CN109308070A - A kind of pure electric vehicle Environmental sanitation cleaning vehicle and its automated driving system - Google Patents
A kind of pure electric vehicle Environmental sanitation cleaning vehicle and its automated driving system Download PDFInfo
- Publication number
- CN109308070A CN109308070A CN201710625152.4A CN201710625152A CN109308070A CN 109308070 A CN109308070 A CN 109308070A CN 201710625152 A CN201710625152 A CN 201710625152A CN 109308070 A CN109308070 A CN 109308070A
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- vehicle
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- environmental sanitation
- pure electric
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- 238000004140 cleaning Methods 0.000 title claims abstract description 55
- 230000007613 environmental effect Effects 0.000 title claims abstract description 52
- 238000001514 detection method Methods 0.000 claims abstract description 48
- 239000012491 analyte Substances 0.000 claims abstract description 19
- 238000005070 sampling Methods 0.000 claims description 18
- 239000000523 sample Substances 0.000 claims description 11
- 238000005259 measurement Methods 0.000 claims description 10
- 230000002093 peripheral effect Effects 0.000 claims description 4
- 238000007689 inspection Methods 0.000 claims 1
- 230000004888 barrier function Effects 0.000 abstract description 8
- 238000012544 monitoring process Methods 0.000 description 5
- 241001417527 Pempheridae Species 0.000 description 4
- 238000010408 sweeping Methods 0.000 description 3
- 238000011161 development Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 240000007594 Oryza sativa Species 0.000 description 1
- 235000007164 Oryza sativa Nutrition 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 235000009566 rice Nutrition 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
- G05D1/0255—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 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
Abstract
The present invention relates to a kind of pure electric vehicle Environmental sanitation cleaning vehicle and its automated driving system, automated driving system includes power battery, control module, vehicle body surrounding obstacles analyte detection subsystem, roadside distance detection subsystem, automatically controlled steering subsystem and brake subsystem.The barrier situation around vehicle body is detected by vehicle body surrounding obstacles analyte detection subsystem, vehicle is detected at a distance from roadside by roadside distance detection subsystem, during automatic Pilot, according to around vehicle body barrier situation and vehicle vehicle driving is automatically controlled at a distance from roadside, when there is barrier to influence normal vehicle operation, or vehicle distances roadside it is excessively close when, the steering of vehicle is realized by control Vehicular turn subsystem or brake subsystem, slow down, and then avoiding obstacles or increase are at a distance from roadside, realize the safe and reliable operation of automatic Pilot.So being controlled by the automatic Pilot that the system can be realized pure electric vehicle Environmental sanitation cleaning vehicle.
Description
Technical field
The present invention relates to a kind of pure electric vehicle Environmental sanitation cleaning vehicle and its automated driving systems, belong to pure electric vehicle Environmental sanitation cleaning vehicle
Automatic Pilot technical field.
Background technique
With Development of Urbanization, the continuous promotion and national policy guidance of the market demand, the new energy ring applied in the market
Cleaning vehicle is defended, i.e. pure electric vehicle environmental sanitation cleaning vehicle is more and more.Compared with traditional Environmental sanitation cleaning vehicle and hand sweeping, new energy
The feature of environmental protection, sweeping efficiency and the safety of Environmental sanitation cleaning vehicle are all significantly improved.Moreover, with the development of city size, manpower
The continuous promotion of cost, for the demand of the sweeper of intelligent unmanned automatic running, what is shown is especially urgent.Although nothing
People, which drives field, relevant technology, and still, pure electric vehicle Environmental sanitation cleaning vehicle is unmanned still without excessive at present
It is related to, pure electric vehicle Environmental sanitation cleaning vehicle still needs to pilot steering vehicle and carries out cleaning, and human cost is larger.
Summary of the invention
The object of the present invention is to provide a kind of pure electric vehicle Environmental sanitation cleaning vehicle automated driving systems, to realize pure electric vehicle environmental sanitation
The automatic Pilot of sweeper controls.Present invention simultaneously provides a kind of pure electric vehicle Environmental sanitation cleaning vehicles.
To achieve the above object, the solution of the present invention includes a kind of pure electric vehicle Environmental sanitation cleaning vehicle automated driving system, including
For providing the power plant module and control module of vehicle energy for Environmental sanitation cleaning vehicle, hinder around vehicle and vehicle body for detecting
The vehicle body surrounding obstacles analyte detection subsystem for hindering object distance, for detecting the roadside distance detection subsystem of vehicle and roadside distance
System, automatically controlled steering subsystem and brake subsystem, the power plant module are power batteries, described in the control module sampling connection
Vehicle body surrounding obstacles analyte detection subsystem and roadside distance detection subsystem, control connect the automatically controlled steering subsystem and braking
Subsystem.
The vehicle body surrounding obstacles analyte detection subsystem includes four groups of ultrasonic radar probes, for being separately positioned on vehicle body
Front, rear, left and right side；The roadside distance detection subsystem includes two groups of range laser radars, for being separately positioned on headstock
Two sides.
The automated driving system further includes locating module and walking subsystem, and the control module sampling connection is described fixed
Position module, control connect the walking subsystem.
The automated driving system further includes for obtaining traffic light status information at the crossing that vehicle needs to pass through
Data obtaining module, control module sampling connects the data obtaining module.
The automated driving system further includes the residual capacity measurement module for detecting power battery remaining capacity, described
Control module sampling connects the residual capacity measurement module.
A kind of pure electric vehicle Environmental sanitation cleaning vehicle, including pure electric vehicle Environmental sanitation cleaning vehicle automated driving system and cleaning agency, it is described
Automated driving system includes for providing the power plant module and control module of vehicle energy for Environmental sanitation cleaning vehicle, for detecting
The vehicle body surrounding obstacles analyte detection subsystem of vehicle and vehicle body peripheral obstacle distance, for detecting the road of vehicle Yu roadside distance
Back gauge detects subsystem, and automatically controlled steering subsystem and brake subsystem, the power plant module are power batteries, the control mould
Block sampling connects the vehicle body surrounding obstacles analyte detection subsystem and roadside distance detection subsystem, controls described automatically controlled turn of connection
To subsystem and brake subsystem.
The vehicle body surrounding obstacles analyte detection subsystem includes four groups of ultrasonic radar probes, for being separately positioned on vehicle body
Front, rear, left and right side；The roadside distance detection subsystem includes two groups of range laser radars, for being separately positioned on headstock
Two sides.
The automated driving system further includes locating module and walking subsystem, and the control module sampling connection is described fixed
Position module, control connect the walking subsystem.
The automated driving system further includes for obtaining traffic light status information at the crossing that vehicle needs to pass through
Data obtaining module, control module sampling connects the data obtaining module.
The automated driving system further includes the residual capacity measurement module for detecting power battery remaining capacity, described
Control module sampling connects the residual capacity measurement module.
The barrier situation around vehicle body is detected by vehicle body surrounding obstacles analyte detection subsystem, is detected by roadside distance
Subsystem detects vehicle at a distance from roadside, during automatic Pilot, according to the barrier situation and vehicle around vehicle body
With at a distance from roadside automatically control vehicle driving, when have barrier influence normal vehicle operation when or vehicle distances roadside mistake
When close, by control Vehicular turn subsystem or brake subsystem realize vehicle steering, slow down, and then avoiding obstacles or
Person increases at a distance from roadside, realizes the safe and reliable operation of automatic Pilot.Moreover, can be pure electric vehicle ring by power battery
It defends sweeper and reliable power source is provided, guarantee the reliability service of automatic Pilot control.Therefore, clear by the pure electric vehicle environmental sanitation
Sweeping vehicle automated driving system can be realized the automatic Pilot control of pure electric vehicle Environmental sanitation cleaning vehicle.
Detailed description of the invention
Fig. 1 is the theory of constitution figure of pure electric vehicle Environmental sanitation cleaning vehicle automated driving system；
Fig. 2 is the position schematic diagram of ultrasonic radar probe.
Specific embodiment
Pure electric vehicle Environmental sanitation cleaning vehicle embodiment
The present embodiment provides a kind of pure electric vehicle Environmental sanitation cleaning vehicles, including cleaning agency and a kind of pure electric vehicle Environmental sanitation cleaning vehicle
Automated driving system, wherein cleaning agency belongs to routine techniques, at present either the Environmental sanitation cleaning vehicle of pilot steering or other
It all refers in the automatic Pilot Environmental sanitation cleaning vehicle of type, just no longer illustrates here.Moreover, in addition to above-mentioned two parts it
Outside, there are also other component parts in Environmental sanitation cleaning vehicle, since other component parts are not present invention points, here
No longer specifically describe.
Pure electric vehicle Environmental sanitation cleaning vehicle automated driving system includes power battery, control module, vehicle body surrounding obstacles analyte detection
Subsystem, roadside distance detection subsystem, automatically controlled steering subsystem and brake subsystem, wherein vehicle body surrounding obstacles analyte detection
Subsystem is for detecting vehicle at a distance from vehicle body peripheral obstacle, and roadside distance detection subsystem is for detecting vehicle and roadside
Distance, specifically the distance in headstock distance roadside, emphasis are that vehicle and road curb or flower bed etc. can be touched with vehicle
The distance of the roadside object hit.Control module sampling connection vehicle body surrounding obstacles analyte detection subsystem and roadside distance detection subsystem
System, control connect automatically controlled steering subsystem and brake subsystem.In addition, the walking subsystem of vehicle, such as: driving motor, it can
To be a part of automated driving system, it is, of course, also possible to be a part of vehicle itself, it is not belonging to automated driving system.Control
Molding block also controls connection cleaning agency.
For the composition of above-mentioned pure electric vehicle Environmental sanitation cleaning vehicle automated driving system, the present embodiment provides a kind of tool of the system
Body embodiment, wherein as shown in Figure 1, control module is by taking entire car controller 1 as an example；Vehicle body surrounding obstacles analyte detection subsystem
It is detected using ultrasonic wave, i.e., vehicle body surrounding obstacles analyte detection subsystem is by taking 360 ° of ultrasonic radar detection subsystems 2 as an example；
Roadside distance detection subsystem is by taking range laser radar detection subsystem 3 as an example；And for automatically controlled steering system 4 and braking system
5, it can be using conventional system.Using ultrasonic radar detection subsystem, compared to vision systems such as cameras, price is more
It is low, less than 1/10th of vision system, moreover, it is more reliable compared to vision system, light is not required, can be made with 24 hours
Industry.Further, 360 ° of ultrasonic radar detection subsystems 2 include four groups of ultrasonic radars probes, the front side of vehicle body, rear side,
One group of ultrasonic radar probe is respectively arranged in left and right side, and the number of each group ultrasonic radar probe carries out according to actual needs
It setting, in the present embodiment, every group of number is four, then, just there are 16 probes in total, as shown in Figure 2.Under normal conditions,
The detection range of ultrasonic radar probe is 5 meters or so, then, it can detecte vehicle body all around 5 by this four groups of probes
Barrier in rice range realizes 360 ° omni-directional detection.
Range laser radar detection subsystem 3 includes two groups of range laser radars, and one group, i.e. environmental sanitation is respectively arranged in headstock two sides
Each one group of the setting at the place of near-car head of sweeper two sides, every group includes three range laser radars.As shown in Fig. 2, from
The left side of figure is defined as vehicle heading to right side, then, the arrow of the headstock two sides in Fig. 2 represents range laser radar.
Entire car controller 1 and 360 ° ultrasonic radar detection subsystem 2 and range laser radar detection subsystem 3 pass through
CAN network is communicated.Entire car controller 1 is connected with automatically controlled steering system 4 or braking system 5 by low-pressure electric controlled line.
It when Environmental sanitation cleaning vehicle operation, is run according to pre-determined route, speed is limited within 5Km/h by entire car controller 1.
The letter such as position of barrier will occur in 360 ° of ultrasonic radar detection subsystems 2 within the scope of the vehicle body detected all around 5 meters
Breath passes to entire car controller 1 by CAN network, and range laser radar detection subsystem 3 is by headstock away from road curb or flower bed
Real-time range passes to entire car controller 1 by CAN network, and entire car controller 1 is by controlling automatically controlled steering system 4 or braking system
System 5 realizes the steering of vehicle, slows down, and then avoiding obstacles；Entire car controller 1 realizes vehicle by controlling automatically controlled steering system 4
Steering, and then avoid bumping against road curb or flower bed, realize that the automatic safe of Environmental sanitation cleaning vehicle drives.
Moreover, automated driving system further includes bus or train route cooperative module 8, it is locating module respectively which, which includes two parts,
And data obtaining module, wherein locating module is used to position the position where vehicle, such as GPS module；Data obtaining module is used
In the status information for obtaining the traffic light at the crossing that vehicle needs to pass through.The sampling connection bus or train route collaboration of entire car controller 1
Module 8, the information of the transmission of real-time reception bus or train route cooperative module 8, is communicated with signal lamp by bus or train route cooperative module 8, determines vehicle
Exact position, and by and signal lamp communication, reasonable regulation speed avoids vehicle frequently equal red lights, improves efficiency of operation.
Automated driving system further includes residual capacity measurement module, for detecting the remaining capacity of power battery, i.e. SOC letter
Breath, the sampling connection residual capacity measurement module of entire car controller 1.In the present embodiment, residual capacity measurement module is power battery
Battery management system 9, the information for the power battery that entire car controller 1 is transmitted according to battery management system 9 judge vehicle residue
Remaining continual mileage corresponding to electricity and remaining capacity carries out following control in conjunction with locating module: when remaining continual mileage
When being reduced to only big more some at a distance from charging place than current vehicle position, indicate that the remaining capacity of vehicle is few, if not
Charge, vehicle may cast anchor because of not enough power supply, then, control module control vehicle according to from current vehicle position to
The travel route in charging place drives towards charging place and charges.
In addition, automated driving system further includes remote monitoring system 6, remote monitoring system 6 reads vehicle by CAN network
The information such as position, electricity, operation conditions, fault message, power consumption, and after sending monitoring in real time by 4G network for these information
Platform 7.Monitoring backstage 7 can send to vehicle and order, control vehicle depot repair by analyzing information of vehicles, return factory's charging, and certainly
It is dynamic to arrange charge position.Moreover, monitoring backstage 7 can monitor and manipulate simultaneously all Environmental sanitation cleaning vehicles of entire fleet.
The specific embodiment of pure electric vehicle Environmental sanitation cleaning vehicle automated driving system is presented above, but the present invention is not limited to
Described embodiment.Basic ideas of the invention are the basic structure of pure electric vehicle Environmental sanitation cleaning vehicle automated driving system,
Specific implementation means for component part each in system and without limitation.
Pure electric vehicle Environmental sanitation cleaning vehicle automated driving system embodiment
The present embodiment provides a kind of pure electric vehicle Environmental sanitation cleaning vehicle automated driving systems, in the above-described embodiments due to the system
It has been made and describes in detail, just no longer illustrate here.
Claims (10)
1. a kind of pure electric vehicle Environmental sanitation cleaning vehicle automated driving system, which is characterized in that including whole for being provided for Environmental sanitation cleaning vehicle
The power plant module and control module of vehicle energy, for detecting the vehicle body surrounding obstacles of vehicle Yu vehicle body peripheral obstacle distance
Analyte detection subsystem, for detecting the roadside distance detection subsystem of vehicle and roadside distance, automatically controlled steering subsystem and braking
Subsystem, the power plant module are power batteries, and the control module sampling connects the vehicle body surrounding obstacles analyte detection subsystem
System and roadside distance detection subsystem, control connect the automatically controlled steering subsystem and brake subsystem.
2. pure electric vehicle Environmental sanitation cleaning vehicle automated driving system according to claim 1, which is characterized in that around the vehicle body
Detection of obstacles subsystem includes four groups of ultrasonic radar probes, for being separately positioned on the front, rear, left and right side of vehicle body；It is described
Roadside distance detection subsystem includes two groups of range laser radars, for being separately positioned on headstock two sides.
3. pure electric vehicle Environmental sanitation cleaning vehicle automated driving system according to claim 1 or 2, which is characterized in that described automatic
Control loop further includes locating module and walking subsystem, and the control module sampling connects the locating module, control connection
The walking subsystem.
4. pure electric vehicle Environmental sanitation cleaning vehicle automated driving system according to claim 3, which is characterized in that the automatic Pilot
System further includes the data obtaining module for obtaining traffic light status information at the crossing that vehicle needs to pass through, the control
Module samples processed connect the data obtaining module.
5. pure electric vehicle Environmental sanitation cleaning vehicle automated driving system according to claim 3, which is characterized in that the automatic Pilot
System further includes the residual capacity measurement module for detecting power battery remaining capacity, described in the control module sampling connection
Residual capacity measurement module.
6. a kind of pure electric vehicle Environmental sanitation cleaning vehicle, which is characterized in that including pure electric vehicle Environmental sanitation cleaning vehicle automated driving system and cleaning
Mechanism, the automated driving system include for providing the power plant module and control module of vehicle energy for Environmental sanitation cleaning vehicle,
For detecting the vehicle body surrounding obstacles analyte detection subsystem of vehicle Yu vehicle body peripheral obstacle distance, for detecting vehicle and roadside
The roadside distance detection subsystem of distance, automatically controlled steering subsystem and brake subsystem, the power plant module are power batteries, institute
It states control module sampling and connects the vehicle body surrounding obstacles analyte detection subsystem and roadside distance detection subsystem, control connection institute
State automatically controlled steering subsystem and brake subsystem.
7. pure electric vehicle Environmental sanitation cleaning vehicle according to claim 6, which is characterized in that vehicle body surrounding obstacles analyte detection
System includes four groups of ultrasonic radar probes, for being separately positioned on the front, rear, left and right side of vehicle body；The roadside distance detection
Subsystem includes two groups of range laser radars, for being separately positioned on headstock two sides.
8. pure electric vehicle Environmental sanitation cleaning vehicle according to claim 6 or 7, which is characterized in that the automated driving system is also wrapped
Locating module and walking subsystem are included, the control module sampling connects the locating module, and control connects the walking subsystem
System.
9. pure electric vehicle Environmental sanitation cleaning vehicle according to claim 8, which is characterized in that the automated driving system further includes using
In the data obtaining module for obtaining traffic light status information at the crossing that vehicle needs to pass through, the control module sampling connects
Connect the data obtaining module.
10. pure electric vehicle Environmental sanitation cleaning vehicle according to claim 8, which is characterized in that the automated driving system further includes
For detecting the residual capacity measurement module of power battery remaining capacity, the control module sampling connects the remaining capacity inspection
Survey module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710625152.4A CN109308070A (en) | 2017-07-27 | 2017-07-27 | A kind of pure electric vehicle Environmental sanitation cleaning vehicle and its automated driving system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710625152.4A CN109308070A (en) | 2017-07-27 | 2017-07-27 | A kind of pure electric vehicle Environmental sanitation cleaning vehicle and its automated driving system |
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| CN109308070A true CN109308070A (en) | 2019-02-05 |
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| CN201710625152.4A Pending CN109308070A (en) | 2017-07-27 | 2017-07-27 | A kind of pure electric vehicle Environmental sanitation cleaning vehicle and its automated driving system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110989591A (en) * | 2019-12-02 | 2020-04-10 | 长沙中联重科环境产业有限公司 | Sanitation robot for performing auxiliary operation control based on road edge identification |
| CN111487968A (en) * | 2020-04-21 | 2020-08-04 | 长沙酷哇人工智能及大数据产业技术研究院有限公司 | Automatic driving vehicle speed control method |
| CN114312842A (en) * | 2021-12-30 | 2022-04-12 | 东风悦享科技有限公司 | Unmanned sweeper signal lamp fusion perception recognition and control method |
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| CN207067800U (en) * | 2017-07-27 | 2018-03-02 | 郑州宇通客车股份有限公司 | Pure electric sanitation sweeper and its automated driving system |
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Patent Citations (4)
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| CN103489322A (en) * | 2013-08-21 | 2014-01-01 | 黑龙江工程学院 | Ecological driving assistance system and method for utilizing same to assist driving |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110989591A (en) * | 2019-12-02 | 2020-04-10 | 长沙中联重科环境产业有限公司 | Sanitation robot for performing auxiliary operation control based on road edge identification |
| CN111487968A (en) * | 2020-04-21 | 2020-08-04 | 长沙酷哇人工智能及大数据产业技术研究院有限公司 | Automatic driving vehicle speed control method |
| CN114312842A (en) * | 2021-12-30 | 2022-04-12 | 东风悦享科技有限公司 | Unmanned sweeper signal lamp fusion perception recognition and control method |
| CN114312842B (en) * | 2021-12-30 | 2023-12-05 | 东风悦享科技有限公司 | Signal lamp fusion perception recognition and control method for unmanned sweeper |
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