CN108762271A - Control unit for vehicle - Google Patents
Control unit for vehicle Download PDFInfo
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- CN108762271A CN108762271A CN201810564295.3A CN201810564295A CN108762271A CN 108762271 A CN108762271 A CN 108762271A CN 201810564295 A CN201810564295 A CN 201810564295A CN 108762271 A CN108762271 A CN 108762271A
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- 238000004891 communication Methods 0.000 claims abstract description 41
- 238000012545 processing Methods 0.000 claims abstract description 24
- 238000000034 method Methods 0.000 claims abstract description 23
- 230000008569 process Effects 0.000 claims abstract description 21
- 238000006243 chemical reaction Methods 0.000 claims abstract description 20
- 238000004140 cleaning Methods 0.000 claims abstract description 19
- 238000010926 purge Methods 0.000 claims abstract description 14
- 230000007613 environmental effect Effects 0.000 claims abstract description 13
- 230000003993 interaction Effects 0.000 claims description 16
- 239000000284 extract Substances 0.000 claims description 6
- 230000004927 fusion Effects 0.000 claims description 6
- 230000015572 biosynthetic process Effects 0.000 claims description 4
- 230000004888 barrier function Effects 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims 1
- 230000006870 function Effects 0.000 abstract description 8
- 241001417527 Pempheridae Species 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 238000012360 testing method Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 230000007115 recruitment Effects 0.000 description 2
- 230000035945 sensitivity Effects 0.000 description 2
- 230000032683 aging Effects 0.000 description 1
- 230000006399 behavior Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
- 239000000155 melt Substances 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000006467 substitution reaction Methods 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, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Optics & Photonics (AREA)
- Electromagnetism (AREA)
- Acoustics & Sound (AREA)
- Traffic Control Systems (AREA)
Abstract
The present invention provides a kind of control unit for vehicle, including：First communication module and second communication module call purging zone information and environmental map configuration file according to operational order；Path planning module is cleaned, according to purging zone information and environmental map configuration file, generates and cleans path data；Decision rule module, for according to obstacle information, location information and cleaning path data, generating result of decision information；Control module, for according to result of decision information, generating course changing control information and torque control message；Feedback module is executed, for carrying out conversion process to course changing control information and torque control message；From processing unit, for the course changing control information after conversion process to be sent to EPS controllers, so that the steering of EPS controllers control vehicle；Torque control message after conversion process is sent to electric machine controller, so that the rotating speed of the motor of electric machine controller control vehicle.Various control functions are completed as a result, and the degree height that personalizes.
Description
Technical field
The present invention relates to control technology field more particularly to a kind of control unit for vehicle.
Background technology
Automatic Pilot technology is much-talked-about topic in recent years, is alleviating traffic congestion, is improving road safety, reduction air dirt
Fields, the automatic Pilots such as dye will bring subversive change.
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 unit for vehicle, to solve sensitivity in the prior art not
The defects of height, personification is not high.
To solve the above problems, the present invention provides a kind of control unit for vehicle, the control unit for vehicle includes：Main place
Manage unit and from processing unit；The Main Processor Unit is connected from processing unit by CAN bus with described；
The Main Processor Unit includes：First communication module, second communication module clean path planning module, perception mould
Block, locating module, decision rule module, control module and execution feedback module；
The first communication module is connected with background server, the operational order for receiving the background server,
And according to the operational order, purging zone information and environmental map configuration file is called, cleaning path planning module is sent to；
The second communication module with vehicle-mounted human-computer interaction device for being connected, for receiving the vehicle-mounted human-computer interaction
The operational order that device is sent；
The cleaning path planning module is used for according to the purging zone information and the environmental map configuration file,
It generates and cleans path data, and the cleaning path data is sent to decision rule module；
The sensing module is handled for obtaining environment sensing data, and to the environment sensing data, extraction barrier
Hinder object information, and the obstacle information is sent to the decision rule module；
The locating module, the location information for obtaining vehicle, and the location information is sent to the decision and is advised
Draw module；
The decision rule module, for according to the obstacle information, the location information and the cleaning path
Data generate result of decision information, and the result of decision information are sent to the control module；
The control module, for according to the result of decision information, generating course changing control information and torque control message,
And it is sent to the execution feedback module；
The execution feedback module, for the course changing control information and the torque control message
Carry out conversion process, by after conversion process the course changing control information and the torque control message pass through it is described
CAN bus is sent to described from processing unit；
It is described from processing unit, for the course changing control information after the conversion process to be sent to electric power steering system
System EPS controllers, so that the steering of EPS controllers control vehicle；Also, the moment of torsion control after the conversion process is believed
Breath is sent to electric machine controller, so that the electric machine controller controls the rotating speed of the motor of the vehicle.
Preferably, the sensing module is specifically used for：
The environment sensing data are handled, laser point cloud data is generated；
Analyzing processing is carried out to the laser point cloud data, therefrom extracts obstacle information.
Preferably, the locating module is additionally operable to：
First Speed information is obtained from global position system GPS；
Second speed information is obtained from feedback module is executed；
Fusion treatment, formation speed fuse information are carried out to the First Speed information and the second speed information；
The speed fuse information is sent to the control module.
Preferably, the control module is additionally operable to, according to the speed fuse information, correct the course changing control information and
Torque control message.
Preferably, the Main Processor Unit further includes：Drive module, the drive module include：Wifi drivings submodule,
4G drives submodule, USB drivings submodule, Ethernet driving submodule, GPS driving submodules and CAN drivings submodule in the block
It is one or more.
Preferably, the first communication module is additionally operable to, and the status information of vehicle is sent to background server.
Preferably, the second communication module is additionally operable to, and the status information of vehicle is sent to vehicle-mounted human-computer interaction device.
By applying control unit for vehicle provided by the invention, first communication module to be connected with background server, be used for
The operational order of background server is received, and according to operational order, calls purging zone information and environmental map configuration file, hair
Give cleaning path planning module；Second communication module receives vehicle-mounted man-machine friendship for being connected with vehicle-mounted human-computer interaction device
The operational order that mutual device is sent；Path planning module is cleaned, is used for according to purging zone information and environmental map configuration file,
It generates and cleans path data, and decision rule module is sent to by path data is cleaned；Sensing module, for obtaining environment sensing
Data, and environment sensing data are handled, obstacle information is extracted, and obstacle information is sent to decision rule mould
Block；Locating module, the location information for obtaining vehicle, and location information is sent to decision rule module；Decision rule mould
Block generates result of decision information, and by the result of decision for according to obstacle information, location information and cleaning path data
Information is sent to control module；Control module, for according to result of decision information, generating course changing control information and moment of torsion control letter
Breath, and it is sent to execution feedback module；Feedback module is executed, for being converted to course changing control information and torque control message
Processing, by after conversion process course changing control information and torque control message be sent to respectively from processing unit by CAN bus；
From processing unit, for the course changing control information after conversion process to be sent to electric boosting steering system EPS controllers, so that
EPS controllers control the steering of vehicle；Also, the torque control message after conversion process is sent to electric machine controller, so that
Electric machine controller controls the rotating speed of the motor of vehicle.As a result, by the control of control unit for vehicle, various control functions are completed,
And the degree height that personalizes.
Description of the drawings
Fig. 1 is control unit for vehicle structural schematic diagram provided in an embodiment of the present invention；
Fig. 2 is the another structural schematic diagram of control unit for vehicle provided in an embodiment of the present invention.
Specific implementation mode
The application is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining related invention, rather than the restriction to the invention.It also should be noted that for just
It is illustrated only in description, attached drawing and invents relevant part 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 unit for vehicle structural schematic diagram provided in an embodiment of the present invention.The application scenarios of the present invention are for nobody
Slow-moving vehicle under driving condition, such as sweeper.The control unit for vehicle of the present invention can be that automatic driving vehicle control is single
First (Automated Vehicle Control Unit, AVCU).In the following, being in sweeper applying the control unit for vehicle
Example illustrates.
The control unit for vehicle includes：Main Processor Unit 100 and from processing unit 200.Wherein, Main Processor Unit 100 is logical
Controller local area network (Controller Area Network, CAN) bus is crossed with from processing unit 200 to be connected.Main process task
Unit 100 be referred to as control unit for vehicle central processing unit (Central Processing Unit/Processor,
CPU), from processing unit 200 be referred to as control unit for vehicle micro-control unit (Microcontroller Unit,
MCU)。
Main Processor Unit 100 includes：First communication module 110, cleans path planning module at second communication module 120
130, sensing module 140, locating module 150, decision rule module 160, control module 170 and execution feedback module 180.
First communication module 110 is connected with background server, the operational order for receiving background server, and according to
Operational order calls purging zone information and environmental map configuration file, is sent to cleaning path planning module.
Wherein, first communication module can be the communication module communicated with background server.Background server can be with
It is determined according to the application scenarios of control unit for vehicle, when the control unit for vehicle application scenarios are sweeper, which takes
Business device can be the server of sweeper, which can be also total to separate operaton in a specific region by more sweepers
With operation in the different community domain of the same area, the application does not limit this.Example and non-limiting, first communication module 110
It can directly be communicated by wifi network with background server, forth generation mechanics of communication (the 4th can also be passed through
Generation communication system, 4G) network communicated, the 5th generation mechanics of communication (the can also be passed through
5th Generation communication system, 5G) network communicated, and the application does not limit this.
Second communication module 120 receives vehicle-mounted human-computer interaction device and sends for being connected with vehicle-mounted human-computer interaction device
Operational order.
Wherein, which can be the communication module communicated with vehicle-mounted human-computer interaction device, such as with
Too Network Communication module.Vehicle-mounted human-computer interaction device can be vehicle-carrying display screen, can also be remote controler, can also be that other can be with
The device of human-computer interaction is carried out, the application does not limit this.
Can be first communication module 110 work, second communication module 120 do not work or first communication module 110 not
Work, second communication module 120 works, alternatively, by pre-setting priority first communication module 110 and second communication module
120 can work at the same time.It is worked at the same time if it is first communication module 110 and second communication module 120, it can be logical with first
Letter module 110 and second communication module 120 can be described as business function module again together.The business function module can respectively with vehicle
It body controller (Body Control Module, BCM) and is communicated from processing unit 200.For example, in vehicle power-on self-test
When, by being communicated with BCM controllers, prompt message can be sent to BCM, BCM passes through light prompt in self-test success
To indicate the state of vehicle (self-test is successfully entered standby mode etc.).
Wherein, which refers to automatic Pilot BCM.
Operational order can be start-up operation instruction, in one example, refer to when receiving operation by background server
When enabling, which can be the sum of several continual commands on background server, for example pass through click " startup ", " automatic
The instructions such as cleaning ", " historical path pattern ", and then selected to carry out automatic cleaning to certain region.In another example, when logical
When crossing vehicle-mounted human-computer interaction device and receiving operational order, which can be to multiple buttons in vehicle-mounted human-computer interaction device
Carry out the sum of the multiple instruction of selection.
After receiving operational order, the purging zone information stored in primary processor and environmental map configuration text are called
Part, which is used to delimit the boundary of purging zone, the environmental map configuration file is that the purging zone is corresponding
Map configuration file.
Path planning module 130 is cleaned, for according to purging zone information and environmental map configuration file, generating and cleaning road
Diameter data, and it is sent to decision rule module by path data is cleaned.
Specifically, cleaning path planning module 130 according to the purging zone information and environmental map configuration file, plan
Path data is cleaned, for example, the region cleaned is a-quadrant, in a-quadrant, there are garden, trees etc., clean path planning mould
Block 130, which can avoid those, can not possibly carry out the region of automatic cleaning.
Sensing module 140 is handled for obtaining environment sensing data, and to environment sensing data, extracts barrier
Information, and obstacle information is sent to decision rule module.
Wherein, sensing module is specifically used for：
The environment sensing data are handled, laser point cloud data is generated；
Analyzing processing is carried out to the laser point cloud data, therefrom extracts obstacle information.
Specifically, the sensing module 140 can turn around it by the object around laser radar scanning, laser radar
Afterwards, unified unpacking, compensation deals are carried out to all the points being collected into, generates the multiple laser scanned comprising this circle
Then point cloud data extracts obstacle information from laser point cloud data.
It is possible to further by above-mentioned obstacle information and the obstacle information extracted from ultrasonic radar detection data
Fusion treatment is carried out, final obstacle information is generated.
Locating module 150, the location information for obtaining vehicle, and location information is sent to decision rule module.
Wherein, locating module 150 can get vehicle from global location (Global Positioning System, GPS)
Location information.
Locating module is additionally operable to：
First Speed information is obtained from global position system GPS；
Second speed information is obtained from feedback module is executed；
Fusion treatment, formation speed fuse information are carried out to the First Speed information and the second speed information；
The speed fuse information is sent to the control module.
Specifically, locating module also gets the First Speed information of vehicle from GPS simultaneously, and vehicle is got from wheel speed meter
Bottom execution information, i.e. the second speed information of vehicle, after carrying out fusion treatment to both velocity informations, formation speed melts
Information is closed, which compares individual First Speed information and second speed information, more accurately.Subsequently the speed is melted
It closes information and is sent to control module, which is used for closed-loop control, to be turned to by the speed fuse information amendment
Information and torque control message are controlled, (Electric Power Steering, EPS) controller and motor are controlled with realizing
Device more accurately controls.
Decision rule module 160, for according to obstacle information, location information and cleaning path data, generating decision
Result information, and result of decision information is sent to control module.
Wherein, result of decision information may include trace information, and trace information may include running orbit information, behavior rail
Mark information etc., for example, being travelled with x speed in the regions xx.
Control module 170, for according to result of decision information, generating course changing control information and torque control message, concurrently
Give execution feedback module.
Wherein, course changing control information and torque control message are for respectively controlling the steering of vehicle and speed.This
When, above-mentioned closed-loop control is, after speed fuse information is fed back to control module by locating module in real time, control module according to
The speed fuse information, is adjusted course changing control information and torque control message, so that vehicle quickly reaches pre-
The steering angle and travel speed of meter.
Feedback module 180 is executed, for carrying out conversion process to course changing control information and torque control message, at conversion
Course changing control information and torque control message after reason are sent to by CAN bus from processing unit respectively.
Specifically, execute feedback module 180 carries out stylistic processing to the course changing control information and torque control message,
It is converted into the message that CAN bus can identify.
From processing unit 200, for the course changing control information after conversion process to be sent to electric boosting steering system EPS
Controller, so that the steering of EPS controllers control vehicle；Also, the torque control message after conversion process is sent to motor
Controller, so that the rotating speed of the motor of electric machine controller control vehicle.
In another specific embodiment, which further includes drive module 190.Fig. 2 is the embodiment of the present invention
The another structural schematic diagram of control unit for vehicle of offer.In fig. 2, which further includes：Drive module 190, institute
Stating drive module 190 includes：Wifi drives submodule 191,4G drivings submodule 192, USB drivings submodule 193, Ethernet to drive
One or more of mover module 194, GPS drivings submodule 195, CAN driving submodules 196.
Wherein, wifi drives submodule 191, for passing through wifi network as first communication module 110 and background server
Driving when network is communicated.
When 4G driving submodules 192 are communicated with background server by 4G networks as first communication module 110
Driving.
USB drives submodule 193 can be as the driving of primary processor and external equipment.
Ethernet driving submodule 194 can be perceived module calling, to read the environment sensing data of laser radar.Or
Person, driving when Ethernet driving submodule 194 is communicated as second communication module 120 with vehicle-mounted human-computer interaction device.
GPS drives submodule 195, is called by locating module 130, so that locating module 130 gets location information.
CAN drives submodule 196, and the course changing control after driving submodule 196 that can read conversion process by the CAN is believed
Torque control message after breath and conversion process.
The status information of vehicle is obtained, and the status information is sent to background server and/or vehicle-mounted human-computer interaction
Device.
As a result, by applying control unit for vehicle provided in an embodiment of the present invention, the control to vehicle may be implemented, personification
Change degree is high.
In the following, being illustrated for automatic Pilot low speed logistic car by applying the control unit for vehicle.
The quantity of laser radar can be two, and one is arranged at the top of vehicle, another is arranged in the front end of vehicle.
At this point, sensing module can carry out fusion treatment to the environment sensing data of two laser radars got, laser point is generated
Cloud data, subsequent processes and above-mentioned identical, details are not described herein again.
It is understood that when applying the control unit for vehicle in different types of vehicle, function limitations word
Language, for example, " cleaning " can be replaced by " dispatching ".
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 (7)
1. a kind of control unit for vehicle, which is characterized in that the control unit for vehicle includes：Main Processor Unit and single from processing
Member；The Main Processor Unit is connected by controller local area network's CAN bus with from processing unit；
The Main Processor Unit includes：First communication module, second communication module clean path planning module, sensing module, determine
Position module, decision rule module, control module and execution feedback module；
The first communication module is connected with background server, the operational order for receiving the background server, and root
According to the operational order, purging zone information and environmental map configuration file are called, cleaning path planning module is sent to；
The second communication module with vehicle-mounted human-computer interaction device for being connected, for receiving the vehicle-mounted human-computer interaction device
The operational order of transmission；
The cleaning path planning module, for according to the purging zone information and the environmental map configuration file, generating
Path data is cleaned, and the cleaning path data is sent to decision rule module；
The sensing module is handled for obtaining environment sensing data, and to the environment sensing data, extracts barrier
Information, and the obstacle information is sent to the decision rule module；
The locating module, the location information for obtaining vehicle, and the location information is sent to the decision rule mould
Block；
The decision rule module is used for according to the obstacle information, the location information and the cleaning path data,
Result of decision information is generated, and the result of decision information is sent to the control module；
The control module, for according to the result of decision information, generating course changing control information and torque control message, concurrently
Give the execution feedback module；
The execution feedback module will for carrying out conversion process to the course changing control information and the torque control message
The course changing control information and the torque control message after conversion process are sent to described from processing by the CAN bus
Unit；
It is described from processing unit, for the course changing control information after the conversion process to be sent to electric boosting steering system
EPS controllers, so that the steering of EPS controllers control vehicle；Also, by the torque control message after the conversion process
It is sent to electric machine controller, so that the electric machine controller controls the rotating speed of the motor of the vehicle.
2. control unit for vehicle according to claim 1, which is characterized in that the sensing module is specifically used for：
The environment sensing data are handled, laser point cloud data is generated；
Analyzing processing is carried out to the laser point cloud data, therefrom extracts obstacle information.
3. control unit for vehicle according to claim 1, which is characterized in that the locating module is additionally operable to：
First Speed information is obtained from global position system GPS；
Second speed information is obtained from feedback module is executed；
Fusion treatment, formation speed fuse information are carried out to the First Speed information and the second speed information；
The speed fuse information is sent to the control module.
4. control unit for vehicle according to claim 3, which is characterized in that the control module is additionally operable to, according to described
Speed fuse information corrects the course changing control information and torque control message.
5. control unit for vehicle according to claim 1, which is characterized in that the Main Processor Unit further includes：Drive mould
Block, the drive module include：Wifi drives submodule, 4G drivings submodule, USB drivings submodule, Ethernet to drive submodule
One or more of block, GPS driving submodules and CAN driving submodules.
6. control unit for vehicle according to claim 1, which is characterized in that the first communication module is additionally operable to, by vehicle
Status information be sent to background server.
7. control unit for vehicle according to claim 1, which is characterized in that the second communication module is additionally operable to, by vehicle
Status information be sent to vehicle-mounted human-computer interaction device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810564295.3A CN108762271A (en) | 2018-06-04 | 2018-06-04 | Control unit for vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810564295.3A CN108762271A (en) | 2018-06-04 | 2018-06-04 | Control unit for vehicle |
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| Publication Number | Publication Date |
|---|---|
| CN108762271A true CN108762271A (en) | 2018-11-06 |
Family
ID=64002745
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810564295.3A Pending CN108762271A (en) | 2018-06-04 | 2018-06-04 | Control unit for vehicle |
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| CN (1) | CN108762271A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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