CN108664029A - A kind of unpiloted intelligent automobile and its control method - Google Patents
A kind of unpiloted intelligent automobile and its control method Download PDFInfo
- Publication number
- CN108664029A CN108664029A CN201810497227.XA CN201810497227A CN108664029A CN 108664029 A CN108664029 A CN 108664029A CN 201810497227 A CN201810497227 A CN 201810497227A CN 108664029 A CN108664029 A CN 108664029A
- Authority
- CN
- China
- Prior art keywords
- control system
- central control
- automobile body
- automobile
- 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.)
- Withdrawn
Links
- 238000000034 method Methods 0.000 title claims description 14
- 238000001514 detection method Methods 0.000 claims abstract description 8
- 230000000903 blocking effect Effects 0.000 claims description 3
- 239000000523 sample Substances 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 abstract description 5
- 230000005540 biological transmission Effects 0.000 description 8
- 230000005611 electricity Effects 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 3
- 210000004556 brain Anatomy 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000033764 rhythmic process Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0248—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means in combination with a laser
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
- B60K31/18—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including a device to audibly, visibly, or otherwise signal the existence of unusual or unintended speed to the driver of the vehicle
-
- 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
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
Abstract
The present invention discloses a kind of unpiloted intelligent automobile,Including automobile body,Central control system,Laser range finder for scanning automobile body periphery topographic features,Video camera for detection signal lamp Pedestrians and vehicles situation,GPS sensor for monitoring vehicle route and the mobile lidar for detecting remote roadblock,The laser range finder following settings is useful for the supporting rack being fixed,Support frame as described above is bolted with automobile body,Motor is provided on support frame as described above,It is connected with rotation axis on the motor,One end of the rotation axis is fixedly connected with the output shaft of motor,The other end of the rotation axis is fixedly connected with laser range finder,The motor both sides are provided with connecting rod,The connecting rod is fixedly connected with supporting rack,The motor is fixedly connected by connecting rod with supporting rack,The laser range finder is electrically connected with central control system;The unpiloted intelligent automobile can effective intelligent driving.
Description
Technical field
The present invention relates to a kind of unpiloted intelligent automobile and its control methods.
Background technology
Pilotless automobile is one kind of intelligent automobile, also referred to as wheeled mobile robot, is relied primarily on interior in terms of
Intelligent driving instrument based on calculation machine system realizes unpiloted target.
Pilotless automobile is to perceive road environment by vehicle-mounted sensor-based system, and automatic planning travelling line simultaneously controls vehicle
Reach the intelligent automobile of predeterminated target.
It is to perceive vehicle-periphery using onboard sensor, and according to perceiving obtained road, vehicle location
And obstacle information, steering and the speed of vehicle are controlled, to enable the vehicle to reliably and securely be travelled on road.
But since the quality level of driver is irregular, along with modern people rhythm of life quickly, in addition to driving
Except the accident that also to participate in other social activitieies, therefore often have fatigue driving, drive when intoxicated, compromise the life of people
Property safety is ordered, those skilled in the art are desirable to provide a kind of unpiloted intelligence that can effectively realize intelligent driving
Automobile.
Invention content
The technical problem to be solved in the present invention is to provide a kind of unpiloted intelligent automobile that can effectively drive and
Its control method.
To solve the above problems, the present invention adopts the following technical scheme that:
A kind of unpiloted intelligent automobile, including automobile body, central control system, for scanning automobile body periphery landform
The laser range finder of situation, the video camera for detection signal lamp Pedestrians and vehicles situation, the GPS for monitoring vehicle route
Sensor and mobile lidar for detecting remote roadblock, the laser range finder is located above automobile body, described
Laser range finder following settings is useful for the supporting rack being fixed, and support frame as described above is arranged in concave character type, support frame as described above with
Automobile body is bolted, and motor is provided on support frame as described above, rotation axis is connected on the motor, the rotation axis is through branch
Support is arranged, and one end of the rotation axis is fixedly connected with the output shaft of motor, the other end of the rotation axis and laser ranging
Instrument is fixedly connected, and the laser range finder is rotatablely connected by rotation axis and motor, and the motor both sides are provided with connecting rod, institute
It states connecting rod and is symmetric setting, the connecting rod is fixedly connected with supporting rack, and the motor passes through connecting rod and supporting rack
It is fixedly connected, the laser range finder is electrically connected with central control system.
Preferably, the video camera is located at middle inside the roof of automobile body, on the video camera
Face is provided with fixed frame, and the fixed frame is bolted with automobile body, is provided on the fixed frame and video camera phase
The groove agreed with, the video camera are inserted into groove, and the video camera is bolted by groove and fixed frame, institute
It states and is provided with beam in groove, the beam is connected with groove bonding, the video camera and central control system electricity
Property connection.Video camera is used for detecting the moving disorder that traffic lights, pedestrian and vehicle are met in the process of moving, then
Central control system is fed back to, it is made according to circumstances to react.
Preferably, the GPS sensor is located at the wheel center of automobile body, the GPS sensor and automobile body
Wheel be fixedly connected, velcro is provided on the GPS sensor, the GPS sensor is fixedly connected with velcro, described
GPS sensor is fixedly connected by velcro with the wheel of automobile body, and the GPS sensor electrically connects with central control system
It connects.GPS sensor is responsible for detecting the route that automatic driving vehicle is travelled, if deviates from the route that GPS navigator is formulated.
Preferably, the mobile lidar is provided with more than one, the mobile lidar is located at automobile
The leading portion of ontology and rear end, the mobile lidar are bolted with automobile body, the mobile lidar and center
Control system is electrically connected.Mobile lidar is fast using the spread speed of laser, and the good feature of linear type goes out Laser emission
It goes, receives the information of front highway come the case where surveying landform, road surface, Real-time Feedback is to central control system.
Preferably, the bottom of the automobile body is provided with the computer of storage road speed limit standard and entrance
Data bank, the computer database are bolted with automobile body, and the computer database is electrically connected with central control system.
For computer database by data feedback to central control system, central control system controls garage according to the data of computer database
It sails.
Preferably, the automobile body front end is provided with vehicle speed sensor and photosensitive sensor, the vehicle speed sensor
It is fixedly connected with automobile body with photosensitive sensor, the vehicle speed sensor and photosensitive sensor are electric with central control system
Property connection, the high beam of the automobile body is electrically connected with central control system.Vehicle speed sensor monitors vehicle speed condition, feedback
To central control system, in the case of photosensitive sensor judges night, by mobile lidar monitoring front vehicles, when there is vehicle
Opposite, the high beam of central control system closing automobile, when relative vehicle by when, be again turned on high beam.
Preferably, alarm is provided in the automobile body, the GPS sensor, vehicle speed sensor and center control
System processed is electrically electrically connected with alarm.When overspeed of vehicle, central control system is fed back to by vehicle speed sensor, makes it
Start alarm.
Preferably, the brake apparatus and transmission device of the automobile body are electrically connected with central control system.It meets
To in emergency circumstances, central control system directly controls brake apparatus and transmission device.
The present invention provides a kind of control method of unpiloted intelligent automobile, includes the following steps:
1)Using laser range finder by the environment terrain situation of motor vehicle environment, central control system is fed back to, when around foreign
Start automobile when blocking;
2)In driving process, laser range finder rotates ambient conditions, while the road conditions in video camera detection front by motor,
Real-time condition is fed back into central control system, wherein motor speed is 40~55r/min;
3)Vehicle running route is monitored in real time using GPS sensor, while using before mobile lidar probe vehicle
Rear obstacle distance, feeds back to central control system, and central control system control automobile is according to circumstances reacted;
Beneficial effects of the present invention are:By be provided with automobile body, central control system, laser range finder, video camera,
GPS sensor and mobile lidar are detected that situation feeds back to central control system, and automobile is enable to be controlled according to center
System judges, the unmanned automobile of the effective intelligent driving of energy.In addition, video camera is located inside the roof of automobile body
Middle is provided with fixed frame above video camera, and fixed frame is bolted with automobile body, is provided with and is regarded on fixed frame
The groove that frequency camera mutually agrees with, video camera are inserted into groove, and video camera is bolted by groove and fixed frame,
Beam is provided in groove, beam is connected with groove bonding, and video camera is electrically connected with central control system.Video
Camera is used for detecting the moving disorder that traffic lights, pedestrian and vehicle are met in the process of moving, then feeds back to center
Control system makes it according to circumstances react.GPS sensor is located at the wheel center of automobile body, GPS sensor and automobile
The wheel of ontology is fixedly connected, and velcro is provided on GPS sensor, and GPS sensor is fixedly connected with velcro, GPS sensings
Device is fixedly connected by velcro with the wheel of automobile body, and GPS sensor is electrically connected with central control system.GPS is sensed
Device is responsible for detecting the route that automatic driving vehicle is travelled, if deviates from the route that GPS navigator is formulated.Vehicle-mounted laser thunder
Up to being provided with more than one, mobile lidar is located at leading portion and the rear end of automobile body, and mobile lidar is and vapour
Vehicle ontology is bolted, and mobile lidar is electrically connected with central control system.Mobile lidar utilizes the propagation of laser
Speed is fast, and the good feature of linear type goes out Laser emission, receives the information of front highway come the case where surveying landform, road surface,
Real-time Feedback is to central control system.The bottom of automobile body is provided with the electricity of storage road speed limit standard and entrance
Brain data bank, computer database are bolted with automobile body, and computer database is electrically connected with central control system.Computer provides
By data feedback to central control system, central control system controls running car according to the data of computer database in material library.Vapour
Vehicle ontology front end is provided with vehicle speed sensor and photosensitive sensor, and vehicle speed sensor and photosensitive sensor are fixed with automobile body
Connection, vehicle speed sensor and photosensitive sensor are electrically connected with central control system, and high beam and the center of automobile body are controlled
System processed is electrically connected.Vehicle speed sensor monitors vehicle speed condition, feeds back to central control system, photosensitive sensor judges night
In the case of, by mobile lidar monitoring front vehicles, vehicle is opposite when having, the distance light of central control system closing automobile
Lamp, when relative vehicle by when, be again turned on high beam.Alarm, GPS sensor, speed sensing are provided in automobile body
Device and central control system are electrically electrically connected with alarm.When overspeed of vehicle, central control is fed back to by vehicle speed sensor
System processed makes it start alarm.The brake apparatus and transmission device of automobile body are electrically connected with central control system.It meets
To in emergency circumstances, central control system directly controls brake apparatus and transmission device.
Description of the drawings
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for
For those of ordinary skill in the art, without creative efforts, other are can also be obtained according to these attached drawings
Attached drawing.
Fig. 1 is a kind of structural schematic diagram of unpiloted intelligent automobile of the present invention.
Fig. 2 is a kind of front view of the supporting rack of unpiloted intelligent automobile of the present invention.
Fig. 3 is a kind of partial front elevation view of the video camera of unpiloted intelligent automobile of the present invention.
Fig. 4 is a kind of side view of the wheel of unpiloted intelligent automobile of the present invention.
In figure:1, automobile body;2, central control system;3, laser range finder;4, video camera;5, GPS sensor;
6, mobile lidar;7, supporting rack;8, motor;9, rotation axis;10, connecting rod;11, fixed frame;12, beam;13, magic
Patch;14, computer database;15, vehicle speed sensor;16, photosensitive sensor;17, alarm.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.
In embodiment, it is to be understood that term " centre ", "upper", "lower", " top ", " right side ", " left end ", " on
Side ", " back side ", " middle part ", etc. instructions orientation or positional relationship be based on the orientation or positional relationship shown in the drawings, be only for
It is novel convenient for describing this implementation, it does not indicate or imply the indicated device or element must have a particular orientation, with spy
Fixed azimuth configuration and operation, therefore should not be understood as implementing this novel limitation.
In addition, the connection between component or fixed form if not otherwise specified in this embodiment, connection or
Fixed form can be to be fixed by bolt commonly used in the prior art or pin is fixed or axis pin connection, or be adhesively fixed,
Or it rivets the usual manners such as fixed and be not therefore described in detail in embodiment.
Embodiment 1
As shown in Figs. 1-2, a kind of unpiloted intelligent automobile, including automobile body 1, central control system 2, for scanning vapour
The laser range finder 3 of vehicle body perimeter topographic features, for detection signal lamp Pedestrians and vehicles situation video camera 4, be used for
Monitor the GPS sensor 5 of vehicle route and the mobile lidar 6 for detecting remote roadblock, the laser range finder 3
Above automobile body 1,3 following settings of the laser range finder is useful for the supporting rack being fixed 7, and support frame as described above 7 is in
Concave character type is arranged, and support frame as described above 7 is bolted with automobile body 1, and motor 8, the motor 8 are provided on support frame as described above 7
On be connected with rotation axis 9, the rotation axis 9 is arranged through supporting rack 7, and one end of the rotation axis 9 and the output shaft of motor 8 are fixed
Connection, the other end of the rotation axis 9 are fixedly connected with laser range finder 3, and the laser range finder 3 passes through rotation axis 9 and electricity
Machine 8 is rotatablely connected, and 8 both sides of the motor are provided with connecting rod 10, and the connecting rod 10 is symmetric setting, the connecting rod
10 are fixedly connected with supporting rack 7, and the motor 8 is fixedly connected by connecting rod 10 with supporting rack 7, the laser range finder 3 with
Central control system 2 is electrically connected.By be provided with automobile body, central control system, laser range finder, video camera,
GPS sensor and mobile lidar are detected that situation feeds back to central control system, and automobile is enable to be controlled according to center
System judges, the unmanned automobile of the effective intelligent driving of energy.
The present embodiment has the beneficial effect that:By being provided with automobile body, central control system, laser range finder, video
Camera, GPS sensor and mobile lidar are detected that situation feeds back to central control system, enable automobile according to
Central control system judges, the unmanned automobile of the effective intelligent driving of energy.
Embodiment 2
As shown in Figs 1-4, a kind of unpiloted intelligent automobile, including automobile body 1, central control system 2, for scanning vapour
The laser range finder 3 of vehicle body perimeter topographic features, for detection signal lamp Pedestrians and vehicles situation video camera 4, be used for
Monitor the GPS sensor 5 of vehicle route and the mobile lidar 6 for detecting remote roadblock, the laser range finder 3
Above automobile body 1,3 following settings of the laser range finder is useful for the supporting rack being fixed 7, and support frame as described above 7 is in
Concave character type is arranged, and support frame as described above 7 is bolted with automobile body 1, and motor 8, the motor 8 are provided on support frame as described above 7
On be connected with rotation axis 9, the rotation axis 9 is arranged through supporting rack 7, and one end of the rotation axis 9 and the output shaft of motor 8 are fixed
Connection, the other end of the rotation axis 9 are fixedly connected with laser range finder 3, and the laser range finder 3 passes through rotation axis 9 and electricity
Machine 8 is rotatablely connected, and 8 both sides of the motor are provided with connecting rod 10, and the connecting rod 10 is symmetric setting, the connecting rod
10 are fixedly connected with supporting rack 7, and the motor 8 is fixedly connected by connecting rod 10 with supporting rack 7, the laser range finder 3 with
Central control system 2 is electrically connected.By be provided with automobile body, central control system, laser range finder, video camera,
GPS sensor and mobile lidar are detected that situation feeds back to central control system, and automobile is enable to be controlled according to center
System judges, the unmanned automobile of the effective intelligent driving of energy.
The video camera 4 is located at middle inside the roof of automobile body 1, and the video camera 4 is arranged above
There are fixed frame 11, the fixed frame 11 to be bolted with automobile body 1, is provided on the fixed frame 11 and video camera 4
The groove mutually agreed with(It is not shown), the video camera 4 be inserted into groove in, the video camera 4 passes through groove and fixation
Frame 11 is bolted, and beam 12 is provided in the groove, and the beam 12 is connected with groove bonding, the video camera
First 4 are electrically connected with central control system 2.Video camera is used for detecting traffic lights, pedestrian and vehicle in driving process
The moving disorder of middle experience, then feeds back to central control system, it is made according to circumstances to react.
The GPS sensor 5 is located at the wheel center of automobile body 1, the wheel of the GPS sensor 5 and automobile body 1
It is fixedly connected, velcro 13 is provided on the GPS sensor 5, the GPS sensor 5 is fixedly connected with velcro 13, described
GPS sensor 5 is fixedly connected by velcro 13 with the wheel of automobile body 1, the GPS sensor 5 and central control system 2
It is electrically connected.GPS sensor is responsible for detecting the route that automatic driving vehicle is travelled, if deviates from GPS navigator and is formulated
Route.
The mobile lidar 6 is provided with more than one, and the mobile lidar 6 is located at automobile body 1
Leading portion and rear end, the mobile lidar 6 are bolted with automobile body 1, and the mobile lidar 6 is controlled with center
System 2 is electrically connected.Mobile lidar is fast using the spread speed of laser, and the good feature of linear type goes out Laser emission,
The information of front highway is received come the case where surveying landform, road surface, Real-time Feedback is to central control system.
The bottom of the automobile body 1 is provided with the computer database of storage road speed limit standard and entrance
14, the computer database 14 is bolted with automobile body 1, and the computer database 14 electrically connects with central control system 2
It connects.For computer database by data feedback to central control system, central control system controls vapour according to the data of computer database
Vehicle travels.
1 front end of the automobile body is provided with vehicle speed sensor 15 and photosensitive sensor 16,15 He of the vehicle speed sensor
Photosensitive sensor 16 is fixedly connected with automobile body 1, and the vehicle speed sensor 15 and photosensitive sensor 16 are controlled with center
System 2 is electrically connected, and high beam and the central control system 2 of the automobile body 1 are electrically connected.Vehicle speed sensor monitors speed
Situation feeds back to central control system, and in the case of photosensitive sensor judges night, front vehicle is monitored by mobile lidar
, vehicle is opposite when having, the high beam of central control system closing automobile, when relative vehicle by when, be again turned on high beam.
Alarm 17, the GPS sensor 5, vehicle speed sensor 15 and center control system are provided in 1 body of automobile sheet
System 2 is electrically electrically connected with alarm 17.When overspeed of vehicle, central control system is fed back to by vehicle speed sensor, makes it
Start alarm.
The brake apparatus and transmission device of the automobile body 1 are electrically connected with central control system 2.Encounter urgent feelings
Under condition, central control system directly controls brake apparatus and transmission device.
The present embodiment has the beneficial effect that:By being provided with automobile body, central control system, laser range finder, video
Camera, GPS sensor and mobile lidar are detected that situation feeds back to central control system, enable automobile according to
Central control system judges, the unmanned automobile of the effective intelligent driving of energy.In addition, video camera is located at automobile body
Middle inside roof is provided with fixed frame above video camera, and fixed frame is bolted with automobile body, is set on fixed frame
It is equipped with the groove mutually agreed with video camera, video camera is inserted into groove, and video camera passes through groove and fixed frame
It is bolted, beam is provided in groove, beam is connected with groove bonding, and video camera is electrical with central control system
Connection.Video camera is used for detecting the moving disorder that traffic lights, pedestrian and vehicle are met in the process of moving, then instead
It feeds central control system, it is made according to circumstances to react.GPS sensor is located at the wheel center of automobile body, GPS sensings
Device is fixedly connected with the wheel of automobile body, and velcro is provided on GPS sensor, and GPS sensor is fixedly connected with velcro,
GPS sensor is fixedly connected by velcro with the wheel of automobile body, and GPS sensor is electrically connected with central control system.
GPS sensor is responsible for detecting the route that automatic driving vehicle is travelled, if deviates from the route that GPS navigator is formulated.Vehicle
It carries laser radar and is provided with more than one, mobile lidar is located at leading portion and the rear end of automobile body, vehicle-mounted laser thunder
Up to being bolted with automobile body, mobile lidar is electrically connected with central control system.Mobile lidar, which utilizes, to swash
The spread speed of light is fast, and the good feature of linear type goes out Laser emission, receives the information of front highway to survey landform, road surface
The case where, Real-time Feedback is to central control system.The bottom of automobile body is provided with storage road speed limit standard and entrance
The computer database of position, computer database are bolted with automobile body, and computer database electrically connects with central control system
It connects.For computer database by data feedback to central control system, central control system controls vapour according to the data of computer database
Vehicle travels.Automobile body front end is provided with vehicle speed sensor and photosensitive sensor, and vehicle speed sensor and photosensitive sensor are and vapour
Vehicle ontology is fixedly connected, and vehicle speed sensor and photosensitive sensor are electrically connected with central control system, the distance light of automobile body
Lamp is electrically connected with central control system.Vehicle speed sensor monitors vehicle speed condition, feeds back to central control system, photosensitive sensor
In the case of judging night, by mobile lidar monitoring front vehicles, vehicle is opposite when having, and central control system closes vapour
The high beam of vehicle, when relative vehicle by when, be again turned on high beam.It is provided with alarm in automobile body, GPS sensor,
Vehicle speed sensor and central control system are electrically electrically connected with alarm.When overspeed of vehicle, fed back by vehicle speed sensor
To central control system, it is made to start alarm.The brake apparatus and transmission device of automobile body are electric with central control system
Property connection.Under an emergency situation is encountered, central control system directly controls brake apparatus and transmission device.
The present invention provides a kind of control method of unpiloted intelligent automobile, includes the following steps:
1)Using laser range finder by the environment terrain situation of motor vehicle environment, central control system is fed back to, when around foreign
Start automobile when blocking;
2)In driving process, laser range finder rotates ambient conditions, while the road conditions in video camera detection front by motor,
Real-time condition is fed back into central control system, wherein motor speed 50r/min;
3)Vehicle running route is monitored in real time using GPS sensor, while using before mobile lidar probe vehicle
Rear obstacle distance, feeds back to central control system, and central control system control automobile is according to circumstances reacted;
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, it is any without
The change or replacement that creative work is expected are crossed, should be covered by the protection scope of the present invention.
Claims (8)
1. a kind of unpiloted intelligent automobile, it is characterised in that:Including automobile body, central control system, for scanning vapour
The laser range finder of vehicle body perimeter topographic features, for the video camera of detection signal lamp Pedestrians and vehicles situation, for supervising
The GPS sensor of vehicle route and the mobile lidar for detecting remote roadblock are surveyed, the laser range finder is located at vapour
Above vehicle ontology, the laser range finder following settings is useful for the supporting rack being fixed, and support frame as described above is set in concave character type
It sets, support frame as described above is bolted with automobile body, and motor is provided on support frame as described above, rotation axis is connected on the motor,
The rotation axis is arranged through supporting rack, and one end of the rotation axis is fixedly connected with the output shaft of motor, the rotation axis
The other end is fixedly connected with laser range finder, and the laser range finder is rotatablely connected by rotation axis and motor, the motor two
Side is provided with connecting rod, and the connecting rod is symmetric setting, and the connecting rod is fixedly connected with supporting rack, and the motor is logical
It crosses connecting rod to be fixedly connected with supporting rack, the laser range finder is electrically connected with central control system.
2. a kind of unpiloted intelligent automobile according to claim 1, it is characterised in that:The video camera is located at
Middle inside the roof of automobile body is provided with fixed frame, the fixed frame and automobile body above the video camera
It being bolted, the groove mutually agreed with video camera is provided on the fixed frame, the video camera is inserted into groove,
The video camera is bolted by groove and fixed frame, is provided with beam in the groove, the beam with it is recessed
Slot bonding connection, the video camera are electrically connected with central control system.
3. a kind of unpiloted intelligent automobile according to claim 2, it is characterised in that:The GPS sensor is located at
The wheel center of automobile body, the GPS sensor are fixedly connected with the wheel of automobile body, are arranged on the GPS sensor
There are velcro, the GPS sensor to be fixedly connected with velcro, the vehicle that the GPS sensor passes through velcro and automobile body
Wheel is fixedly connected, and the GPS sensor is electrically connected with central control system.
4. a kind of unpiloted intelligent automobile according to claim 3, it is characterised in that:The mobile lidar is set
It is equipped with more than one, the mobile lidar is located at leading portion and the rear end of automobile body, and the mobile lidar is equal
It is bolted with automobile body, the mobile lidar is electrically connected with central control system.
5. a kind of unpiloted intelligent automobile according to claim 4, it is characterised in that:The bottom of the automobile body
It is provided with the computer database of storage road speed limit standard and entrance, the computer database and automobile body bolt
Connection, the computer database are electrically connected with central control system.
6. a kind of unpiloted intelligent automobile according to claim 5, it is characterised in that:The automobile body front end is set
It is equipped with vehicle speed sensor and photosensitive sensor, the vehicle speed sensor and photosensitive sensor are fixedly connected with automobile body, institute
It states vehicle speed sensor and photosensitive sensor to be electrically connected with central control system, high beam and the center of the automobile body are controlled
System processed is electrically connected.
7. a kind of unpiloted intelligent automobile according to claim 6, it is characterised in that:Setting in the automobile body
There are alarm, the GPS sensor, vehicle speed sensor and central control system to be electrically electrically connected with alarm.
8. a kind of control method of unpiloted intelligent automobile, which is characterized in that include the following steps:
1)Using laser range finder by the environment terrain situation of motor vehicle environment, central control system is fed back to, when around foreign
Start automobile when blocking;
2)In driving process, laser range finder rotates ambient conditions, while the road conditions in video camera detection front by motor,
Real-time condition is fed back into central control system, wherein motor speed is 40~55r/min;
3)Vehicle running route is monitored in real time using GPS sensor, while using before mobile lidar probe vehicle
Rear obstacle distance, feeds back to central control system, and central control system control automobile is according to circumstances reacted.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201810497227.XA CN108664029A (en) | 2018-05-22 | 2018-05-22 | A kind of unpiloted intelligent automobile and its control method |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201810497227.XA CN108664029A (en) | 2018-05-22 | 2018-05-22 | A kind of unpiloted intelligent automobile and its control method |
Publications (1)
Publication Number | Publication Date |
---|---|
CN108664029A true CN108664029A (en) | 2018-10-16 |
Family
ID=63777438
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201810497227.XA Withdrawn CN108664029A (en) | 2018-05-22 | 2018-05-22 | A kind of unpiloted intelligent automobile and its control method |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN108664029A (en) |
Cited By (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN110549951A (en) * | 2019-08-14 | 2019-12-10 | 深圳市矽赫科技有限公司 | Fixing device, vehicle fixing system and fixing system of vehicle-mounted sensing system |
CN110803114A (en) * | 2019-09-19 | 2020-02-18 | 深圳市矽赫科技有限公司 | Sensor fuses perception system's fixing device |
CN111522350A (en) * | 2020-07-06 | 2020-08-11 | 深圳裹动智驾科技有限公司 | Sensing method, intelligent control equipment and automatic driving vehicle |
CN113341996A (en) * | 2021-06-25 | 2021-09-03 | 江苏高瞻数据科技有限公司 | Intelligent control device and method for unmanned vehicle to track preset track |
WO2021202281A1 (en) * | 2020-03-30 | 2021-10-07 | Woven Planet North America, Inc. | Modular sensor assembly for vehicles |
US20220035047A1 (en) * | 2020-08-03 | 2022-02-03 | Toyota Jidosha Kabushiki Kaisha | Vehicle sensor mounting structure |
USD1017436S1 (en) | 2021-12-10 | 2024-03-12 | Waymo Llc | Sensor assembly |
Citations (16)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5612883A (en) * | 1990-02-05 | 1997-03-18 | Caterpillar Inc. | System and method for detecting obstacles in the path of a vehicle |
CN101899803A (en) * | 2009-05-31 | 2010-12-01 | 北京捷信安通科技有限公司 | Auxiliary driving and operating system for large road maintenance machine for railways |
DE202010017282U1 (en) * | 2010-05-25 | 2011-08-26 | Kurt Wolfert | Device for automated detection of objects by means of a moving vehicle |
CN202421702U (en) * | 2011-12-15 | 2012-09-05 | 浙江吉利汽车研究院有限公司 | Camera lens protector |
CN202782968U (en) * | 2012-09-21 | 2013-03-13 | 纵横皆景(武汉)信息技术有限公司 | Vehicle-mounted measure integrated system based on laser scanning and panorama images |
CN203604922U (en) * | 2013-10-16 | 2014-05-21 | 深圳市强美智能科技有限公司 | Fixing structure for explosion-proof camera |
CN104340122A (en) * | 2013-08-11 | 2015-02-11 | 成波 | Driving periscope system |
CN205149636U (en) * | 2015-12-11 | 2016-04-13 | 长安大学 | Far and near fiber lamp automatic switching device of meeting at night |
CN105857091A (en) * | 2016-04-21 | 2016-08-17 | 陈昌志 | New-energy electric automobile |
CN106199556A (en) * | 2016-06-24 | 2016-12-07 | 南京理工大学 | A kind of rotating scanning device of autonomous driving mobile lidar |
CN205819052U (en) * | 2016-06-30 | 2016-12-21 | 常州加美科技有限公司 | A kind of novel pilotless automobile obstacle avoidance system |
CN205946026U (en) * | 2016-08-10 | 2017-02-08 | 天津航天中为数据系统科技有限公司 | Unmanned aerial vehicle removes and observes and controls communication vehicle work platform |
CN206175967U (en) * | 2016-11-11 | 2017-05-17 | 河南省水利勘测有限公司 | Unmanned aerial vehicle camera installing support device of taking photo by plane |
CN206274666U (en) * | 2016-11-14 | 2017-06-23 | 天津市金云彤机电科技有限公司 | A kind of camera for being easy to maintain |
CN206501783U (en) * | 2016-10-12 | 2017-09-19 | 鄂尔多斯市普渡科技有限公司 | A kind of new pilotless automobile with safety guarantee |
CN207281602U (en) * | 2017-10-10 | 2018-04-27 | 鸿源阳金属制品(昆山)有限公司 | A kind of security protection camera rotation mechanism |
-
2018
- 2018-05-22 CN CN201810497227.XA patent/CN108664029A/en not_active Withdrawn
Patent Citations (16)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5612883A (en) * | 1990-02-05 | 1997-03-18 | Caterpillar Inc. | System and method for detecting obstacles in the path of a vehicle |
CN101899803A (en) * | 2009-05-31 | 2010-12-01 | 北京捷信安通科技有限公司 | Auxiliary driving and operating system for large road maintenance machine for railways |
DE202010017282U1 (en) * | 2010-05-25 | 2011-08-26 | Kurt Wolfert | Device for automated detection of objects by means of a moving vehicle |
CN202421702U (en) * | 2011-12-15 | 2012-09-05 | 浙江吉利汽车研究院有限公司 | Camera lens protector |
CN202782968U (en) * | 2012-09-21 | 2013-03-13 | 纵横皆景(武汉)信息技术有限公司 | Vehicle-mounted measure integrated system based on laser scanning and panorama images |
CN104340122A (en) * | 2013-08-11 | 2015-02-11 | 成波 | Driving periscope system |
CN203604922U (en) * | 2013-10-16 | 2014-05-21 | 深圳市强美智能科技有限公司 | Fixing structure for explosion-proof camera |
CN205149636U (en) * | 2015-12-11 | 2016-04-13 | 长安大学 | Far and near fiber lamp automatic switching device of meeting at night |
CN105857091A (en) * | 2016-04-21 | 2016-08-17 | 陈昌志 | New-energy electric automobile |
CN106199556A (en) * | 2016-06-24 | 2016-12-07 | 南京理工大学 | A kind of rotating scanning device of autonomous driving mobile lidar |
CN205819052U (en) * | 2016-06-30 | 2016-12-21 | 常州加美科技有限公司 | A kind of novel pilotless automobile obstacle avoidance system |
CN205946026U (en) * | 2016-08-10 | 2017-02-08 | 天津航天中为数据系统科技有限公司 | Unmanned aerial vehicle removes and observes and controls communication vehicle work platform |
CN206501783U (en) * | 2016-10-12 | 2017-09-19 | 鄂尔多斯市普渡科技有限公司 | A kind of new pilotless automobile with safety guarantee |
CN206175967U (en) * | 2016-11-11 | 2017-05-17 | 河南省水利勘测有限公司 | Unmanned aerial vehicle camera installing support device of taking photo by plane |
CN206274666U (en) * | 2016-11-14 | 2017-06-23 | 天津市金云彤机电科技有限公司 | A kind of camera for being easy to maintain |
CN207281602U (en) * | 2017-10-10 | 2018-04-27 | 鸿源阳金属制品(昆山)有限公司 | A kind of security protection camera rotation mechanism |
Cited By (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN110549951A (en) * | 2019-08-14 | 2019-12-10 | 深圳市矽赫科技有限公司 | Fixing device, vehicle fixing system and fixing system of vehicle-mounted sensing system |
CN110803114A (en) * | 2019-09-19 | 2020-02-18 | 深圳市矽赫科技有限公司 | Sensor fuses perception system's fixing device |
WO2021202281A1 (en) * | 2020-03-30 | 2021-10-07 | Woven Planet North America, Inc. | Modular sensor assembly for vehicles |
US11550035B2 (en) | 2020-03-30 | 2023-01-10 | Woven Planet North America, Inc. | Modular sensor assembly for vehicles |
CN111522350A (en) * | 2020-07-06 | 2020-08-11 | 深圳裹动智驾科技有限公司 | Sensing method, intelligent control equipment and automatic driving vehicle |
CN111522350B (en) * | 2020-07-06 | 2020-10-09 | 深圳裹动智驾科技有限公司 | Sensing method, intelligent control equipment and automatic driving vehicle |
US20220035047A1 (en) * | 2020-08-03 | 2022-02-03 | Toyota Jidosha Kabushiki Kaisha | Vehicle sensor mounting structure |
US11906636B2 (en) * | 2020-08-03 | 2024-02-20 | Toyota Jidosha Kabushiki Kaisha | Vehicle sensor mounting structure |
CN113341996A (en) * | 2021-06-25 | 2021-09-03 | 江苏高瞻数据科技有限公司 | Intelligent control device and method for unmanned vehicle to track preset track |
USD1017436S1 (en) | 2021-12-10 | 2024-03-12 | Waymo Llc | Sensor assembly |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN108664029A (en) | A kind of unpiloted intelligent automobile and its control method | |
US10852746B2 (en) | Detecting general road weather conditions | |
US10429848B2 (en) | Automatic driving system | |
EP3568335B1 (en) | Preparing autonomous vehicles for turns | |
CN110254432B (en) | Method and system for sharing road event data | |
US11150649B2 (en) | Abnormality detection device | |
Jochem et al. | PANS: A portable navigation platform | |
US10940851B2 (en) | Determining wheel slippage on self driving vehicle | |
CN106926843A (en) | A kind of automatic Pilot control system and control method for electric automobile of going sightseeing | |
JP6512140B2 (en) | Automatic driving system | |
EP3720750B1 (en) | Method and system for maneuvering a vehicle | |
JP6917406B2 (en) | Vehicle control system | |
US20220063669A1 (en) | Travel Control Method and Travel Control Device for Vehicle | |
KR20190126024A (en) | Traffic Accident Handling Device and Traffic Accident Handling Method | |
US11855691B1 (en) | Vehicle with free-space optical link for log data uploading | |
JP2019197467A (en) | Vehicle control device | |
CN114442101B (en) | Vehicle navigation method, device, equipment and medium based on imaging millimeter wave radar | |
CN108621932A (en) | A kind of vehicle early warning reminding method and device | |
CN113415236A (en) | Heavy-duty vehicle blind area monitoring and early warning system | |
KR20180064639A (en) | Vehicle and control method thereof | |
US20220121216A1 (en) | Railroad Light Detection | |
US20240017738A1 (en) | Planning trajectories for controlling autonomous vehicles | |
US20230406195A1 (en) | Systems and methods for automated headlamp adjustments for autonomous vehicles | |
CN211668356U (en) | Unmanned weapon station | |
JP2023055053A (en) | Drive support device and drive support method |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PB01 | Publication | ||
PB01 | Publication | ||
SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
WW01 | Invention patent application withdrawn after publication | ||
WW01 | Invention patent application withdrawn after publication |
Application publication date: 20181016 |