CN109101013A - A kind of electric car low speed automated driving system and method - Google Patents
A kind of electric car low speed automated driving system and method Download PDFInfo
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- CN109101013A CN109101013A CN201810785167.1A CN201810785167A CN109101013A CN 109101013 A CN109101013 A CN 109101013A CN 201810785167 A CN201810785167 A CN 201810785167A CN 109101013 A CN109101013 A CN 109101013A
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- 238000000034 method Methods 0.000 title claims abstract description 24
- 230000005540 biological transmission Effects 0.000 claims abstract description 3
- 230000005611 electricity Effects 0.000 claims description 6
- 230000004888 barrier function Effects 0.000 claims 1
- 230000008901 benefit Effects 0.000 description 7
- 238000013461 design Methods 0.000 description 6
- 238000004891 communication Methods 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 1
- 238000002156 mixing Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/70—Interactions with external data bases, e.g. traffic centres
- B60L2240/72—Charging station selection relying on external data
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/16—Information or communication technologies improving the operation of electric vehicles
- Y02T90/167—Systems integrating technologies related to power network operation and communication or information technologies for supporting the interoperability of electric or hybrid vehicles, i.e. smartgrids as interface for battery charging of electric vehicles [EV] or hybrid vehicles [HEV]
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y04—INFORMATION OR COMMUNICATION TECHNOLOGIES HAVING AN IMPACT ON OTHER TECHNOLOGY AREAS
- Y04S—SYSTEMS INTEGRATING TECHNOLOGIES RELATED TO POWER NETWORK OPERATION, COMMUNICATION OR INFORMATION TECHNOLOGIES FOR IMPROVING THE ELECTRICAL POWER GENERATION, TRANSMISSION, DISTRIBUTION, MANAGEMENT OR USAGE, i.e. SMART GRIDS
- Y04S30/00—Systems supporting specific end-user applications in the sector of transportation
- Y04S30/10—Systems supporting the interoperability of electric or hybrid vehicles
- Y04S30/12—Remote or cooperative charging
Abstract
The invention discloses a kind of electric car low speed automated driving system and method, including electric car, unmanned plane and remote server, electric car and unmanned plane pass through wireless transmission and are connected with remote server；The unmanned plane is equipped with capture device, capture device is used to capture the road condition information around electric car, road condition information is fed back to remote server and electric car by unmanned plane, after electric car receives road condition information, corresponding driver behavior is executed according to road condition information, remote server is equipped with storage device, and the storage device is for storing road condition information.Electric car low speed automated driving system makes electric car that can complete the corresponding operatings such as parking, charging in low speed with safe driving by the cooperation of unmanned plane, remote server and unmanned plane.
Description
Technical field
The present invention relates to electric car automatic Pilot technical fields, refer in particular to a kind of electric car low speed automatic Pilot system
System and method.
Background technique
Existing electric car drives scheme, and there are 3 defects: 1, system complexity is high: existing automatic Pilot side
Case, includes millimetre-wave radar or laser radar, multiple cameras, entire car controller, dedicated system blending algorithm controller, solely
Vertical line control brake system, whole system complexity are high.2, system reliability is low: existing automatic Pilot scheme is largely used newly
Technology, new component cause the reliability of whole system lower, and the failure of any one component will lead to the failure of whole system,
For automatic driving vehicle, lower reliability hinders commercial applications.3, system cost is high: existing automatic Pilot side
The sensor of case, actuator is at high price, and market acceptance is very low, is only used for technical identification or high-end vehicle, Wu Fa great
Sizable application.China Patent Publication No. CN207028904U, publication date on 2 23rd, 2018, entitled " electric car was driven automatically
Sail system " patent of invention in disclose a kind of electric car automated driving system, including data processing centre and be located at least
Full-vehicle control unit on one electric vehicle, full-vehicle control unit include the information for acquiring the driving information of electric vehicle
Acquisition component and communication component for being communicated with data processing centre, information collection component and communication component electrical connection, data
Processing center is fed back to electric vehicle for controlling for receiving the driving information that communication component is transmitted, and according to driving information
The control information of the travel condition of electric vehicle.It is disadvantageous in that, which still has system complexity height, reliability
The problem of low, higher cost.
Summary of the invention
The purpose of the present invention is overcoming in the prior art, vehicle electric system complexity is high, reliability is low, higher cost
Defect provides a kind of electric car low speed automated driving system and method.
The purpose of the present invention is be achieved by following technical proposals:
A kind of electric car low speed automated driving system, including electric car, unmanned plane and remote server, electric car and nothing
It is man-machine to be connected by being wirelessly transferred with remote server；The unmanned plane is equipped with capture device, and video captures dress
It sets for capturing the road condition information around electric car, road condition information is fed back to remote server and electricity by unmanned plane
Electrical automobile after electric car receives road condition information, executes corresponding driver behavior according to road condition information, distal end takes
Device be engaged in equipped with storage device, the storage device is for storing road condition information.Unmanned plane is used to monitor condition of road surface, by
It is generally located on the top of electric car in unmanned plane, therefore the visual field ratio of UAV Video capture device is pacified on electric car
The information content that the capture device of dress captures wants greatly more, therefore the automated driving system of electronic vehicle can be according to unmanned plane
The video information of capture makes scientific and reasonable driver behavior.Meanwhile remote server can also obtain the view of unmanned plane in time
Frequency information, video information can also be stored by storage device, can carry out having access to research for related personnel.
As a preferred embodiment, electric car further includes line entire car controller and DBW system, drive-by-wire system
For executing electric car deceleration-operation, the entire car controller is connected by Ethernet with DBW system system.
A kind of electric car low speed automatic Pilot method, comprising the following steps:
Step 1, electric car is prepared to stop, into low-speed running state；
Step 2, unmanned plane enters electric car upper area, and the capture device of unmanned plane captures the road around electric car
Road condition information is fed back to electric car by road situation information, unmanned plane；
Step 3, the entire car controller of electric car controls DBW system, DBW system pair according to road condition information
Electric car carries out deceleration-operation；
Step 4, electric car constantly slows down until stopping, completion electric car low speed automatic Pilot process.
As a preferred embodiment, the step 2 further includes unmanned plane for road condition information while feeding back to distal end
Server；
The entire car controller of electric car controls DBW system according to road condition information in the step 3, described
Road condition information is obtained from unmanned plane or remote server, and the rate communicated between unmanned plane and electric car is more than or equal to
When the threshold value of setting, road condition information is obtained from unmanned plane, and the rate communicated between unmanned plane and electric car is less than or equal to
When the threshold value of setting, road condition information is obtained from remote server.The benefit of this design is once unmanned plane and electric car
Between traffic rate it is too low, influence electric car obtain vision signal, electric car by remote server obtain video letter
Breath, it is ensured that electric car can obtain video information in time, improve efficiency.
As a preferred embodiment, the rate communicated between unmanned plane and electric car in the step 3 is less than or equal to
When the threshold value of setting, at the same the rate communicated between remote server and electric car again smaller than be equal to setting threshold value when, electricity
Electrical automobile enters alert status.Electric car can not obtain video information in time at this time, and electric car will be in dangerous shape at this time
State after electric car enters alert status, can make reduction speed, the corresponding operatings such as whistle, even slow stopping.
As a preferred embodiment, remote server is used to record the data of unmanned plane and electric car feedback, once nothing
Man-machine or electric car breaks down, and the operating condition of unmanned plane and electric car when remote server records failure is convenient for relevant people
Member solves failure in time.
As a preferred embodiment, entire car controller also collects the information of electric car remaining capacity, drives automatically in low speed
When sailing, once electric car remaining capacity is less than the safety traffic electricity of setting, then in step 4, electric car is run at a low speed
It to nearest charging pile, completes to stop near nearest charging pile, completes electric car low speed automatic Pilot process.
As a preferred embodiment, in step 4, remote server feeds back the whether available letter of charging pile to electric car
Breath, if charging pile is available, electric car is run at a low speed to charging pile, completes to stop near charging pile, is completed electronic
Automobile low speed automatic Pilot process, if charging pile is unavailable, electric car excludes this charging pile, seeks in remaining charging pile
Next charging pile is looked for, until finding available charging pile.The benefit of this design is that electric automobile during traveling is avoided extremely can not
Charging pile leads to not the case where charging works on.
As a preferred embodiment, entire car controller collects the information of electric car remaining capacity, and it is surplus to estimate electric car
Remaining mileage, in step 4, if in mileage of the nearest available charging pile apart from electric car is greater than can travel
Journey, then electric car enters alert status.The benefit system of this design judges that electric car will enter dangerous driving state, can not
Continue normal driving, after electric car enters alert status, reduction speed can be made, whistle, even slowly stopping etc. is corresponding
Operation.
The invention has the advantages that electric car low speed automated driving system passes through unmanned plane, remote server and nothing
Man-machine cooperation makes electric car that can complete the corresponding operatings such as parking, charging in low speed with safe driving.And this electric car
Low speed automated driving system improves the driving efficiency of electric car, and safety is higher, once discovery danger can also be found in time,
Ensure that related personnel can be handled in time.
Specific embodiment
The present invention is further described below with reference to embodiment.
Embodiment: a kind of electric car low speed automated driving system includes electric car, unmanned plane and remote server, electricity
Electrical automobile and unmanned plane pass through wireless transmission and are connected with remote server；The unmanned plane is equipped with capture device,
Capture device is used to capture the road condition information around electric car, and road condition information is fed back to distal end by unmanned plane
Server and electric car after electric car receives road condition information, execute corresponding drive according to road condition information
Operation, remote server are equipped with storage device, and the storage device is for storing road condition information.Electric car further includes
Line entire car controller and DBW system, DBW system is for executing electric car deceleration-operation, the vehicle control
Device processed is connected by Ethernet with DBW system.
A kind of electric car low speed automatic Pilot method, comprising the following steps:
Step 1, electric car is prepared to stop, into low-speed running state；
Step 2, unmanned plane enters electric car upper area, and the capture device of unmanned plane captures the road around electric car
Road condition information is fed back to electric car by road situation information, unmanned plane；
Step 3, the entire car controller of electric car controls DBW system, DBW system pair according to road condition information
Electric car carries out deceleration-operation；
Step 4, electric car constantly slows down until stopping, completion electric car low speed automatic Pilot process.
The step 2 further includes unmanned plane for road condition information while feeding back to remote server；
The entire car controller of electric car controls DBW system according to road condition information in the step 3, described
Road condition information is obtained from unmanned plane or remote server, and the rate communicated between unmanned plane and electric car is more than or equal to
When the threshold value of setting, road condition information is obtained from unmanned plane, and the rate communicated between unmanned plane and electric car is less than or equal to
When the threshold value of setting, road condition information is obtained from remote server.The benefit of this design is once unmanned plane and electric car
Between traffic rate it is too low, influence electric car obtain vision signal, electric car by remote server obtain video letter
Breath, it is ensured that electric car can obtain video information in time, improve efficiency.
When the rate communicated between unmanned plane and electric car in the step 3 is less than or equal to the threshold value of setting, simultaneously
When the rate communicated between remote server and electric car is again smaller than the threshold value for being equal to setting, electric car enters early warning shape
State.Electric car can not obtain video information in time at this time, and electric car will be in the hole at this time, and electric car enters pre-
After alert state, reduction speed, the corresponding operatings such as whistle, even slow stopping can be made.
Remote server is used to record the data of unmanned plane and electric car feedback, once unmanned plane or electric car occur
Failure, the operating condition of unmanned plane and electric car, solves failure convenient for related personnel in time when remote server records failure.
Entire car controller also collects the information of electric car remaining capacity, in low speed automatic Pilot, once electric car
Remaining capacity is less than the safety traffic electricity of setting, then in step 4, electric car runs at a low speed attached to nearest charging pile
Closely, it completes to stop near nearest charging pile, completes electric car low speed automatic Pilot process.
In step 4, remote server feeds back the whether available information of charging pile to electric car, if charging pile is available,
Then electric car is run at a low speed to charging pile, completes to stop near charging pile, completes electric car low speed automatic Pilot
Process, if charging pile is unavailable, electric car excludes this charging pile, and next charging pile is found in remaining charging pile,
Until finding available charging pile.The benefit of this design is to avoid electric automobile during traveling to not available charging pile, is caused
Can not charge the case where working on.
Entire car controller collects the information of electric car remaining capacity, estimates the remaining mileage of electric car,
In step 4, if mileage of the nearest available charging pile apart from electric car is greater than mileage, electric car enters pre-
Alert state.The benefit system of this design judges that electric car will enter dangerous driving state, can not continue normal driving, electronic vapour
After vehicle enters alert status, reduction speed, the corresponding operatings such as whistle, even slow stopping can be made.
Claims (9)
1. a kind of electric car low speed automated driving system, characterized in that including electric car, unmanned plane and remote server,
Electric car and unmanned plane pass through wireless transmission and are connected with remote server；The unmanned plane is equipped with video and captures dress
It sets, capture device is used to capture the road condition information around electric car, and unmanned plane feeds back to road condition information
Remote server and electric car after electric car receives road condition information, execute corresponding according to road condition information
Driver behavior, remote server are equipped with storage device, and the storage device is for storing road condition information.
2. a kind of electric car low speed automated driving system according to claim 1, characterized in that electric car further includes
Line entire car controller and DBW system, DBW system is for executing electric car deceleration-operation, the vehicle control
Device processed is connected by Ethernet with DBW system.
3. a kind of electric car low speed automatic Pilot method, driven automatically based on a kind of electric car low speed as claimed in claim 2
Sail system, characterized in that the following steps are included:
Step 1, electric car is prepared to stop, into low-speed running state；
Step 2, unmanned plane enters electric car upper area, and the capture device of unmanned plane captures the road around electric car
Road condition information is fed back to electric car by road situation information, unmanned plane；
Step 3, the entire car controller of electric car controls DBW system, DBW system pair according to road condition information
Electric car carries out deceleration-operation；
Step 4, electric car constantly slows down until stopping, completion electric car low speed automatic Pilot process.
4. a kind of electric car low speed automatic Pilot method according to claim 3, characterized in that the step 2 is also
Road condition information is fed back into remote server simultaneously including unmanned plane；
The entire car controller of electric car controls DBW system according to road condition information in the step 3, described
Road condition information is obtained from unmanned plane or remote server, and the rate communicated between unmanned plane and electric car is more than or equal to
When the threshold value of setting, road condition information is obtained from unmanned plane, and the rate communicated between unmanned plane and electric car is less than or equal to
When the threshold value of setting, road condition information is obtained from remote server.
5. a kind of electric car low speed automatic Pilot method according to claim 4, characterized in that in the step 3
When the rate communicated between unmanned plane and electric car is less than or equal to the threshold value of setting, at the same remote server and electric car it
Between the rate that communicates again smaller than the threshold value for being equal to setting when, electric car enters alert status.
6. a kind of electric car low speed automatic Pilot method according to claim 3, characterized in that remote server is used for
The data of unmanned plane and electric car feedback are recorded, once unmanned plane or electric car break down, remote server record event
The operating condition of unmanned plane and electric car when barrier, solves failure convenient for related personnel in time.
7. a kind of electric car low speed automatic Pilot method according to claim 3 or 4 or 5 or 6, characterized in that vehicle
Controller also collects the information of electric car remaining capacity, in low speed automatic Pilot, once electric car remaining capacity is less than
The safety traffic electricity of setting, then in step 4, electric car is run at a low speed to nearest charging pile, is filled in nearest
Electric stake nearby is completed to stop, and completes electric car low speed automatic Pilot process.
8. a kind of electric car low speed automatic Pilot method according to claim 7, characterized in that in step 4, distal end
Server feeds back the whether available information of charging pile to electric car, if charging pile is available, electric car is run at a low speed to filling
It near electric stake, completes to stop near charging pile, completes electric car low speed automatic Pilot process, if charging pile is unavailable,
Electric car excludes this charging pile, and next charging pile is found in remaining charging pile, is until finding available charging pile
Only.
9. a kind of electric car low speed automatic Pilot method according to claim 8, characterized in that entire car controller is collected
The information of electric car remaining capacity estimates the remaining mileage of electric car, in step 4, if nearest is available
Mileage of the charging pile apart from electric car is greater than mileage, then electric car enters alert status.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810785167.1A CN109101013A (en) | 2018-07-17 | 2018-07-17 | A kind of electric car low speed automated driving system and method |
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| CN201810785167.1A CN109101013A (en) | 2018-07-17 | 2018-07-17 | A kind of electric car low speed automated driving system and method |
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| CN114207689A (en) * | 2019-08-01 | 2022-03-18 | 株式会社电装 | Parking assist system |
| CN114207689B (en) * | 2019-08-01 | 2024-04-30 | 株式会社电装 | Parking assistance system |
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