CN109597412A - A kind of Unmanned Systems and its control method - Google Patents
A kind of Unmanned Systems and its control method Download PDFInfo
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- CN109597412A CN109597412A CN201811484055.9A CN201811484055A CN109597412A CN 109597412 A CN109597412 A CN 109597412A CN 201811484055 A CN201811484055 A CN 201811484055A CN 109597412 A CN109597412 A CN 109597412A
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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
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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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
- G05D1/0231—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
Abstract
The present invention provides a kind of unpiloted control methods, comprising the following steps: S1, into unmanned mode acquires real-time vehicle environmental information by the period of time T；S2, collected real-time vehicle environmental information is matched with vehicle environmental information existing in local data base, corresponding automatic Pilot mode is executed if successful match, S3 is entered step if it fails to match；S3, unmanned mode is exited, records artificial drive manner until the existing vehicle environmental information matches in collected real-time vehicle environmental information and local data base are successful；S4, by the real-time vehicle environmental information that it fails to match the deposit local data base corresponding with the pilot steering mode in following time T, as new driving strategy；This Unmanned Systems are a kind of Unmanned Systems of artificial intelligent type, can driving strategy in abundant data library, have the ability of autonomous learning.
Description
Technical field
The present invention relates to the unmanned technical field of vehicle more particularly to a kind of Unmanned Systems and its controlling parties
Method.
Background technique
With social informatization development, artificial intelligence and automatically control and penetrate into the every aspect of daily life, letter
The progress of breath technology and electronic technology provides good basis for the development of intelligent transportation, and intelligent transportation has become future transportation
The direction of development.Current all automobiles are essentially all pilot steering, especially in the fixed venues such as scenic spot, plant area, traveling
Path and parking site are all relatively fixed, very strong to unmanned demand, while pilot steering is resulted in waste of resources, driven
Behavior not can guarantee.It therefore, is art technology for how the special vehicle of vehicle in field provides a kind of unmanned technology
The problem of personnel's urgent need to resolve.
Current unmanned technology is widely applied in many fields, but automobile it is unmanned be not very much it is very mature,
Since real road conditions are extremely complex, existing unpiloted strategy can only cope with simple road conditions, can not accurately cope with various
Complicated reality road conditions, the unpiloted service that can be provided are limited.
Summary of the invention
The technical problem to be solved by the present invention is simple road can only be coped in order to solve existing unmanned technology
Condition can not accurately cope with various complicated real road conditions, and the unpiloted service that can be provided is limited, and the present invention provides one
Unpiloted control method and a kind of Unmanned Systems are planted to solve the above problems.
The technical solution adopted by the present invention to solve the technical problems is: a kind of unpiloted control method, including with
Lower step:
S1, into unmanned mode, acquire real-time vehicle environmental information by the period of time T；
S2, collected real-time vehicle environmental information is matched with vehicle environmental information existing in local data base, such as
Fruit successful match then executes corresponding automatic Pilot mode, and S3 is entered step if it fails to match；
S3, unmanned mode is exited, records artificial drive manner until collected real-time vehicle environmental information and local number
According to the existing vehicle environmental information matches success in library；
S4, will be described in the deposit corresponding with the pilot steering mode in following time T of the real-time vehicle environmental information that it fails to match
In local data base, as new driving strategy；
Wherein, several described driving strategies are prestored in the local data base, the driving strategy includes corresponding vehicle
Environmental information and automatic Pilot mode.
Preferably, further comprising the steps of:
S5, the new driving strategy is uploaded to Cloud Server by internet；
Whether S6, beyond the clouds vehicle environmental information searching existing in database include vehicle in the new driving strategy
Environmental information, by the new driving strategy deposit cloud database if not, if there is if be not stored in；
S7, the request for updating local data base is sent to Cloud Server, Cloud Server is by the vehicle environmental information in cloud database
It is compared with the vehicle environmental information in local data base, the vehicle environmental being then not present in Cloud Server local data base
Driving strategy corresponding to information is sent to local and is stored in local data base.
Preferably, further comprising the steps of: guidance driver operates the new driving strategy, obtains external
Input signal, to delete or retain the new driving strategy.
The present invention also provides a kind of Unmanned Systems, comprising:
Local data base is configured as prestoring several driving strategies, and the driving strategy includes corresponding vehicle
Environmental information and automatic Pilot mode；
Environment information acquisition module is configured as acquiring real-time vehicle environmental information by the period of time T；
Matching module is configured as believing vehicle environmental existing in collected real-time vehicle environmental information and local data base
Breath is matched；
Execution module is configured as executing corresponding automatic Pilot mode if successful match；
Module is exited, is configured as exiting automatic Pilot if it fails to match；
Collecting vehicle information module is configured as recording artificial drive manner up to collected real-time vehicle environmental information and this
Existing vehicle environmental information matches success in ground database；
Driving strategy generation module is configured as the people in the real-time vehicle environmental information that it fails to match and following time T
Work drive manner is corresponding to be stored in the local data base, as new driving strategy.
Preferably, further include:
Sharing module is configured as the new driving strategy being uploaded to Cloud Server by internet；
Cloud database update module is configured as whether vehicle environmental information searching existing in database beyond the clouds includes
The vehicle environmental information in new driving strategy is stated, the new driving strategy is stored in cloud database if not,
If there is not being stored in then；
Local data base update module is configured as sending the request for updating local data base to Cloud Server, and Cloud Server will
Vehicle environmental information in cloud database is compared with the vehicle environmental information in local data base, and then Cloud Server is local
Driving strategy corresponding to the vehicle environmental information being not present in database is sent to local and is stored in local data base.
Preferably, further include:
Driving strategy accepts or rejects module, is configured as guidance driver and operates to the new driving strategy, obtains external defeated
Enter signal, to delete or retain the new driving strategy.
According to some embodiments, the environment information acquisition module includes:
Camera is configured as the image of acquisition target object；
Image processing module carries out data processing to the image of target object, obtains the type and target object of target object
Relative distance and relative velocity between car body；
Millimetre-wave radar is configured as the distance and relative velocity of the target object of detection vehicle and middle distance；
Laser radar is configured as detection vehicle at a distance from remote target object and relative velocity；
Ultrasonic radar is configured as detection vehicle at a distance from short-range target object and relative velocity.
According to some embodiments, the collecting vehicle information module includes:
Velocity sensor is configured as the speed of detection vehicle；
Gyroscope is configured as steering and the steering angle of detection vehicle.
According to some embodiments, the execution module includes:
Brake is configured as the brake of control vehicle；
Steering controller is configured as steering and the steering angle of control vehicle；
Lamp controller is turned to, the turn signal of control vehicle is configured as；
Throttle control is configured as the throttle of control vehicle.
The invention has the advantages that this Unmanned Systems are a kind of Unmanned Systems of artificial intelligent type, when
When vehicle is in unmanned mode, if real-time vehicle environmental information can not find in the database relative to driving plan
Slightly, vehicle can then automatically switch to pilot steering mode, then record worker's drive manner and with real-time vehicle environmental information pair
It should rise and be deposited into database as new driving strategy, the driving strategy in abundant data library has the energy of autonomous learning
Power.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is the hardware configuration frame diagram of Unmanned Systems of the present invention.
Fig. 2 is a kind of frame diagram of the embodiment of Unmanned Systems of the invention.
Fig. 3 is a kind of frame diagram of another embodiment of Unmanned Systems of the invention.
Fig. 4 is a kind of frame diagram of another embodiment of Unmanned Systems of the invention.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, and for explaining only the invention, and is not considered as limiting the invention.
In the description of the present invention, it is to be understood that, term " center ", " longitudinal direction ", " transverse direction ", " length ", " width ",
" thickness ", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom" "inner", "outside", " axial direction ",
The orientation or positional relationship of the instructions such as " radial direction ", " circumferential direction " is to be based on the orientation or positional relationship shown in the drawings, merely to just
In description the present invention and simplify description, rather than the device or element of indication or suggestion meaning must have a particular orientation, with
Specific orientation construction and operation, therefore be not considered as limiting the invention.
In addition, term " first ", " second " etc. are used for description purposes only, it is not understood to indicate or imply relatively important
Property.In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " connected ", " connection " are answered
It is interpreted broadly, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can be mechanical connect
It connects, is also possible to be electrically connected；It can be directly connected, it can also be indirectly connected through an intermediary.For the common of this field
For technical staff, the concrete meaning of above-mentioned term in the present invention can be understood with concrete condition.In addition, in description of the invention
In, unless otherwise indicated, the meaning of " plurality " is two or more.
As shown in Figure 1, hardware configuration of the invention includes environment information acquisition module, collecting vehicle information module, executes
Module, arm processor, driving controller, memory and Cloud Server.
Environment information acquisition module includes:
Camera is configured as the image of acquisition target object, and target object includes but is not limited to traffic lights, pedestrian, traffic mark
Will object and lane line；
Image processing module, including GPU carry out data processing to the image of target object, obtain target object type and
Relative distance and relative velocity between target object and car body；
Millimetre-wave radar is configured as the distance and relative velocity of the target object of detection vehicle and middle distance；Millimetre-wave radar
On the front bumper of main configuration vehicle, relative distance between vehicle and front truck and relatively fast is detected using millimetre-wave radar
Degree；
Laser radar due to the far measuring distance of laser radar and accurate, but is susceptible to the influence of barrier, especially
Measurement accuracy can be seriously affected in sleet sky and greasy weather, although and the distance of millimetre-wave radar measurement is less remote, energy
Sleet and mist are enough penetrated, so laser radar is configured as detection vehicle and remote object relative to millimetre-wave radar
The distance and relative velocity of body；
Ultrasonic radar, ultrasonic radar generally require configuration 6 ~ 12, are distributed in the front end, rear end and two sides of vehicle body, are matched
Detection vehicle is set to short-range target object at a distance from and relative velocity, mainly when parking detection vehicle periphery barrier
Hinder object.
Collecting vehicle information module includes:
Velocity sensor is configured as the speed of detection vehicle；
Gyroscope is configured as steering and the steering angle of detection vehicle.
Execution module includes:
Brake is configured as the brake of control vehicle；
Steering controller is configured as steering and the steering angle of control vehicle；
Lamp controller is turned to, the turn signal of control vehicle is configured as；
Throttle control is configured as the throttle of control vehicle.
Driving controller is electrically connected with execution module, and arm processor passes through Ethernet and environment information acquisition module, vehicle
Information acquisition module and driving controller communication connection, arm processor access internet by 4G, with same access internet
Cloud Server communication.From arm processor obtains data and carries out from environment information acquisition module and collecting vehicle information module
Reason, and execution module is executed instruction according to processing result generation, arm processor will execute instruction and be sent to Driving control
Device realizes the practical control to execution module by driving controller.Cloud Server can be a computer either by more
The hardware platform of computer composition has local data base in memory, has cloud database in Cloud Server.
Based on above hardware, the embodiment of Unmanned Systems a kind of is provided, as shown in Figure 2, comprising:
Local data base is configured as prestoring several driving strategies, and driving strategy includes corresponding vehicle environmental information
With automatic Pilot mode；
Environment information acquisition module is configured as acquiring real-time vehicle environmental information by the period of time T；
Matching module is configured as believing vehicle environmental existing in collected real-time vehicle environmental information and local data base
Breath is matched；
Execution module is configured as executing corresponding automatic Pilot mode if successful match；
Module is exited, is configured as exiting automatic Pilot if it fails to match；
Collecting vehicle information module is configured as recording artificial drive manner up to collected real-time vehicle environmental information and this
Existing vehicle environmental information matches success in ground database；
Driving strategy generation module is configured as the people in the real-time vehicle environmental information that it fails to match and following time T
In the corresponding deposit local data base of work drive manner, as new driving strategy.
In this embodiment, when vehicle is in unmanned state, environment information acquisition module acquires real-time vehicle environment letter
Breath, since there are vehicle environmental information and corresponding automatic Pilot mode in local data base, so will by matching module
Real-time vehicle environmental information is matched with the vehicle environmental information in local data base, according to corresponding if successful match
Automatic Pilot mode continue it is unmanned, if it fails to match, illustrate in local data base there is no cope at present
The automatic Pilot mode of vehicle local environment, then exit automatic Pilot by exiting module.It exits after automatic Pilot, driver
Start to control vehicle, collecting vehicle information module records the pilot steering mode of driver, at the same time, the real-time vehicle of continuous collecting
Environmental information and with the vehicle environmental information matches in local data base, until successful match stops recording pilot steering side
Formula, per it fails to match driving strategy generation module then by the real-time vehicle environmental information that it fails to match with after it fails to match
In the corresponding deposit local data base of pilot steering mode in time T, the driving strategy new as one.
In an example, vehicle is in automatic Pilot state, camera to picture, by the place of image processing module
Reason learns that target object is traffic light, and it is 50 meters that traffic light, which is at a distance from red light phase, with car body, this
When speed be 10m/s, due in local data base and be not present this vehicle environmental information, so it fails to match, vehicle is exited
Automatic Pilot, driver starts to control vehicle, from this moment in time N number of continuous time T, in each time T sections open
Beginning can all acquire a real-time vehicle environmental information, and it fails to match with the vehicle environmental information in local data base for they,
In this period, vehicle speed sensor detects speed with -4m/s2The even deceleration of acceleration, until vehicle stop and vehicle one
It is directly in halted state, gyroscope detects that vehicle does not turn to, is constantly in the state of straight-line travelling.If then this is continuous
Pilot steering mode in dry time T are as follows: throttle control unclamps throttle, and starting brake slows down and by Acceleration Control
In -4m/s2, when speed is 0, check vehicle.By above-mentioned pilot steering mode, temporally T is one to driving strategy generation module
Stage is divided into N points, and be mapped with the real-time vehicle environmental information of each time T sections acquisitions the driving plan new as one respectively
Slightly, new driving strategy is stored in local data base, then when vehicle encounters identical vehicle environmental information next time again
Corresponding driving strategy can be found to execute.
As shown in figure 3, in some other embodiments, Unmanned Systems further include:
Sharing module is configured as new driving strategy being uploaded to Cloud Server by internet；
Cloud database update module is configured as whether vehicle environmental information searching existing in database beyond the clouds includes new
Driving strategy in vehicle environmental information, by new driving strategy deposit cloud database if not, if there is if
It is not stored in；
Local data base update module is configured as sending the request for updating local data base to Cloud Server, and Cloud Server will
Vehicle environmental information in cloud database is compared with the vehicle environmental information in local data base, and then Cloud Server is local
Driving strategy corresponding to the vehicle environmental information being not present in database is sent to local and is stored in local data base.
As shown in figure 4, in some other embodiments, Unmanned Systems further include:
Driving strategy accepts or rejects module, is configured as guidance driver and operates to new driving strategy, obtains external input letter
Number, to delete or retain new driving strategy.When there is new driving strategy to generate and be downloaded to this in Cloud Server
When ground, driver can operate according to the prompt that driving strategy accepts or rejects module, and new driving strategy driver can choose
Receive or does not receive.
The present invention provides a kind of embodiments of unpiloted control method, comprising the following steps:
S1, into unmanned mode, acquire real-time vehicle environmental information by the period of time T；
S2, collected real-time vehicle environmental information is matched with vehicle environmental information existing in local data base, such as
Fruit successful match then executes corresponding automatic Pilot mode, and S3 is entered step if it fails to match；
S3, unmanned mode is exited, records artificial drive manner until collected real-time vehicle environmental information and local number
According to the existing vehicle environmental information matches success in library；
It is S4, the deposit corresponding with the pilot steering mode in following time T of the real-time vehicle environmental information that it fails to match is local
In database, as new driving strategy；
Wherein, prestore several driving strategies in local data base, driving strategy include corresponding vehicle environmental information and
Automatic Pilot mode.
S5, new driving strategy is uploaded to Cloud Server by internet；
Whether S6, beyond the clouds vehicle environmental information searching existing in database include vehicle environmental in new driving strategy
Information, by new driving strategy deposit cloud database if not, if there is if be not stored in；
S7, the request for updating local data base is sent to Cloud Server, Cloud Server is by the vehicle environmental information in cloud database
It is compared with the vehicle environmental information in local data base, the vehicle environmental being then not present in Cloud Server local data base
Driving strategy corresponding to information is sent to local and is stored in local data base.
This unmanned method is further comprising the steps of: guidance driver operates new driving strategy, obtains
External input signal, to delete or retain new driving strategy.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, not to the schematic representation of the term
Centainly refer to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be any
One or more embodiment or examples in can be combined in any suitable manner.
Taking the above-mentioned ideal embodiment according to the present invention as inspiration, through the above description, relevant staff is complete
Various changes and amendments can be carried out without departing from the scope of the technological thought of the present invention' entirely.The technology of this invention
Property range is not limited to the contents of the specification, it is necessary to which the technical scope thereof is determined according to the scope of the claim.
Claims (9)
1. a kind of unpiloted control method, which comprises the following steps:
S1, into unmanned mode, acquire real-time vehicle environmental information by the period of time T；
S2, collected real-time vehicle environmental information is matched with vehicle environmental information existing in local data base, such as
Fruit successful match then executes corresponding automatic Pilot mode, and S3 is entered step if it fails to match；
S3, unmanned mode is exited, records artificial drive manner until collected real-time vehicle environmental information and local number
According to the existing vehicle environmental information matches success in library；
S4, will be described in the deposit corresponding with the pilot steering mode in following time T of the real-time vehicle environmental information that it fails to match
In local data base, as new driving strategy；
Wherein, several described driving strategies are prestored in the local data base, the driving strategy includes corresponding vehicle
Environmental information and automatic Pilot mode.
2. unpiloted control method as described in claim 1, it is characterised in that: further comprising the steps of:
S5, the new driving strategy is uploaded to Cloud Server by internet；
Whether S6, beyond the clouds vehicle environmental information searching existing in database include vehicle in the new driving strategy
Environmental information, by the new driving strategy deposit cloud database if not, if there is if be not stored in；
S7, the request for updating local data base is sent to Cloud Server, Cloud Server is by the vehicle environmental information in cloud database
It is compared with the vehicle environmental information in local data base, the vehicle environmental being then not present in Cloud Server local data base
Driving strategy corresponding to information is sent to local and is stored in local data base.
3. unpiloted control method as claimed in claim 2, it is characterised in that: further comprising the steps of: guidance drives
Member operates the new driving strategy, obtains external input signal, to delete or retain the new driving plan
Slightly.
4. a kind of Unmanned Systems characterized by comprising
Local data base is configured as prestoring several driving strategies, and the driving strategy includes corresponding vehicle
Environmental information and automatic Pilot mode；
Environment information acquisition module is configured as acquiring real-time vehicle environmental information by the period of time T；
Matching module is configured as believing vehicle environmental existing in collected real-time vehicle environmental information and local data base
Breath is matched；
Execution module is configured as executing corresponding automatic Pilot mode if successful match；
Module is exited, is configured as exiting automatic Pilot if it fails to match；
Collecting vehicle information module is configured as recording artificial drive manner up to collected real-time vehicle environmental information and this
Existing vehicle environmental information matches success in ground database；
Driving strategy generation module is configured as the people in the real-time vehicle environmental information that it fails to match and following time T
Work drive manner is corresponding to be stored in the local data base, as new driving strategy.
5. a kind of Unmanned Systems as claimed in claim 4, which is characterized in that further include:
Sharing module is configured as the new driving strategy being uploaded to Cloud Server by internet；
Cloud database update module is configured as whether vehicle environmental information searching existing in database beyond the clouds includes
The vehicle environmental information in new driving strategy is stated, the new driving strategy is stored in cloud database if not,
If there is not being stored in then；
Local data base update module is configured as sending the request for updating local data base to Cloud Server, and Cloud Server will
Vehicle environmental information in cloud database is compared with the vehicle environmental information in local data base, and then Cloud Server is local
Driving strategy corresponding to the vehicle environmental information being not present in database is sent to local and is stored in local data base.
6. a kind of Unmanned Systems as claimed in claim 5, which is characterized in that further include:
Driving strategy accepts or rejects module, is configured as guidance driver and operates to the new driving strategy, obtains external defeated
Enter signal, to delete or retain the new driving strategy.
7. such as a kind of described in any item Unmanned Systems of claim 4 ~ 6, it is characterised in that: the environment information acquisition mould
Block includes:
Camera is configured as the image of acquisition target object；
Image processing module carries out data processing to the image of target object, obtains the type and target object of target object
Relative distance and relative velocity between car body；
Millimetre-wave radar is configured as the distance and relative velocity of the target object of detection vehicle and middle distance；
Laser radar is configured as detection vehicle at a distance from remote target object and relative velocity；
Ultrasonic radar is configured as detection vehicle at a distance from short-range target object and relative velocity.
8. a kind of Unmanned Systems as claimed in claim 7, which is characterized in that the collecting vehicle information module includes:
Velocity sensor is configured as the speed of detection vehicle；
Gyroscope is configured as steering and the steering angle of detection vehicle.
9. a kind of Unmanned Systems as claimed in claim 8, which is characterized in that the execution module includes:
Brake is configured as the brake of control vehicle；
Steering controller is configured as steering and the steering angle of control vehicle；
Lamp controller is turned to, the turn signal of control vehicle is configured as；
Throttle control is configured as the throttle of control vehicle.
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| CN111126365A (en) * | 2020-03-31 | 2020-05-08 | 北京三快在线科技有限公司 | Data acquisition method and device |
| CN111698469A (en) * | 2020-05-29 | 2020-09-22 | 东风汽车集团有限公司 | Visual monitoring method and system for unmanned vehicle |
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| CN112622936A (en) * | 2020-12-30 | 2021-04-09 | 福建爱迪生科技有限公司 | Intelligent steering method for electric automobile |
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