the electrical cabinet and is connected to the radar module and the camera monitoring module respectively. The vehicle-mounted monitoring terminal sends the information collected by the two to the intelligent decision-making unit; at the same time, the vehicle-mounted monitoring terminal can also realize communication with the remote monitoring terminal. Communication, and receive control instructions from the remote monitoring terminal. According to the received real-time environmental information, the remote monitoring unit sends corresponding control commands to the intelligent decision-making unit to adjust the driving mode.

As shown in Figure 4, the medium and long-distance integrated millimeter-wave radar 3 used in this embodiment consists of two parts, which are respectively installed at the front and rear of the vehicle. The long distance can achieve a maximum distance of 175 meters in front and rear of the vehicle body and an angle coverage of 20°. The middle distance can realize the detection of the maximum distance of 60 meters in front and rear of the car body and the angle coverage of 90°. There are 20 ultrasonic radars 4 in total, four are respectively installed at the front and back of the vehicle body, and six are respectively installed at the left and right sides of the vehicle body, which can detect the obstacle distance within 5 meters around the vehicle body. There is one monocular camera 2, which is installed in the middle of the front windshield of the vehicle, and can detect a distance of 80 meters in front of the vehicle body and an angle coverage of 38°. There are four remote monitoring cameras 10, which are installed on both sides of the vehicle body, on the front bumper, and at the rear of the vehicle body. monitoring unit. The environmental perception unit sends the collected vehicle body environment information to the intelligent decision-making unit, which is used for the intelligent decision-making unit to control the driving of the vehicle.

Combining the information collected by the camera and radar, the present invention can extract useful information covering 360° around the cleaning vehicle, and realize the detection of objects within 80m in front of and behind the vehicle, and within 5m of the side, and the vehicle-mounted camera used is intelligent The sensor can output the category information of motor vehicles, non-motor vehicles, pedestrians and scattered objects through the built-in image processing algorithm, and has a recognition rate of about 95% for lane lines in sunny days and daytime, so as to achieve the purpose of perception of the surrounding environment of the vehicle, and Through the coordination and cooperation of various units, the sweeper can accurately carry out unmanned cleaning operations along the road.

The brake-by-wire unit and the steering-by-wire unit are located at the bottom of the vehicle body and are connected to the intelligent decision-making unit for executing the braking or steering commands of the unmanned driving mode of the intelligent decision-making unit, as well as switching between dual-driving modes. The brake-by-wire unit includes vehicle power controller I, brake controller II, motor driver III, parking brake motor VI, deceleration mechanism V, fluid storage tank VI, brake master cylinder VII, pedal force sensor VIII, braking Pedal IX, relay X, service brake solenoid valve XI and brake cylinder XII. The service brake solenoid valve XI is installed under the chassis of the vehicle and is used to switch the braking mode between the manned driving mode and the unmanned driving mode; the brake controller II controls the service brake solenoid valve XI; when the mode switching switch is pressed , the intelligent decision-making unit sends the switching signal to the brake controller II, and the brake controller II controls the service brake solenoid valve XI. The priority of the brake pedal IX for driving mode switching is higher than that of the mode switching switch.

When the sweeper is in manned driving mode, the driver depresses the brake pedal IX to establish the master cylinder hydraulic pressure of the brake master cylinder VII through the original vehicle vacuum pump and vacuum booster to complete the braking. At this time, the brake controller II receives the action signal of the driver stepping on the brake pedal IX from the pedal force sensor VIII, but does not respond. When the sweeper is in unmanned driving mode, the intelligent decision-making unit inputs the target brake fluid pressure to the brake controller II, and the service brake solenoid valve XI is powered on under the control of the brake controller II, and the hydraulic pressure is generated through the active pressure building mechanism. force braking. When the driver depresses the brake pedal IX, the braking intention is collected by the pedal force sensor VIII and transmitted to the brake controller II, and the brake controller II controls the power-off of the service brake solenoid valve XI to complete the mode switching, and then The original car brake pipeline completes braking.

An electrical cabinet 9 is installed in the compartment 6 of the vehicle body, and the V2I communication device is installed in the electrical cabinet 9 and connected to the intelligent decision-making unit. The unit provides timing information for traffic lights.

The Beidou positioning terminal is installed on the electrical cabinet 9, and its Beidou positioning terminal antenna 1 is installed on the roof of the vehicle to provide positioning and route navigation for the vehicle.

The battery pack is located on the chassis of the vehicle body and is used to supply power to the entire system. The battery pack in this embodiment uses a ternary lithium battery 7 .

The operation system is connected with the intelligent decision-making unit, and the cleaning operation is controlled by the intelligent decision-making unit. The operating system includes a sweeping brush 8, a blower fan and a sprinkler; a dustbin and a water tank are arranged in the carriage 6 of the vehicle body, and are used to cooperate with the operating system to complete the cleaning work.

The cleaning vehicle of the present invention has a dual-mode driving function, that is, a manned driving mode and an unmanned driving mode. The Beidou positioning terminal provides route navigation for the sweeper. The environmental perception unit can collect road condition information around the sweeper through radar and camera, and send the information to the intelligent decision-making unit. It can judge whether it is moving or steering, and use the corresponding driving mode to control.

In terms of braking control, if it is in the manned driving mode, the original vehicle braking system is used for the driving brake, that is, the original vehicle hydraulic system; for the parking brake, the original vehicle’s parking brake system is used for braking. verb: move. If it is in unmanned driving mode, for the service brake, the service brake motor is used to complete the service brake action; for the parking brake, the parking brake motor is used to control the car cable to complete the parking brake action. In terms of steering control, if it is in the manned driving mode, the original vehicle steering, that is, the electric power steering motor is used for control; External torque and rotation angle commands, turn to the corresponding angle according to these commands.

The cleaning vehicle of the present invention can also realize the switching function of dual-mode driving, including switching from a manned driving mode to an unmanned driving mode and from an unmanned driving mode to a manned driving mode.

The specific content of switching from manned driving mode to unmanned driving mode is as follows:

After the vehicle is powered on, the driver issues a switching command between manned driving mode and unmanned driving mode by turning on the mode switching switch; when the mode switching switch is set to unmanned driving mode, the intelligent decision-making unit sends the switching signal to the control system. The brake controller controls the service brake solenoid valve to switch the motor to complete the switch from the manned driving mode to the unmanned driving mode.

The specific content of switching from unmanned mode to manned mode is as follows:

Because the priority of the brake pedal for driving mode switching is higher than that of the mode switching switch, when the driver depresses the brake pedal IX in an emergency, the intelligent decision-making unit receives the signal from the pedal force sensor VII to realize the driverless driving mode. Manned driving mode switching command (although the mode switching switch is in the unmanned driving mode at this time, the priority of the brake pedal IX switching is higher, so the switching command of the brake pedal IX shall prevail). At the same time, the original vehicle The braking system builds up pressure to produce braking. After that, the mode switching switch needs to be switched back to the manned driving mode, and then the unmanned driving mode can be switched through the mode switching switch.

The above is only a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any worker familiar with the technical field can easily think of various equivalents within the technical scope disclosed in the present invention. Modifications or replacements shall all fall within the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims (8)

1. a kind of double driving mode control systems of sweeper based on Beidou navigation, the sweeper are equipped with vehicle motion control System and operating system are equipped with electrical cabinet in the sweeper vehicle body, which is characterized in that the control system includes：

Intelligent decision unit is separately connected with vehicle kinetic control system and operating system, for coordinating and commanding sweeper It drives and operation, the intelligent decision unit is equipped with the mode selector switch for selecting driving mode；

Environment sensing unit, connect with intelligent decision unit, for acquiring the traffic information near vehicle body surrounding；

Big Dipper positioning terminal, connect with intelligent decision unit, for providing positioning and route guidance for vehicle；

V2I communication devices, connect with intelligent decision unit, by the information exchange with traffic lights, are provided for intelligent decision unit The temporal information of traffic lights；

Brake-by-wire unit, connect with intelligent decision unit, the unmanned mode instruction for receiving intelligent decision unit, complete At the braking of unmanned pattern；

Steering-by-wire unit, connect with intelligent decision unit, the unmanned mode instruction for receiving intelligent decision unit, complete At the steering of unmanned pattern；

Remote monitoring unit is separately connected with environment sensing unit and intelligent decision unit, for receiving real time environment information simultaneously Control instruction is sent to intelligent decision unit；

Battery pack is connect with above-mentioned each unit respectively, for powering for whole system.

2. a kind of double driving mode control systems of sweeper based on Beidou navigation according to claim 1, feature exist In the environment sensing unit includes radar module, camera monitoring modular and vehicle monitor terminal, the radar mould Block, camera monitoring modular are respectively arranged on bodywork surface, and the vehicle monitor terminal is set in electrical cabinet, the vehicle-mounted prison Control terminal is connect with remote monitoring unit.

3. a kind of double driving mode control systems of sweeper based on Beidou navigation according to claim 2, feature exist In the radar module includes middle and long distance millimetre-wave radar and ultrasonic radar, the middle and long distance millimetre-wave radar Mounted on the front-end and back-end of vehicle body, the ultrasonic radar is mounted on vehicle body surrounding.

4. a kind of double driving mode control systems of sweeper based on Beidou navigation according to claim 2, feature exist In the camera monitoring modular includes monocular cam and remote monitoring camera, and the monocular cam is set to vehicle The central part of body windshield, the remote monitoring camera is mounted on vehicle body both sides, on vehicle body front bumper and vehicle body Rear tail portion.

5. a kind of double driving mode control systems of sweeper based on Beidou navigation according to claim 1, feature exist In the brake-by-wire unit includes service brake motor, service brake solenoid valve, for controlling service brake solenoid valve Brake monitor, the brake pedal for preferentially switching manned mode and the pedal force for acquiring pedal force signal pass Sensor.

6. according to a kind of double driving mode control systems of sweeper based on Beidou navigation of claim 1-5 any one of them, It is characterized in that, the control system can realize the braking of double driving modes and the switching of double driving modes of sweeper, it is described The switching of double driving modes includes manned mode to the switching of unmanned pattern and unmanned pattern to manned mould The switching of formula.

7. a kind of double driving mode control systems of sweeper based on Beidou navigation according to claim 6, feature exist In the particular content of double driving modes braking is, when sweeper is in manned mode, service brake is using former vehicle Hydraulic system completes braking maneuver, and parking braking completes parking action using former vehicle parking braking system；Sweeper is in nobody When driving mode, service brake completes service brake action using service brake motor, and parking braking uses parking braking motor Drag-line is controlled, parking action is completed.

8. a kind of double driving mode control systems of sweeper based on Beidou navigation according to claim 6, feature exist In the particular content of double driving modes switching is：

Vehicle after the power is turned on, driver opens mode selector switch, issues between manned mode and unmanned pattern Switching command；When mode selector switch is set as unmanned pattern, switching signal is sent to braking control by intelligent decision unit Device processed, brake monitor control service brake solenoid valve and carry out motor switching, complete manned mode to unmanned pattern Switching；

Priority of the brake pedal for driving mode switching is higher than mode selector switch, when driver in case of emergency steps on When brake pedal in vehicle body, intelligent decision unit receives pedal force sensor signal, by unmanned pattern to manned The order of pattern switching is sent to former vehicle braking system, generates braking, and mode selector switch switchback manned mode is completed Switching of the unmanned pattern to manned mode.