CN110162059A - A kind of control method and automatic driving vehicle of automatic driving vehicle - Google Patents
A kind of control method and automatic driving vehicle of automatic driving vehicle Download PDFInfo
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- CN110162059A CN110162059A CN201910485267.7A CN201910485267A CN110162059A CN 110162059 A CN110162059 A CN 110162059A CN 201910485267 A CN201910485267 A CN 201910485267A CN 110162059 A CN110162059 A CN 110162059A
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- 238000010304 firing Methods 0.000 claims description 25
- 239000002828 fuel tank Substances 0.000 claims description 24
- 238000001514 detection method Methods 0.000 claims description 20
- 238000010438 heat treatment Methods 0.000 claims description 14
- 230000005611 electricity Effects 0.000 claims description 13
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- 238000007689 inspection Methods 0.000 claims 1
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- 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
- G05D1/0214—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
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- Automation & Control Theory (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The invention discloses a kind of control method of automatic driving vehicle and automatic driving vehicles, receive telecommand, generate line traffic control instruction according to telecommand, instruct control line traffic control motor to complete X-by-Wire according to line traffic control；The execution data for receiving control feedback module institute Real-time Feedback obtain implementing result according to data are executed；The present invention generates line traffic control instruction by receiving telecommand, according to telecommand, instructs control line traffic control motor to complete X-by-Wire according to line traffic control；And the execution data of real-time reception control feedback module institute Real-time Feedback, implementing result is obtained according to data are executed, increase line control system on original automatic driving vehicle, to realize the remote control to automatic driving vehicle, to improve the reliability and safety of vehicle under the conditions of unmanned tracking.
Description
Technical field
The present invention relates to automatic driving vehicle field, in particular to the control method of a kind of automatic driving vehicle and nobody drive
Sail vehicle.
Background technique
Automatic driving vehicle is the main trend of automotive field Future Development.Wherein, the driving of automobile tracking be unmanned vehicle from
A kind of dynamic mode driven.Tracking, which drives, refers to that automobile carries out automatic tracking driving according to the route pre-set.At present
Existing tracking driving is generally only to drive according to scheduled route tracking, is not advised to the speed of running car, throttle
It draws.And is needed for unmanned automobile, such as depopulated zone investigation, supply and obstacle dynamic crossing etc. the case where completing particular task,
If only carrying out automatic Pilot according to tracking route, the reliability of automatic driving vehicle and safety cannot be ensured.
Summary of the invention
The technical problems to be solved by the present invention are: providing the control method and automatic driving car of a kind of automatic driving vehicle
, to improve the reliability and safety of vehicle under the conditions of unmanned tracking.
In order to solve the above-mentioned technical problem, the technical solution adopted by the present invention are as follows:
A kind of control method of automatic driving vehicle, comprising steps of
S1, telecommand is received, line traffic control instruction is generated according to the telecommand, control line traffic control is instructed according to the line traffic control
Motor is to complete X-by-Wire；
S2, the execution data for receiving control feedback module institute Real-time Feedback, obtain implementing result according to the execution data.
In order to solve the above-mentioned technical problem, the another technical solution that the present invention uses are as follows:
A kind of automatic driving vehicle, including executive module, including master controller, motor drive module, line traffic control motor and
Feedback module is controlled, the master controller is connect by the motor drive module with line traffic control motor, the line traffic control motor and institute
Executive module connection is stated, the control feedback module is connect with the line traffic control motor or the control feedback module is held with described
The connection of row component；
The master controller generates line traffic control instruction for receiving telecommand, according to the telecommand；It is also used to receive
Data are executed, obtain implementing result according to the execution data；
The line traffic control motor controls the executive module for receiving the line traffic control instruction, according to line traffic control instruction；
The executive module is used to be run according to line traffic control instruction；
The control feedback module is used to acquire the execution data of the executive module.
The beneficial effects of the present invention are: a kind of control method and automatic driving vehicle of automatic driving vehicle, by connecing
Telecommand is received, line traffic control instruction is generated according to telecommand, instructs control line traffic control motor to complete X-by-Wire according to line traffic control；And
Real-time reception controls the execution data of feedback module institute Real-time Feedback, obtains implementing result according to data are executed, i.e., original
Increase line control system on automatic driving vehicle, to realize the remote control to automatic driving vehicle, thus under the conditions of improving unmanned tracking
The reliability and safety of vehicle.
Detailed description of the invention
Fig. 1 is a kind of flow diagram of the control method of automatic driving vehicle of the embodiment of the present invention；
Fig. 2 is a kind of structural schematic diagram of automatic driving vehicle of the embodiment of the present invention；
Fig. 3 is a kind of block schematic illustration of automatic driving vehicle of the embodiment of the present invention.
Label declaration:
1, a kind of automatic driving vehicle；2, master controller；3, motor drive module；4, feedback module is controlled；5, line traffic control electricity
Machine；6, executive module.
Specific embodiment
To explain the technical content, the achieved purpose and the effect of the present invention in detail, below in conjunction with embodiment and cooperate attached
Figure is explained.
Before this, technical solution to facilitate the understanding of the present invention, for english abbreviation involved in the present invention, equipment
Etc. being described as follows:
(1), DAC: being in the present invention the english abbreviation of Digital to analog converter, and Chinese is explained
For digital analog converter, it is a kind of equipment for converting digital signals into analog signal.In many digital display circuits, signal
It stores and transmits in a digital manner, and such signal can be converted to analog signal by digital analog converter, so that
They can be identified by the external world.
Please refer to Fig. 1, a kind of control method of automatic driving vehicle, comprising steps of
S1, telecommand is received, line traffic control instruction is generated according to the telecommand, control line traffic control is instructed according to the line traffic control
Motor is to complete X-by-Wire；
S2, the execution data for receiving control feedback module institute Real-time Feedback, obtain implementing result according to the execution data.
As can be seen from the above description, the beneficial effects of the present invention are: by receiving telecommand, generated according to telecommand
Line traffic control instruction instructs control line traffic control motor to complete X-by-Wire according to line traffic control；And real-time reception control feedback module institute is in real time
The execution data of feedback obtain implementing result according to data are executed, i.e., increase line control system on original automatic driving vehicle,
To realize the remote control to automatic driving vehicle, to improve the reliability and safety of vehicle under the conditions of unmanned tracking.
Further, the step S1 includes:
Remote control brake instruction is received, is instructed according to the remote control brake and generates brake instruction, stopped according to the line traffic control
Vehicle instruction controls brake motor to drive the pull rod of connection brake pedal, to complete brake operation；
Unmanned steering instruction is received, is instructed according to the unmanned steering and generates steering-by-wire instruction, turned according to the line traffic control
Turning-bar, universal joint and rack-and-pinion are successively driven to instruction control steering motor, to complete steering operation；
Remote control throttle commands are received, generate throttle-by-wire instruction according to the remote control throttle commands, according to the line traffic control oil
Door instruction controls stepper motor to control air throttle, to complete throttle operation；
Remote control ignition instruction is received, is instructed according to the remote control ignition and generates line traffic control firing command, according to the line traffic control point
Fire instructs to control the opening and closing of the first relay and the second relay respectively, to complete ignition operation；
The step S2 includes:
The brake motor angle value for being located at the Hall sensor institute Real-time Feedback of the brake motor is received, according to the brake
The corresponding relationship of vehicle motor angle value and the brake pedal depth value obtains brake pedal stroke；
The steering motor angle value for being located at the Hall sensor institute Real-time Feedback of the steering motor is received, according to described turn
Steering angle of wheel is obtained to the corresponding relationship of motor angle value and the rack-and-pinion stroke value；
The real-time voltage data for receiving the voltage detecting circuit institute Real-time Feedback connecting with throttle assembly, according to described real-time
The corresponding relationship of voltage data and the gas pedal depth value obtains accelerator pedal stroke；
The real-time current data for receiving the current detection circuit institute Real-time Feedback connecting with electric lock assembly, according to described real-time
Current data is to obtain whether ignition switch normally starts.
As can be seen from the above description, brake, steering-by-wire, throttle-by-wire and long-range igniting are realized, using step
The scheme in throttle position is directly hung over into motor, intermediate mechanical zipper is eliminated, to more accurately control throttle；
Real-time Feedback executes data simultaneously, thus in the event of a failure, by data comparison it can be learnt that failure specific location, entire side
Method is realized simply, where facilitating detection to go wrong, is substantially reduced the time to search problem, is improved the efficiency solved the problems, such as.
Further, the step S1 further include:
Engine start instruction is received, the engine power supply for generating the operation simultaneously of control battery and independent current source module refers to
It enables；
Remote control ignition instruction and ambient temperature data are received, judges whether the ambient temperature data is lower than preset temperature,
Start the independent current source module to run the oil path heating instruction of fuel tank heater, later according to described distant if so, generating
It controls firing command and generates line traffic control firing command, otherwise directly instructed according to the remote control ignition and generate line traffic control firing command.
As can be seen from the above description, increasing independent current source module on the basis of existing battery, pass through battery and independence
Power module is run simultaneously, so that the electric power for reinforcing starting moment provides, guarantees the normal operation of generator；Meanwhile in low temperature
When, it is ensured that before long-range igniting, engine interior fuel tank is enable to reach suitable burning condition；Because independent current source module is by master control
Device independent control processed, will not consume the battery capacity of original battery, when also ensuring that igniting, former battery for electric energy
Power.
Further, it further comprises the steps of:
The path that S3, reception are made of track point set calculates steering angle, traveling speed according to the path
Degree, throttle amount and braking amount, and dynamic adjustment instruction is generated in real time.
As can be seen from the above description, tracking drive, to the steering angle of automatic driving vehicle, travel speed, throttle amount with
And braking amount is planned and is adjusted, to adapt to more complicated geographical environment.
Further, the step S3 further include:
Current vehicle speed information is obtained, is generated and sent in real time according to steering power curve graph and changes the steering motor output
First instruction of intensity, to control the steering motor adjustment wheel steering angular speed, described in the steering power curve graph
Wheel steering angular speed reduces with the increase of the current vehicle speed information；
It is determined whether to enter bend according to the path, if so, obtaining current vehicle speed information, presetting into curved speed
And set out curved speed in advance, according to the current vehicle speed information, it is described preset into curved speed and set out curved speed in advance generate simultaneously
The second instruction for changing brake pedal stroke and accelerator pedal stroke is sent, to control stepper motor and brake motor adjustment traveling
Speed, it is described preset into curved speed be less than set out curved speed in advance；
It obtains current steering angle change rate and is turning to the current detection circuit real-time electricity detected in subsystem
Flow data works as front steering situation according to the real-time current data and the judgement of current steering angle change rate, if described current
Turning to situation is to turn to difficulty, then the third instruction for increasing the steering motor output driving amount is generated, if described work as front steering
Situation is to turn to easily, then generates the 4th instruction for reducing the steering motor output driving amount.
As can be seen from the above description, control wheel steering angular speed, when speed is high, wheel steering angular speed is slow, in speed
When low, wheel steering angular speed is fast；By changing brake pedal stroke and accelerator pedal stroke in real time, realizes and slow down, out into curved
Curved acceleration, local path accelerate and local path slows down and other effects；Pass through current steering angle change rate and real-time current
Data, to realize the real-time adjustment to driving is turned to；The above method can guarantee the stabilization that automatic driving vehicle drives in tracking
Property and safety.
Referring to figure 2. and Fig. 3, a kind of automatic driving vehicle, including executive module, including master controller, motor driven
Module, line traffic control motor and control feedback module, the master controller are connect by the motor drive module with line traffic control motor,
The line traffic control motor is connect with the executive module, and the control feedback module is connect with the line traffic control motor or the control
Feedback module is connect with the executive module；
The master controller generates line traffic control instruction for receiving telecommand, according to the telecommand；It is also used to receive
Data are executed, obtain implementing result according to the execution data；
The line traffic control motor controls the executive module for receiving the line traffic control instruction, according to line traffic control instruction；
The executive module is used to be run according to line traffic control instruction；
The control feedback module is used to acquire the execution data of the executive module.
As can be seen from the above description, the beneficial effects of the present invention are: by receiving telecommand, generated according to telecommand
Line traffic control instruction instructs control line traffic control motor to complete X-by-Wire according to line traffic control；And real-time reception control feedback module institute is in real time
The execution data of feedback obtain implementing result according to data are executed, i.e., increase line control system on original automatic driving vehicle,
To realize the remote control to automatic driving vehicle, to improve the reliability and safety of vehicle under the conditions of unmanned tracking.
Further, the first relay and the second relay, the executive module are also connected on the master controller
It include brake motor, steering motor including brake assembly, steering assembly, throttle assembly and electric lock assembly, the line traffic control motor
And stepper motor, the motor drive module include brake motor driving circuit, steering motor driving circuit and stepping electricity
Drive circuit, the master controller are connect with the brake motor by the brake motor driving circuit, are turned by described
It connect to motor-drive circuit with the steering motor and is connected by the stepper motor driving circuit and the stepper motor
It connects, first relay is connect with the electric lock assembly respectively with the second relay；
The brake assembly includes brake pedal and pull rod, and one end of the pull rod is connect with the brake pedal, institute
The other end for stating pull rod is connect with the brake motor, and the steering assembly includes the turning-bar connecting with steering motor and institute
The rack-and-pinion stating the universal joint of turning-bar connection and being connect with the universal joint；The throttle assembly include air throttle and
Gas pedal connection, the air throttle are connect with the stepper motor；The electric lock assembly includes ignition module；
The control feedback module includes the first Hall sensor, the second Hall sensor, voltage detecting circuit and electricity
Current detection circuit, first Hall sensor are located on the brake motor, and second Hall sensor is located at described turn
To on motor, the voltage detecting circuit is connect with the throttle assembly, and the current detection circuit and the electric lock assembly connect
It connects；
The master controller is also used to receive remote control brake instruction, instructs generation brake to refer to according to the remote control brake
It enables；It is also used to receive unmanned steering instruction, is instructed according to the unmanned steering and generate steering-by-wire instruction；It is also used to receive remote control
Throttle commands generate throttle-by-wire instruction according to the remote control throttle commands；It is also used to receive remote control ignition instruction, according to described
Remote control ignition instruction generates line traffic control firing command；It is also used to receive brake motor angle value, according to the brake motor angle value
Brake pedal stroke is obtained with the corresponding relationship of the brake pedal depth value；It is also used to receive steering motor angle value, according to
The steering motor angle value and the corresponding relationship of the rack-and-pinion stroke value obtain steering angle of wheel；It is also used to receive reality
When voltage data, gas pedal row is obtained according to the corresponding relationship of the real-time voltage data and the gas pedal depth value
Journey；It is also used to receive real-time current data, according to the real-time current data to obtain whether ignition switch normally starts；
The brake motor instructs the company's of drive pull rod fortune for receiving the brake instruction, according to the brake
It is dynamic, to complete brake operation；
The steering motor successively drives according to steering-by-wire instruction and turns to for receiving the steering-by-wire instruction
Bar, universal joint and rack-and-pinion, to complete steering operation；
The stepper motor is instructed for the reception throttle-by-wire, is instructed according to the take-up control throttle to control solar term
Door, to complete throttle operation；
First relay and the second relay respond the line traffic control firing command respectively, to complete ignition operation；
First Hall sensor acquires the angle value of the brake motor in real time, generates and sends brake motor angle
Value；
Second Hall sensor acquires the angle value of the steering motor in real time, generates and sends steering motor angle
Value；
The voltage detecting circuit acquires the voltage value of the throttle assembly in real time, generates and sends real-time voltage data；
The current detection circuit acquires the current value of the electric lock assembly in real time, generates and sends real-time current data.
As can be seen from the above description, realizing brake, steering-by-wire, throttle-by-wire and long-range igniting, while real
When feedback execute data, thus in the event of a failure, by data comparison it can be learnt that failure specific location, entire method are realized
Simply, where facilitating detection to go wrong, the time to search problem is substantially reduced, the efficiency solved the problems, such as is improved.
Further, further include engine, battery and independent current source module, the engine respectively with the electric lock
Assembly, the battery and independent current source module connection, the engine includes fuel tank, and the fuel tank internal is equipped with
Fuel tank heater, the fuel tank heater are connect with the independent current source module；
The master controller is also used to receive engine start instruction, generates and sends engine power supply instruction；It is also used to
Remote control ignition instruction and ambient temperature data are received, judges whether the ambient temperature data is lower than preset temperature, if so, raw
It is instructed at oil path heating, is instructed according to the remote control ignition generate line traffic control firing command later, otherwise directly according to the remote control
Firing command generates line traffic control firing command；
The battery for receiving engine power supply instruction, and according to engine power supply instruction with it is described solely
Vertical power module provides electric power simultaneously for the engine；
The independent current source module for receiving engine power supply instruction, and according to engine power supply instruction with
The battery provides electric power simultaneously for the engine；For receiving oil path heating instruction, and refer to according to the oil path heating
It enables and runs the fuel tank heater, to generate thermal energy as fuel tank heating.
As can be seen from the above description, increasing independent current source module on the basis of existing battery, pass through battery and independence
Power module is run simultaneously, so that the electric power for reinforcing starting moment provides, guarantees the normal operation of generator；Meanwhile in low temperature
When, it is ensured that before long-range igniting, engine interior fuel tank is enable to reach suitable burning condition；Because independent current source module is by master control
Device independent control processed, will not consume the battery capacity of original battery, when also ensuring that igniting, former battery for electric energy
Power.
Further, the master controller is also used to receive the path being made of track point set, according to the rail
Mark route calculation steering angle, travel speed, throttle amount and braking amount, and dynamic adjustment instruction is generated in real time.
As can be seen from the above description, tracking drive, to the steering angle of automatic driving vehicle, travel speed, throttle amount with
And braking amount is planned and is adjusted, to adapt to more complicated geographical environment.
Further, the master controller is also used to obtain current vehicle speed information, is given birth in real time according to steering power curve graph
At first instruction, wheel steering angular speed described in the steering power curve graph with the increase of the current vehicle speed information and
Reduce；It is also used to be determined whether to according to the path to enter bend, if so, obtaining current vehicle speed information, presetting into curved
Speed and curved speed is set out in advance, according to the current vehicle speed information, described preset into curved speed and to set out curved speed in advance raw
At and send second instruction, it is described preset into curved speed be less than set out curved speed in advance；It is also used to obtain current steering angle variation
Rate and real-time current data work as front steering feelings according to the real-time current data and the judgement of current steering angle change rate
Condition generates third instruction if the front steering situation of working as is steering difficulty, if the front steering situation of working as is that steering is light,
Then generate the 4th instruction；
The steering motor is for receiving first instruction, according to the first instruction adjustment wheel steering angular speed；
It is also used to receive the third instruction, is instructed according to the third and increase motor output driving amount；It is also used to receive the described 4th
Instruction reduces motor output driving amount according to the 4th instruction；
The brake motor is for receiving second instruction, according to the second instruction adjustment brake pedal stroke；
The stepper motor is for receiving second instruction, according to the second instruction adjustment accelerator pedal stroke.
As can be seen from the above description, control wheel steering angular speed, when speed is high, wheel steering angular speed is slow, in speed
When low, wheel steering angular speed is fast；By changing brake pedal stroke and accelerator pedal stroke in real time, realizes and slow down, out into curved
Curved acceleration, local path accelerate and local path slows down and other effects；Pass through current steering angle change rate and real-time current
Data, to realize the real-time adjustment to driving is turned to；The above method can guarantee the stabilization that automatic driving vehicle drives in tracking
Property and safety.
Please refer to Fig. 1, the embodiment of the present invention one are as follows:
A kind of control method of automatic driving vehicle, comprising steps of
S1, telecommand is received, line traffic control instruction is generated according to telecommand, instruct control line traffic control motor with complete according to line traffic control
At X-by-Wire；
S2, the execution data for receiving control feedback module institute Real-time Feedback obtain implementing result according to data are executed.
Wherein, step S1 includes:
Remote control brake instruction is received, is instructed according to remote control brake and generates brake instruction, instructed and controlled according to brake
Brake motor processed connects the pull rod of brake pedal to drive, to complete brake operation；
Unmanned steering instruction is received, is instructed according to unmanned steering and generates steering-by-wire instruction, instructed and controlled according to steering-by-wire
Steering motor processed successively drives turning-bar, universal joint and rack-and-pinion, to complete steering operation；
Remote control throttle commands are received, throttle-by-wire instruction is generated according to remote control throttle commands, is instructed and controlled according to throttle-by-wire
Stepper motor processed controls air throttle, to complete throttle operation；
Receive remote control ignition instruction, according to remote control ignition instruct generate line traffic control firing command, according to line traffic control firing command come
The opening and closing of the first relay and the second relay is controlled, respectively to complete ignition operation；
Step S2 includes:
The brake motor angle value for being located at the Hall sensor institute Real-time Feedback of brake motor is received, according to brake motor angle
The corresponding relationship of angle value and brake pedal depth value obtains brake pedal stroke；
The steering motor angle value for being located at the Hall sensor institute Real-time Feedback of steering motor is received, according to steering motor angle
The corresponding relationship of angle value and rack-and-pinion stroke value obtains steering angle of wheel；
The real-time voltage data for receiving the voltage detecting circuit institute Real-time Feedback connecting with throttle assembly, according to real-time voltage
The corresponding relationship of data and gas pedal depth value obtains accelerator pedal stroke；
The real-time current data for receiving the current detection circuit institute Real-time Feedback connecting with electric lock assembly, according to real-time current
Data are to obtain igniting gear.
Wherein, for turning to, when discovery driving is insufficient, by adjusting internal drive circuits and driving core
The register of piece is arranged, the adjustment of Lai Shixian parameter.Such as turn-on time, shut-in time and duty ratio.In the present embodiment,
When reaching current maximum setting current value, such as 35A, discovery is also not up to the angle of order preset value, can be driven by adjusting
The register of dynamic chip, the duty ratio of adjustment maximum current to 40A and maximum drive PWM increase by 15%, then check steering angle
Whether bid value is reached.If no, then continuing to increase to maximum, if maximum still not all right, normal value is reduced to, to prevent
Stall burns motor.
Wherein, step S1 further include:
Engine start instruction is received, the engine power supply for generating the operation simultaneously of control battery and independent current source module refers to
It enables；
Remote control ignition instruction and ambient temperature data are received, judges whether ambient temperature data is lower than preset temperature, if so,
It generates starting independent current source module then to run the oil path heating instruction of fuel tank heater, is instructed generate according to remote control ignition later
Otherwise line traffic control firing command directly instructs according to remote control ignition and generates line traffic control firing command.
Please refer to Fig. 1, the embodiment of the present invention two are as follows:
A kind of control method of automatic driving vehicle when driving if tracking, is then held on the basis of the above embodiment 1
Row following steps:
S3, the path that is made of track point set of reception, according to path calculate steering angle, travel speed,
Throttle amount and braking amount, and dynamic adjustment instruction is generated in real time.
Wherein, step S3 further include:
Current vehicle speed information is obtained, is generated and sent in real time according to steering power curve graph and changes steering motor output intensity
The first instruction, to control steering motor adjustment wheel steering angular speed, in steering power curve graph wheel steering angular speed with
The increase of current vehicle speed information and reduce, for example current vehicle speed information is more than 30KM/H, then wheel steering angular speed is reduced to
100 degree/S；
Determined whether to enter bend according to path, if so, obtain current vehicle speed information, preset into curved speed and
Curved speed is set out in advance, according to current vehicle speed information, is preset into curved speed and is set out curved speed in advance and generate and send change brake
Second instruction of pedal travel and accelerator pedal stroke, to control stepper motor and brake motor adjustment travel speed, preset into
Curved speed is less than sets out curved speed in advance, for example enters curved speed 20KM/H, out curved speed 35KM/H；
It obtains current steering angle change rate and is turning to the current detection circuit real-time electricity detected in subsystem
Flow data works as front steering situation according to real-time current data and the judgement of current steering angle change rate, if working as front steering situation
It is difficult to turn to, then the third instruction for increasing steering motor output driving amount is generated, if when front steering situation is to turn to easily,
The 4th instruction for reducing steering motor output driving amount is generated, for example uses rated current for the steering motor of 40A, can turned to
In the allowed band of motor in the time, 100%PWM output.
Referring to figure 2. and Fig. 3, the embodiment of the present invention three are as follows:
A kind of automatic driving vehicle 1, including executive module 6, engine, battery and independent current source module, including master
Controller 2, motor drive module 3, line traffic control motor 5 and control feedback module 4, master controller 2 by motor drive module 3 with
Line traffic control motor 5 connects, and line traffic control motor 5 is connect with executive module 6, and control feedback module 4 connect or controls with line traffic control motor 5 instead
Feedback module 4 is connect with executive module 6；Engine is connect with electric lock assembly, battery and independent current source module respectively, engine
Including fuel tank, fuel tank internal is equipped with fuel tank heater, and fuel tank heater is connect with independent current source module；It is also connected in main control
There are the first relay and the second relay, executive module 6 includes that brake assembly, steering assembly, throttle assembly and electric lock are total
At line traffic control motor 5 includes brake motor, steering motor and stepper motor, and motor drive module 3 includes brake motor driving electricity
Road, steering motor driving circuit and stepper motor driving circuit, master controller 2 pass through brake motor driving circuit and brake electricity
Machine connection is connect with steering motor by steering motor driving circuit and is connected by stepper motor driving circuit and stepper motor
It connects, the first relay is connect with electric lock assembly respectively with the second relay；Brake assembly includes brake pedal and pull rod, pull rod
One end connect with brake pedal, the other end of pull rod is connect with brake motor, turn to assembly include being connect with steering motor
Turning-bar, the universal joint being connect with turning-bar and the rack-and-pinion being connect with universal joint；Throttle assembly include air throttle and
Gas pedal connection, air throttle are connect with stepper motor；Electric lock assembly includes ignition module；Controlling feedback module 4 includes first
Hall sensor, the second Hall sensor, voltage detecting circuit and current detection circuit, the first Hall sensor are located at brake
On motor, the second Hall sensor is located in steering motor, and voltage detecting circuit is connect with throttle assembly, current detection circuit with
The connection of electric lock assembly.
Wherein, master controller 2 instructs according to remote control brake for receiving remote control brake instruction and generates brake instruction；
It is also used to receive unmanned steering instruction, is instructed according to unmanned steering and generate steering-by-wire instruction；It is also used to receive remote control throttle to refer to
It enables, generates throttle-by-wire instruction according to remote control throttle commands；It is also used to receive remote control ignition instruction, is instructed and given birth to according to remote control ignition
At line traffic control firing command；It is also used to receive brake motor angle value, according to brake motor angle value and brake pedal depth value
Corresponding relationship obtains brake pedal stroke；It is also used to receive steering motor angle value, according to steering motor angle value and gear teeth
The corresponding relationship of stroke value obtains steering angle of wheel；Be also used to receive real-time voltage data, according to real-time voltage data with
The corresponding relationship of gas pedal depth value obtains accelerator pedal stroke；It is also used to receive real-time current data, according to real-time current
Data are to obtain igniting gear；It is also used to receive engine start instruction, generates and sends engine power supply instruction；It is also used to connect
Remote control ignition instruction and ambient temperature data are received, judges whether ambient temperature data is lower than preset temperature, if so, generating oil circuit
Heating instructions instruct according to remote control ignition generate line traffic control firing command later, are otherwise directly instructed according to remote control ignition and generate line
Control firing command.
Wherein, brake motor instructs the pull rod movement of the company of drive according to brake, with complete for receiving brake instruction
At brake operation；Steering motor successively drives turning-bar, universal joint for receiving steering-by-wire instruction, according to steering-by-wire instruction
And rack-and-pinion, to complete steering operation；Stepper motor instructs to come according to take-up control throttle for receiving throttle-by-wire instruction
Air throttle is controlled, to complete throttle operation；First relay and the second relay respond line traffic control firing command respectively, to complete a little
Fire operation.
Wherein, the first Hall sensor acquires the angle value of brake motor in real time, generates and sends brake motor angle value；
Second Hall sensor acquires the angle value of steering motor in real time, generates and sends steering motor angle value；Voltage detecting circuit
The voltage value of acquisition throttle assembly in real time, generates and sends real-time voltage data；Current detection circuit acquires electric lock assembly in real time
Current value, generate and send real-time current data.
Wherein, battery instructs and independent current source module for receiving engine power supply instruction, and according to engine power supply
Electric power is provided simultaneously for engine；Independent current source module is powered according to engine and is instructed for receiving engine power supply instruction
Electric power is provided for engine simultaneously with battery；Operation fuel tank is instructed for receiving oil path heating instruction, and according to oil path heating
Heater is heated using generating thermal energy as fuel tank.
Wherein, master controller 2 is also connected with high-power driving MOS bridge circuit, by changing metal-oxide-semiconductor turn-on time, electric current
The circuits such as climbing speed, the MOS velocity of discharge, MOS cut-off current, MOS turn-on deadline ratio, angle variable rate, output current monitoring
To carry out the adjustment of motor driven ability.
In addition, circuit part further includes over-current detection, over-voltage detection, under-voltage detection and excess temperature detection, to prevent because of electricity
Vehicle safety hidden danger caused by the problems such as machine locking, undertension.Simultaneity factor is anti-by system mode in time by CAN bus
Other vehicle intelligent terminals are fed to, complete full car state real time monitoring, and pass through car-mounted display finishing man-machine interaction.
I.e. each module passes through on a master controller 2, after circuit part can be integrated into a module, so that whole nothing
People's Ride Control System is more integrated, and internal protection mechanism is more perfect.Each module data is shared more open, master controller
The control of 2 pairs of other mould groups is more unobstructed in time.For example, tracking state when vehicle enters nobody, master controller 2 can be according to vehicle
The travel speed of feedback relaxes throttle input, while reducing steering output even can be locked according to fixed angle, avoid because
During tracking, external force occur causes steering to deflect.When entering the turning stage, throttle is tightened, increases brake input, simultaneously
It increases and turns to output, it is ensured that turn to smooth execution.When a failure occurs, brake input is increased in time, is tightened throttle, is stopped speed to vehicle
Afterwards, it is flame-out that shelves are moved back.The sequence of operations of each mould group can be completed in time under the operation of master control.Avoid independently causing for module
The problems such as data communication obstacle, response lag, monitoring is without feedback.
Wherein, the first DAC and the 2nd DAC kind one are main channels, another is as alternate channel；First relay and
Second relay respectively has two state of switch, adds up to four states, to open out, switchs, closes and open and close pass, and selection wherein comes for three
The third gear setting of electric lock is simulated, one grade is closing power supply, and two grades of unlocking vehicle main power sources, third gear is igniting；Motor-drive circuit
Also channel there are two being respectively provided with, a set of to be used as normal use, other set is used as safe spare.
From the above mentioned, full-vehicle control part by CAN bus interconnect, share whole vehicle state information, comprising current gear, when
Preceding speed, current tire pressure, current user equipment type, brake travel and steering state etc..Full-vehicle control part receives distal end
The external command that monitor supervision platform is sent, selection enter assistant mode (pilot steering) or line traffic control mode (unmanned).In power-assisted
Under mode, by torque sensor it is judged whether or not external force is in steering wheel.Under line traffic control mode, it is defeated to actively close power-assisted
Out, into remote control mode；The track point set (unmanned) that full-vehicle control part is sent according to predetermined built-in or platform, is changed
Current steering angle, demand speed, throttle amount and braking amount is calculated dynamically to adjust turn each linear block.
Wherein, under assistant mode, according to the personal settings of user, change output intensity, it can be achieved that motor pattern, comfortably
Mode L, M, H etc..Such as adjust maximum cut-off current are as follows: 15A, 25A, 35A etc..
Wherein, a kind of automatic driving vehicle 1, including unmanned all-terrain vehicle；Brake motor and steering motor are brushed DC
Motor.
Referring to figure 2. and Fig. 3, the embodiment of the present invention four are as follows:
A kind of automatic driving vehicle 1, including executive module 6, engine, battery and independent current source module, including master
Controller 2, motor drive module 3, line traffic control motor 5 and control feedback module 4, master controller 2 by motor drive module 3 with
Line traffic control motor 5 connects, and line traffic control motor 5 is connect with executive module 6, and control feedback module 4 connect or controls with line traffic control motor 5 instead
Feedback module 4 is connect with executive module 6；
Wherein, master controller 2 is also used to receive the path being made of track point set, is calculated and is turned according to path
To angle, travel speed, throttle amount and braking amount, and dynamic adjustment instruction is generated in real time；It is also used to obtain current vehicle speed letter
Breath, generates the first instruction according to steering power curve graph, wheel steering angular speed is with current in steering power curve graph in real time
The increase of vehicle speed information and reduce；It is also used to be determined whether to according to path to enter bend, if so, obtaining current vehicle speed letter
Curved speed is ceased, preset into curved speed and set out in advance, according to current vehicle speed information, presets into curved speed and set out in advance curved speed
The second instruction is generated and sent, presets to be less than into curved speed setting out curved speed in advance；It is also used to obtain current steering angle change rate
And real-time current data, work as front steering situation according to real-time current data and the judgement of current steering angle change rate, if working as
Front steering situation is to turn to difficulty, then generates third and instruct, if when front steering situation is to turn to light, the 4th instruction of generation；
Steering motor adjusts wheel steering angular speed for receiving the first instruction, according to the first instruction；It is also used to receive
Three instructions, instruct according to third and increase motor output driving amount；It is also used to receive the 4th instruction, reduces motor according to the 4th instruction
Output driving amount；Brake motor adjusts brake pedal stroke for receiving the second instruction, according to the second instruction；Stepper motor is used for
The second instruction is received, adjusts accelerator pedal stroke according to the second instruction.
In conclusion the control method and automatic driving vehicle of a kind of automatic driving vehicle provided by the invention, by connecing
Telecommand is received, line traffic control instruction is generated according to telecommand, instructs control line traffic control motor to complete X-by-Wire according to line traffic control；And
Real-time reception controls the execution data of feedback module institute Real-time Feedback, obtains implementing result according to data are executed, i.e., original
Increase line control system on automatic driving vehicle, to realize the remote control to automatic driving vehicle, thus under the conditions of improving unmanned tracking
The reliability and safety of vehicle；The scheme in throttle position is directly hung over using stepper motor, eliminates intermediate machinery
Zipper, to more accurately control throttle；Real-time Feedback executes data simultaneously, substantially reduces the time to search problem, mentions
The high efficiency solved the problems, such as；Increase independent current source module on the basis of existing battery, to reinforce starting the electricity of moment
Power provides, and guarantees the normal operation of generator；Meanwhile in low temperature, it is ensured that before long-range igniting, enable engine interior fuel tank
Reach suitable burning condition；Because independent current source module main controller independent control, will not consume the battery of original battery
Electricity, when also ensuring that igniting, the power supply capacity of former battery；By real-time control wheel steering angular speed, pass through reality
When change brake pedal stroke and accelerator pedal stroke and current steering angle change rate and real-time current data, Lai Shixian
Real-time adjustment to driving is turned to, ensure that stability and safety that automatic driving vehicle drives in tracking.
The above description is only an embodiment of the present invention, is not intended to limit the scope of the invention, all to utilize this hair
Equivalents made by bright specification and accompanying drawing content are applied directly or indirectly in relevant technical field, similarly include
In scope of patent protection of the invention.
Claims (10)
1. a kind of control method of automatic driving vehicle, which is characterized in that comprising steps of
S1, telecommand is received, line traffic control instruction is generated according to the telecommand, control line traffic control motor is instructed according to the line traffic control
To complete X-by-Wire；
S2, the execution data for receiving control feedback module institute Real-time Feedback, obtain implementing result according to the execution data.
2. a kind of control method of automatic driving vehicle according to claim 1, which is characterized in that the step S1 packet
It includes:
Remote control brake instruction is received, is instructed according to the remote control brake and generates brake instruction, referred to according to the brake
Control brake motor is enabled to drive the pull rod of connection brake pedal, to complete brake operation；
Unmanned steering instruction is received, is instructed according to the unmanned steering and generates steering-by-wire instruction, referred to according to the steering-by-wire
Control steering motor is enabled successively to drive turning-bar, universal joint and rack-and-pinion, to complete steering operation；
Remote control throttle commands are received, throttle-by-wire instruction is generated according to the remote control throttle commands, is referred to according to the throttle-by-wire
Control stepper motor is enabled to control air throttle, to complete throttle operation；
Remote control ignition instruction is received, is instructed according to the remote control ignition and generates line traffic control firing command, is referred to according to line traffic control igniting
It enables to control the opening and closing of the first relay and the second relay respectively, to complete ignition operation；
The step S2 includes:
The brake motor angle value for being located at the Hall sensor institute Real-time Feedback of the brake motor is received, according to the brake electricity
The corresponding relationship of machine angle value and the brake pedal depth value obtains brake pedal stroke；
The steering motor angle value for being located at the Hall sensor institute Real-time Feedback of the steering motor is received, according to the steering electricity
Machine angle value and the corresponding relationship of the rack-and-pinion stroke value obtain steering angle of wheel；
The real-time voltage data for receiving the voltage detecting circuit institute Real-time Feedback connecting with throttle assembly, according to the real-time voltage
The corresponding relationship of data and the gas pedal depth value obtains accelerator pedal stroke；
The real-time current data for receiving the current detection circuit institute Real-time Feedback connecting with electric lock assembly, according to the real-time current
Data are to obtain whether ignition switch normally starts.
3. a kind of control method of automatic driving vehicle according to claim 2, which is characterized in that the step S1 is also wrapped
It includes:
Engine start instruction is received, the engine that generation control battery and independent current source module are run simultaneously, which is powered, to be instructed；
Remote control ignition instruction and ambient temperature data are received, judges whether the ambient temperature data is lower than preset temperature, if so,
It then generates and starts the independent current source module to run the oil path heating instruction of fuel tank heater, later according to the remote control ignition
Instruction generates line traffic control firing command, is otherwise directly instructed according to the remote control ignition and generates line traffic control firing command.
4. a kind of control method of automatic driving vehicle according to claim 1, which is characterized in that further comprise the steps of:
S3, the path that is made of track point set of reception, according to the path calculate steering angle, travel speed,
Throttle amount and braking amount, and dynamic adjustment instruction is generated in real time.
5. a kind of control method of automatic driving vehicle according to claim 4, which is characterized in that the step S3 is also wrapped
It includes:
Current vehicle speed information is obtained, is generated and sent in real time according to steering power curve graph and changes the steering motor output intensity
The first instruction, to control steering motor adjustment wheel steering angular speed, wheel described in the steering power curve graph
Steering angular velocity reduces with the increase of the current vehicle speed information；
Determined whether to enter bend according to the path, if so, obtain current vehicle speed information, preset into curved speed and
Set out curved speed in advance, according to the current vehicle speed information, it is described preset into curved speed and set out curved speed in advance generate and send
Change the second instruction of brake pedal stroke and accelerator pedal stroke, to control stepper motor and brake motor adjustment traveling speed
Degree, it is described preset into curved speed be less than set out curved speed in advance；
It obtains current steering angle change rate and is turning to the current detection circuit real-time current number detected in subsystem
According to according to the real-time current data and the judgement of current steering angle change rate when front steering situation, if described work as front steering
Situation is to turn to difficulty, then the third instruction for increasing the steering motor output driving amount is generated, if described work as front steering situation
To turn to easily, then the 4th instruction for reducing the steering motor output driving amount is generated.
6. a kind of automatic driving vehicle, including executive module, it is characterised in that: including master controller, motor drive module, line traffic control
Motor and control feedback module, the master controller are connect by the motor drive module with line traffic control motor, the line traffic control
Motor is connect with the executive module, and the control feedback module is connect with the line traffic control motor or the control feedback module
It is connect with the executive module；
The master controller generates line traffic control instruction for receiving telecommand, according to the telecommand；It is also used to receive execution
Data obtain implementing result according to the execution data；
The line traffic control motor controls the executive module for receiving the line traffic control instruction, according to line traffic control instruction；
The executive module is used to be run according to line traffic control instruction；
The control feedback module is used to acquire the execution data of the executive module.
7. a kind of automatic driving vehicle according to claim 6, it is characterised in that: be also connected on the master controller
One relay and the second relay, the executive module include that brake assembly, steering assembly, throttle assembly and electric lock are total
At the line traffic control motor includes brake motor, steering motor and stepper motor, and the motor drive module includes brake motor
Driving circuit, steering motor driving circuit and stepper motor driving circuit, the master controller are driven by the brake motor
Dynamic circuit connect with the brake motor, connect and pass through institute with the steering motor by the steering motor driving circuit
Stepper motor driving circuit is stated to connect with the stepper motor, first relay and the second relay respectively with the electric lock
Assembly connection；
The brake assembly includes brake pedal and pull rod, and one end of the pull rod is connect with the brake pedal, the drawing
The other end of bar is connect with the brake motor, and the steering assembly includes the turning-bar connecting with steering motor and described turn
The universal joint connected to bar and the rack-and-pinion being connect with the universal joint；The throttle assembly includes air throttle and throttle
Pedal connection, the air throttle are connect with the stepper motor；The electric lock assembly includes ignition module；
The control feedback module includes the first Hall sensor, the second Hall sensor, voltage detecting circuit and electric current inspection
Slowdown monitoring circuit, first Hall sensor are located on the brake motor, and second Hall sensor is located at the steering electricity
On machine, the voltage detecting circuit is connect with the throttle assembly, and the current detection circuit is connect with the electric lock assembly；
The master controller is also used to receive remote control brake instruction, is instructed according to the remote control brake and generates brake instruction；
It is also used to receive unmanned steering instruction, is instructed according to the unmanned steering and generate steering-by-wire instruction；It is also used to receive remote control oil
Door instruction generates throttle-by-wire instruction according to the remote control throttle commands；It is also used to receive remote control ignition instruction, according to described distant
It controls firing command and generates line traffic control firing command；Be also used to receive brake motor angle value, according to the brake motor angle value with
The corresponding relationship of the brake pedal depth value obtains brake pedal stroke；It is also used to receive steering motor angle value, according to institute
The corresponding relationship for stating steering motor angle value and the rack-and-pinion stroke value obtains steering angle of wheel；It is also used to receive in real time
Voltage data obtains accelerator pedal stroke according to the corresponding relationship of the real-time voltage data and the gas pedal depth value；
It is also used to receive real-time current data, according to the real-time current data to obtain whether ignition switch normally starts；
The brake motor instructs the pull rod movement of the company of drive for receiving the brake instruction, according to the brake,
To complete brake operation；
The steering motor for receiving steering-by-wire instruction, according to steering-by-wire instruction successively drive turning-bar,
Universal joint and rack-and-pinion, to complete steering operation；
The stepper motor is instructed for the reception throttle-by-wire, is instructed according to the take-up control throttle to control air throttle,
To complete throttle operation；
First relay and the second relay respond the line traffic control firing command respectively, to complete ignition operation；
First Hall sensor acquires the angle value of the brake motor in real time, generates and sends brake motor angle value；
Second Hall sensor acquires the angle value of the steering motor in real time, generates and sends steering motor angle value；
The voltage detecting circuit acquires the voltage value of the throttle assembly in real time, generates and sends real-time voltage data；
The current detection circuit acquires the current value of the electric lock assembly in real time, generates and sends real-time current data.
8. a kind of automatic driving vehicle according to claim 7, it is characterised in that: further include engine, battery and
Independent current source module, the engine are connect with the electric lock assembly, the battery and the independent current source module respectively,
The engine includes fuel tank, and the fuel tank internal is equipped with fuel tank heater, the fuel tank heater and the independent current source
Module connection；
The master controller is also used to receive engine start instruction, generates and sends engine power supply instruction；It is also used to receive
Remote control ignition instruction and ambient temperature data, judge whether the ambient temperature data is lower than preset temperature, if so, generating oil
Road heating instructions instruct according to the remote control ignition generate line traffic control firing command later, otherwise directly according to the remote control ignition
Instruction generates line traffic control firing command；
The battery instructs and the independent electrical for receiving the engine power supply instruction, and according to engine power supply
Source module provides electric power simultaneously for the engine；
The independent current source module for receiving engine power supply instruction, and according to engine power supply instruction with it is described
Battery provides electric power simultaneously for the engine；For receiving oil path heating instruction, and instructs and transport according to the oil path heating
The row fuel tank heater, to generate thermal energy as fuel tank heating.
9. a kind of automatic driving vehicle according to claim 7, it is characterised in that: the master controller be also used to receive by
The path of track point set composition calculates steering angle, travel speed, throttle amount and brake according to the path
Amount, and dynamic adjustment instruction is generated in real time.
10. a kind of automatic driving vehicle according to claim 9, it is characterised in that: the master controller is also used to obtain
Current vehicle speed information generates the first instruction, wheel described in the steering power curve graph according to steering power curve graph in real time
Steering angular velocity reduces with the increase of the current vehicle speed information；Be also used to be determined whether to according to the path into
Enter bend, if so, obtaining current vehicle speed information, presetting into curved speed and set out in advance curved speed, is believed according to the current vehicle speed
Breath, it is described preset into curved speed and set out curved speed in advance generate and send the second instruction, it is described preset be less than into curved speed it is pre-
Set out curved speed；It is also used to obtain current steering angle change rate and real-time current data, according to the real-time current data
And front steering situation is worked as in the judgement of current steering angle change rate, if described when front steering situation is to turn to difficult, generates the
If three instructions generate the 4th instruction described light to turn to when front steering situation；
The steering motor is for receiving first instruction, according to the first instruction adjustment wheel steering angular speed；Also use
In receiving the third instruction, is instructed according to the third and increase motor output driving amount；It is also used to receive the 4th instruction,
Reduce motor output driving amount according to the 4th instruction；
The brake motor is for receiving second instruction, according to the second instruction adjustment brake pedal stroke；
The stepper motor is for receiving second instruction, according to the second instruction adjustment accelerator pedal stroke.
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| CN115047872A (en) * | 2022-05-30 | 2022-09-13 | 湘潭新力机械有限公司 | Remote control driving control system of crawler-type emergency rescue vehicle |
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