CN108609020A - Control method for vehicle - Google Patents
Control method for vehicle Download PDFInfo
- Publication number
- CN108609020A CN108609020A CN201810565790.6A CN201810565790A CN108609020A CN 108609020 A CN108609020 A CN 108609020A CN 201810565790 A CN201810565790 A CN 201810565790A CN 108609020 A CN108609020 A CN 108609020A
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- China
- Prior art keywords
- control
- vehicle
- drive signal
- cleaning brush
- motor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
Abstract
The present invention provides a kind of control method for vehicle, including：Receive the first operational order or the second operational order that control unit for vehicle is sent；First operational order is handled, according to first operational order, generates the first drive signal, the second drive signal and third drive signal；According to second operational order, fourth drive signal is generated；First drive signal is sent to wheel speed meter, to control startup or closing in terms of wheel speed；The pulse signal after wheel speed meter starts is obtained, and according to the frequency of the pulse signal, determines First Speed information；Second drive signal is sent to laser radar, to control the startup or closing of laser radar；The third drive signal is sent to cleaning brush controller and air inducing machine controller, the fourth drive signal is sent at least one of lighting system lamp, to start or close at least one lamp.Hereby it is achieved that the high sensitivity of vehicle, high personified control.
Description
Technical field
The present invention relates to control technology field more particularly to a kind of control method for vehicle.
Background technology
With the rapid development of computer technology and artificial intelligence technology, intelligent robot technology has become both at home and abroad
The hot spot of numerous scholar's researchs.Wherein, service humanoid robot opens the frontier of robot application, services going out for humanoid robot
Now mainly there is following three aspects reason：In a first aspect, domestic labor cost has the tendency that rising；Second aspect, population are aged
Change and improving for the social welfare system provides extensive market application prospect for service humanoid robot；The third aspect, the mankind think
Break away from the labour of repetition.For example current road sweeper needs pilot steering, has a single function, it is not convenient enough, therefore hand sweeping is by intelligence
The unmanned automatic cleaning of energyization replaces irresistible.
In order to more easily distinguish and define automatic Pilot technology, the classification of automatic Pilot is just at a major issue.At present
Two generally acknowledged classifying systems of Global Auto industry are by United States highways safety management bureau (abbreviation NHTSA) and the world respectively
What robot engineering Shi Xuehui (abbreviation SAE) was proposed.Wherein, the automatic Pilot technology of L4 and L5 ranks can be known as completely certainly
Dynamic driving technology, has arrived this rank, automobile can own under the case where being intervened completely without driver
Driver behavior, in terms of attention can also be placed on others by driver, for example work or rest.But the difference of the two exists
In the automatic Pilot of L4 ranks is suitable under the scene of part, typically refers in city or on highway.And L5 ranks are then
It is required that autonomous driving vehicle can be accomplished to drive vehicle traveling completely under any scene.
With the aggravation of China human mortality aging, the appearance of recruitment famine and the continuous improvement of recruitment cost, directly result in
The problem of difficult, personal management hardly possible that user advertises for workers, cost are constantly climbed to a higher point, is manually replaced by mechanical automation irresistible.
But in the prior art, when controlling vehicle, there is problems, for example, sensitivity is not high, intend
The defects of human nature is not high.
Invention content
The purpose of the embodiment of the present invention is to provide a kind of control method for vehicle, to solve in the prior art to vehicle control
When, the defects of sensitivity is not high, and personification is not high.
To solve the above problems, the present invention provides a kind of control method for vehicle, the control method for vehicle includes：
To solve the above problems, receiving the first operational order or the second operational order that control unit for vehicle is sent；
First operational order is handled, according to first operational order, generates the first drive signal, second
Drive signal and third drive signal；
According to second operational order, fourth drive signal is generated；
First drive signal is sent to wheel speed meter, to control startup or closing in terms of wheel speed；
The pulse signal after wheel speed meter starts is obtained, and according to the frequency of the pulse signal, determines First Speed information；
Second drive signal is sent to laser radar, to control the startup or closing of laser radar；
The third drive signal is sent to cleaning brush controller and air inducing machine controller, to control the cleaning brush control
The startup of device and air inducing machine controller processed, with when the cleaning brush controller starts, control cleans brush motor and lifting motor
Startup, so that lifting motor control cleaning brush is dropped to and clean position and control turning for cleaning brush by cleaning brush motor
Speed is cleaned；And the startup of control air inducing machine controller control id-motor；
Alternatively, to control the closing of the cleaning brush controller and the air inducing machine controller, in the cleaning brush control
When device processed is closed, control cleans the closing of brush motor and lifting motor, so that the lifting motor control cleaning brush is risen to non-clear
It sweeps position and is shut down by cleaning brush motor control cleaning brush；And control air inducing machine controller controls id-motor
Startup；
The fourth drive signal is sent at least one of lighting system lamp, with start or close it is described extremely
A few lamp.
Preferably, after the determining First Speed information, the method further includes：
The First Speed information is sent to control unit for vehicle.
Preferably, the method further includes：
Obtain the Fisrt fault information of vehicle；Wherein, the Fisrt fault information is to clean brush motor and/or lifting motor
And/or id-motor open-circuit condition, the motor feels hot information.
Preferably, the method further includes：
The second speed information for receiving control unit for vehicle and sending is obtained from the CAN transceiver；
Calculate the difference of the First Speed information and the second speed information；
When the difference is more than preset difference threshold, wheel speed meter failure is determined, generate the second fault message.
Preferably, the method further includes：According to the Fisrt fault information or the second fault message, driving loudspeaker generate
Alarm signal.
Preferably, further include before the method：
After control unit for vehicle self-test success, the lamplight pointing information of collection vehicle control unit transmission；Wherein, described
Lamplight pointing information is used to indicate unlatching lighting system, to prompt self-test success.
Control method for vehicle provided by the invention realizes the high sensitivity of vehicle, high personified control.
Description of the drawings
Fig. 1 is control method for vehicle flow diagram provided in an embodiment of the present invention.
Specific implementation mode
Below by drawings and examples, technical scheme of the present invention will be described in further detail.It is appreciated that
It is that specific embodiment described herein is used only for explaining related invention, rather than the restriction to the invention.It further needs exist for
It is bright, for ease of description, being illustrated only in attached drawing relevant part is invented with related.
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The application is described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
Fig. 1 is control method for vehicle flow diagram provided in an embodiment of the present invention.As shown in Figure 1, the method is held
Row main body is car body controller (Body Control Module, BCM), and the method is based on BCM, can be applied to nobody and drive
It sails in vehicle, especially can be applied to low speed automatic driving vehicle, such as sweeper.Control unit for vehicle hereinafter is certainly
It is dynamic to drive control unit for vehicle ((Automated Vehicle Control Unit, AVCU)).
Before BCM work, first powered on, when battery system detects that the start button of control panel is pressed,
Generate power on signal, battery system exports electric energy, and BCM carries out self-test, predominantly detect whether power supply normal and wheel speed meter whether just
Often, and by inspection result it is sent to control unit for vehicle, after control unit for vehicle receives inspection result, to vehicle control list
Member, the inspection result of BCM are summarized, and according to summarized results, judge whether to reach the successful condition of self-test, if reaching self-test
Successful condition then sends the successful notification signal of self-test by CAN transceiver to BCM, and BCM receives self-test and successfully notifies
After signal, into standby mode.At this point, BCM can control lighting system progress light and carry according to the successful notification signal of self-test
Show, for example, controlling lighting system with the preset frequency scintillation preset time, to remind self-test success.
Step 11, the first operational order or the second operational order that control unit for vehicle is sent are received.
Step 12, first operational order is handled, according to first operational order, generates the first driving letter
Number, the second drive signal and third drive signal.
Step 13, according to second operational order, fourth drive signal is generated.
Wherein, the first operational order of control unit for vehicle can be obtained from human-computer interaction device or background server
.
Human-computer interaction device can be vehicular applications program (Application, app), can also be remote controler, can be with
It is other devices that can carry out human-computer interaction, the application does not limit this.
Background server can be determined according to the application scenarios of vehicle, when the vehicle application scene is sweeper, be somebody's turn to do
Background server can be the server of sweeper, which can also be swept with separate operaton in a specific region by more
Ground machine common operational does not limit this in the different community domain of the same area, the application.
First operational order can be independent first operational order, can also be the sum of multiple continuous instructions.
In one example, when background server generates the first operational order, which can be on background server
The sum of several continual commands, such as by the buttons such as click " startup ", " automatic cleaning ", and then selected to carry out certain region
Automatic cleaning.In another example, when human-computer interaction device generates the first operational order, which can be
Multiple icon buttons in human-computer interaction device are carried out with the sum of the instruction of selection.
The setting of current first operational order is related with the state before vehicle, for example, when vehicle is in standby mode,
By selection " automatic driving mode ", enter automatic driving mode from standby mode to control vehicle.In the following, with vehicle from waiting for
It is illustrated for machine pattern to the switching between automatic driving mode.
Specifically, when first operational order is to enter automatic path planning mode instruction, BCM receives first behaviour
It instructs, first operational order can be parsed, and generate the first drive signal, the second drive signal and third driving letter simultaneously
Number.
Second operational order can be generated in vehicle operation, for example control unit for vehicle is believed according to barrier
Breath, the instruction for cleaning the generations such as path data information, for example, turn left, turn right etc..
Step 14, first drive signal is sent to wheel speed meter, to control startup or closing in terms of wheel speed.
Step 15, the pulse signal after wheel speed meter starts is obtained, and according to the frequency of the pulse signal, determines the first speed
Spend information.
Specifically, by wheel speed is counted be Hall wheel speed sensor for illustrate.
Hall wheel speed sensor is made of sensing head and gear ring.Sensing head is by permanent magnet, Hall element and electronic circuit
Deng composition.Operation principle is that the magnetic line of force of permanent magnet leads to gear across Hall element, and gear is equivalent to a collection chinaware.Gear
When rotation, the density of line of magnetic force across Hall element changes, therefore causes the variation of Hall voltage, and Hall element will export
Impulse waveform, the impulse waveform are converted into the pulse voltage of standard, i.e. pulse signal via electronic circuit.The frequency of pulse signal
The pulse number that rate, i.e. each second generate reflects the speed of wheel rotation, by the frequency of pulse signal it can be learnt that wheel
Rotating speed.Pass through the rotating speed of wheel, it may be determined that First Speed information.
Subsequently, by CAN bus, First Speed information is sent to control unit for vehicle, so that control unit for vehicle root
According to First Speed information and pass through Differential Global Positioning System (Differential Global Positioning
System, DGPS) obtain second speed information, formation speed fuse information, pass through speed fuse information, correct moment of torsion control
Information and rotating speed control information.
Step 16, second drive signal is sent to laser radar, to control the startup or closing of laser radar.
Laser radar can obtain environment sensing data.Specifically, after laser radar turns around, it is all to what is be collected into
Point carries out unified unpacking, compensation deals, generates the multiple laser point cloud datas scanned comprising this circle, then from sharp
Luminous point cloud extracting data is to obstacle information.Example and it is non-limiting, the quantity of laser radar can be one, can also be more
It is a, when the quantity of laser radar is multiple, fusion treatment can be carried out to the environment sensing data of multiple laser radars, to
Laser point cloud data is obtained, obstacle information is extracted from laser point cloud data.The sensitive of detection barrier is improved as a result,
Degree.The laser point cloud data is subsequently generated course changing control information and torque control message to control unit for vehicle.
Step 17, the third drive signal is sent to cleaning brush controller and air inducing machine controller, described in control
The startup of cleaning brush controller and air inducing machine controller, with when the cleaning brush controller starts, control clean brush motor and
The startup of lifting motor makes the lifting motor control cleaning brush drop to and cleans position and cleaned by cleaning brush motor control
The rotating speed of brush, is cleaned；And the startup of control air inducing machine controller control id-motor；
Alternatively, to control the closing of the cleaning brush controller and the air inducing machine controller, in the cleaning brush control
When device processed is closed, control cleans the closing of brush motor and lifting motor, so that the lifting motor control cleaning brush is risen to non-clear
It sweeps position and is shut down by cleaning brush motor control cleaning brush；And control air inducing machine controller controls id-motor
Startup.
Specifically, when vehicle enters " automatic driving mode " from " standby " mode, cleaning brush controller is according to corresponding
Operational order, control lifting motor decline, and control cleans brush motor operating, carry out cleaning works, and the control of air inducing machine controller is drawn
Blower motor operates, and the sundries of cleaning is recycled.Correspondingly, when vehicle enters " standby " mode from " automatic driving mode "
When, cleaning brush controller controls lifting motor and rises, and control cleans brush motor and stops, to stop cleaning works, air-introduced machine control
Device control id-motor processed is stopped.
Step 18, the fourth drive signal is sent at least one of lighting system lamp, to start or close
Close at least one lamp.
Example and it is non-limiting, lighting system include driving lamp 2, front directional 2, rear directional 2, brake lamp 2,
Clearance lamps 2, back-up lamp 2.Above-mentioned 2, are respectively set on the left and right sides of vehicle.
When vehicle makes the such as result of decision such as " left-hand rotation ", " right-hand rotation ", for example, when turning left, BCM drives " left steering lamp "
Flicker, when turning right, driving " right turn lamp " flicker.
Further, the method further includes：The First Speed information is sent to control unit for vehicle.So that vehicle
Control unit is according to First Speed information and passes through Differential Global Positioning System (Differential Global
Positioning System, DGPS) the second speed information that obtains, formation speed fuse information, by speed fuse information,
It corrects torque control message and rotating speed controls information.
Further, the method further includes：Obtain the Fisrt fault information of vehicle；Wherein, the Fisrt fault information
To clean brush motor and/or lifting motor and/or id-motor open-circuit condition, the motor feels hot information.
It should be noted that the hardware knot that third drive signal and first, second, fourth drive signal are relied on when transmitting
Structure exists different.First drive signal, the second drive signal and fourth drive signal by the different GPIO ports in BCM come
Control the working condition of wheel speed meter, laser radar and lighting system.Third drive signal comes by the motor control module in BCM
Cleaning brush controller and air inducing machine controller are controlled, brush motor and lifting motor are cleaned to be controlled by cleaning brush controller,
The working condition of id-motor is controlled by air inducing machine controller.The effect of motor control module is rectification and current limliting, is prevented
The electric current for being transferred to cleaning brush controller and air inducing machine controller is excessive or electric current is unstable.
Motor control module in BCM can feed back clean brush motor, lifting motor and id-motor open circuit or short
The information such as road or motor overheating.
Further, the method further includes：It is obtained from the CAN transceiver and receives control unit for vehicle is sent second
Velocity information；Calculate the difference of the First Speed information and the second speed information；When the difference is more than preset difference
When being worth threshold value, wheel speed meter failure is determined, generate the second fault message.
Wherein it is possible to difference threshold is arranged as required to, for example, can difference threshold be set as 2m/s.First, second
Fault message is only to be distinguished to the source of two kinds of fault messages, and fault handling information is done for the fault message
Processing, for example, emergency braking etc..
Further, the method further includes：According to the Fisrt fault information or the second fault message, driving loudspeaker production
Raw alarm signal.
By loudspeaker, alarm signal is sent out, to remind vehicle that there are failures.
It is understood that the prompting sound of the corresponding loudspeaker of different faults information can be corresponded, you can logical
The prompt tone for crossing loudspeaker, judges fault type, improves the efficiency of consequent malfunction maintenance.
When lighting system failure, vehicle still can work.
Professional should further appreciate that, described in conjunction with the examples disclosed in the embodiments of the present disclosure
Unit and algorithm steps, can be realized with electronic hardware, computer software, or a combination of the two, hard in order to clearly demonstrate
The interchangeability of part and software generally describes each exemplary composition and step according to function in the above description.
These functions are implemented in hardware or software actually, depend on the specific application and design constraint of technical solution.
Professional technician can use different methods to achieve the described function each specific application, but this realization
It should not be considered as beyond the scope of the present invention.
The step of method described in conjunction with the examples disclosed in this document or algorithm, can use hardware, processor to execute
The combination of software module or the two is implemented.Software module can be placed in random access memory (RAM), memory, read-only memory
(ROM), electrically programmable ROM, electrically erasable ROM, register, hard disk, moveable magnetic disc, CD-ROM or technical field
In any other form of storage medium well known to interior.
Above specific implementation mode has carried out further in detail the purpose of the present invention, technical solution and advantageous effect
Illustrate, it should be understood that these are only the specific implementation mode of the present invention, the protection model being not intended to limit the present invention
It encloses, all within the spirits and principles of the present invention, any modification, equivalent substitution, improvement and etc. done should be included in the present invention
Protection domain within.
Claims (6)
1. a kind of control method for vehicle, which is characterized in that the control method for vehicle includes：
Receive the first operational order or the second operational order that control unit for vehicle is sent；
First operational order is handled, according to first operational order, generates the first drive signal, the second driving
Signal and third drive signal；
According to second operational order, fourth drive signal is generated；
First drive signal is sent to wheel speed meter, to control startup or closing in terms of wheel speed；
The pulse signal after wheel speed meter starts is obtained, and according to the frequency of the pulse signal, determines First Speed information；
Second drive signal is sent to laser radar, to control the startup or closing of laser radar；
The third drive signal is sent to cleaning brush controller and air inducing machine controller, to control the cleaning brush controller
With the startup of air inducing machine controller, with when the cleaning brush controller starts, control cleans opening for brush motor and lifting motor
It is dynamic, so that the lifting motor control cleaning brush is dropped to the rotating speed for cleaning position and controlling cleaning brush by cleaning brush motor, into
Row cleans；And the startup of control air inducing machine controller control id-motor；
Alternatively, to control the closing of the cleaning brush controller and the air inducing machine controller, in the cleaning brush controller
When closing, control cleans the closing of brush motor and lifting motor, and the lifting motor control cleaning brush is made to rise to non-cleaning position
It sets and is shut down by cleaning brush motor control cleaning brush；And control air inducing machine controller controls opening for id-motor
It is dynamic；
The fourth drive signal is sent at least one of lighting system lamp, to start or close described at least one
A lamp.
2. control method for vehicle according to claim 1, which is characterized in that after the determining First Speed information, institute
The method of stating further includes：
The First Speed information is sent to control unit for vehicle.
3. control method for vehicle according to claim 1, which is characterized in that the method further includes：
Obtain the Fisrt fault information of vehicle；Wherein, the Fisrt fault information be clean brush motor and/or lifting motor and/
Or id-motor open-circuit condition, the motor feels hot information.
4. control method for vehicle according to claim 1, which is characterized in that the method further includes：
The second speed information for receiving control unit for vehicle and sending is obtained from the CAN transceiver；
Calculate the difference of the First Speed information and the second speed information；
When the difference is more than preset difference threshold, wheel speed meter failure is determined, generate the second fault message.
5. according to the control method for vehicle described in claim 3 or 4 any one, which is characterized in that the method further includes：Root
According to the Fisrt fault information or the second fault message, driving loudspeaker generate alarm signal.
6. control method for vehicle according to claim 1, which is characterized in that further include before the method：
After control unit for vehicle self-test success, the lamplight pointing information of collection vehicle control unit transmission；Wherein, the light
Instruction information is used to indicate unlatching lighting system, to prompt self-test success.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810565790.6A CN108609020B (en) | 2018-06-04 | 2018-06-04 | Vehicle control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810565790.6A CN108609020B (en) | 2018-06-04 | 2018-06-04 | Vehicle control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108609020A true CN108609020A (en) | 2018-10-02 |
| CN108609020B CN108609020B (en) | 2020-06-26 |
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ID=63664755
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|---|---|---|---|
| CN201810565790.6A Active CN108609020B (en) | 2018-06-04 | 2018-06-04 | Vehicle control method |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103857318A (en) * | 2011-10-14 | 2014-06-11 | 夏普株式会社 | Cleaning robot |
| CN105388896A (en) * | 2015-09-23 | 2016-03-09 | 上海物景智能科技有限公司 | CAN bus-based distributed cleaning robot control system and control method |
| CN106702937A (en) * | 2017-03-07 | 2017-05-24 | 浙江工业大学 | Sanitation vehicle with automatic sweeping function and automatic driving method thereof |
| CN106805855A (en) * | 2016-11-21 | 2017-06-09 | 广东探金电子科技有限公司 | A kind of control system of Intelligent robot for sweeping floor |
| CN107476229A (en) * | 2017-09-06 | 2017-12-15 | 河南天翔新能源专用车有限公司 | A kind of cleaning vehicle control for automating formula |
-
2018
- 2018-06-04 CN CN201810565790.6A patent/CN108609020B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103857318A (en) * | 2011-10-14 | 2014-06-11 | 夏普株式会社 | Cleaning robot |
| CN105388896A (en) * | 2015-09-23 | 2016-03-09 | 上海物景智能科技有限公司 | CAN bus-based distributed cleaning robot control system and control method |
| CN106805855A (en) * | 2016-11-21 | 2017-06-09 | 广东探金电子科技有限公司 | A kind of control system of Intelligent robot for sweeping floor |
| CN106702937A (en) * | 2017-03-07 | 2017-05-24 | 浙江工业大学 | Sanitation vehicle with automatic sweeping function and automatic driving method thereof |
| CN107476229A (en) * | 2017-09-06 | 2017-12-15 | 河南天翔新能源专用车有限公司 | A kind of cleaning vehicle control for automating formula |
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| CN108609020B (en) | 2020-06-26 |
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Address after: B4-006, maker Plaza, 338 East Street, Huilongguan town, Changping District, Beijing 100096 Patentee after: Beijing Idriverplus Technology Co.,Ltd. Address before: B4-006, maker Plaza, 338 East Street, Huilongguan town, Changping District, Beijing 100096 Patentee before: Beijing Idriverplus Technology Co.,Ltd. |