CN110316194A - A kind of pilotless automobile drive system, drive control method and development approach - Google Patents
A kind of pilotless automobile drive system, drive control method and development approach Download PDFInfo
- Publication number
- CN110316194A CN110316194A CN201910611715.3A CN201910611715A CN110316194A CN 110316194 A CN110316194 A CN 110316194A CN 201910611715 A CN201910611715 A CN 201910611715A CN 110316194 A CN110316194 A CN 110316194A
- Authority
- CN
- China
- Prior art keywords
- driving
- control
- vehicle
- pilotless automobile
- instruction
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 53
- 238000013459 approach Methods 0.000 title claims abstract description 13
- 238000011161 development Methods 0.000 title abstract description 14
- 230000007246 mechanism Effects 0.000 claims abstract description 62
- 230000008569 process Effects 0.000 claims abstract description 20
- 238000012545 processing Methods 0.000 claims abstract description 18
- 238000004364 calculation method Methods 0.000 claims abstract description 13
- 238000004458 analytical method Methods 0.000 claims description 17
- 230000005540 biological transmission Effects 0.000 claims description 15
- 238000004088 simulation Methods 0.000 claims description 11
- 238000012360 testing method Methods 0.000 claims description 10
- 238000005538 encapsulation Methods 0.000 claims description 8
- 238000004422 calculation algorithm Methods 0.000 claims description 7
- 230000033772 system development Effects 0.000 claims description 7
- 238000013461 design Methods 0.000 claims description 4
- 230000004927 fusion Effects 0.000 claims description 3
- 238000004891 communication Methods 0.000 abstract description 11
- 238000012795 verification Methods 0.000 abstract description 7
- 238000004519 manufacturing process Methods 0.000 abstract description 3
- 230000008439 repair process Effects 0.000 abstract description 3
- 230000006870 function Effects 0.000 description 11
- 230000018109 developmental process Effects 0.000 description 9
- 238000010586 diagram Methods 0.000 description 7
- 230000005611 electricity Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000012423 maintenance Methods 0.000 description 3
- 238000003032 molecular docking Methods 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 230000035800 maturation Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000008447 perception Effects 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 241000208340 Araliaceae Species 0.000 description 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
- 206010039203 Road traffic accident Diseases 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 238000011217 control strategy Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000009415 formwork Methods 0.000 description 1
- 235000008434 ginseng Nutrition 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000004886 process control Methods 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 238000011282 treatment Methods 0.000 description 1
- 238000010200 validation analysis Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/20—Design optimisation, verification or simulation
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Theoretical Computer Science (AREA)
- Computer Hardware Design (AREA)
- Evolutionary Computation (AREA)
- Geometry (AREA)
- General Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention relates to a kind of pilotless automobile drive system, drive control method and development approaches, wherein the drive system includes: Vehicle Controller, driving mechanism and the driving executing agency connecting with driving mechanism；It further include the onboard sensor that vehicle predetermined position is set and the industrial control equipment with onboard sensor communication connection, onboard sensor senses road running information in real time, and is sent to industrial control equipment, and industrial control equipment sends target drives control instruction to Vehicle Controller；Vehicle Controller is according to the control signal for sending Motor torque and rotation direction after target drives control instruction calculation process to driving mechanism, driving instruction will be converted to after control signal processing and executes driving instruction output target rotational direction and torque, realizes drive control.Execution unit of the embodiment of the present invention is few, has the advantages of simple structure and easy realization and repairs；Prototype verification is cut down the number of intermediate links to volume production, development cycle and the cost of 50-80% can be saved, so that project risk be greatly reduced.
Description
Technical field
The present invention relates to unmanned technical fields, and in particular to a kind of pilotless automobile drive system, drive control
Method and development approach.
Background technique
This part is introduced to reader may background technique relevant to the various aspects of inventive embodiments, it is believed that can be to reading
Person provides useful background information, to facilitate the various aspects that reader more fully understands the embodiment of the present invention.It therefore, can be with
Understand, the explanation of this part is for the above purpose, and not to constitute admission of prior art.
Since automobile invention, auto industry just constantly promotes the innovation and the development of social economy of the mankind.With vapour
The raising of vehicle yield and ownership, the trip of people become convenient and efficient, and automobile is also pure electricity by traditional gasoline car development
Motor-car.
Currently, people are still using the operation of traditional driving mode manipulation automobile, i.e., the mode to be driven a car by driver,
But this driving mode may lead to traffic accident due to the non-standard operation of driver or maloperation, so as to cause city
Traffic road congestion.Current automatic Pilot technology is still within experimental stage, why can not as early as possible into the practical stage be because
Excessively complicated for environment, current artificial intelligence level is also unable to reach the level of human perception complex environment.Current nothing
The major critical component that people's driving includes has GPS chip, camera, radar, high-performance processor etc..Wherein GPS is used for
Accurate cartographic information is provided, is obtained at present by artificial drive in advance；Camera and radar are equivalent to the eyes of people, for feeling
Know environment of motor vehicle environment, including identification lane line, signal lamp, peripheral obstacle etc.；High-performance processor for handle GPS,
The information of the acquisitions such as camera, radar simultaneously issues instruction to execution units such as throttle, brake, steering wheels.It is unmanned at present to be
The developing direction of electric car.The development of existing Unmanned Systems lacks the apparatus structure of specific achievable drive-by-wire
And control program and development approach.Developing a kind of pilotless automobile drive system fast implemented as a result, is to be highly desirable
's.
Summary of the invention
Technical problems to be solved are how to provide a kind of pilotless automobile drive system, drive control method and exploitation
Method.
For the defects in the prior art, the present invention provide a kind of pilotless automobile pilotless automobile drive system,
Drive control method and development approach can fast implement pilotless automobile pilotless automobile drive system.
In a first aspect, the present invention provides a kind of pilotless automobile drive systems, comprising:
Vehicle Controller, driving mechanism and the driving executing agency being connect with the driving mechanism；
The driving mechanism and the Vehicle Controller communicate to connect；
It further include the onboard sensor that vehicle predetermined position is set and the industry control with onboard sensor communication connection
Equipment, the industrial control equipment and the Vehicle Controller communicate to connect；
The onboard sensor senses road running information in real time, and the road running information is sent to the industry control
Equipment, the industrial control equipment carry out behaviour decision making analysis according to the road running information and are converted to target drives and control to refer to
It enables；The industrial control equipment sends the target drives control instruction to the Vehicle Controller；The Vehicle Controller is according to institute
State the control signal for sending torque and rotation direction after target drives control instruction calculation process to the driving mechanism, the drive
Motivation structure will be converted to driving instruction after Motor torque and rotation direction control signal processing, and control driving executing agency executes institute
Driving instruction output target rotational direction and torque are stated, realizes the power drive control of vehicle.
Optionally, the driving executing agency includes driving motor, transmission mechanism and driving mechanism, the motor with it is described
Transmission mechanism connection；
The power output end of the power intake of the transmission mechanism and the motor is sequentially connected；
The power output end of the transmission mechanism is connect with the driving mechanism machine driving；
The torque and rotation direction of the motor output are transferred to driving mechanism execution after the transmission mechanism.
Optionally, the industrial control equipment includes: according to road running information progress behaviour decision making analysis
Industrial control equipment receives the data of onboard sensor acquisition and application intelligent recognition, decision calculate analysis and processing number
According to, carry out data fusion and control decision judgement after be converted to drive control instruction output.
Optionally, the Vehicle Controller includes: according to the target drives control instruction calculation process
The Vehicle Controller through unmanned intelligent algorithm analysis and decision judgement after calculate target rotational direction and
Torque is simultaneously sent to driving mechanism.
Optionally, the driving mechanism will be converted to driving instruction and include: after torque and rotation direction control signal processing
The driving instruction is converted to corresponding electric current and voltage signal control driving motor rotation by the driving mechanism
Direction and velocity of rotation execute the driving instruction output target rotational direction and torque, realize the power drive control of vehicle.
Second aspect, the embodiment of the present invention also provides a kind of pilotless automobile drive control method, applied to above-mentioned
Pilotless automobile drive system, comprising:
Onboard sensor and industrial control equipment, which are established, to be communicated to connect；
The industrial control equipment reads the road running information and carries out behaviour decision making analysis and generate target drives data；
Vehicle Controller reads the target drives data that industrial control equipment calculates；
Vehicle Controller reads the current travel speed of vehicle；
The Vehicle Controller obtains target drives control after handling current travel speed and target drives data operation
Signal processed is simultaneously sent to driving mechanism by driving motor CAN protocol generation control message；
The driving mechanism is converted to driving instruction after target drives are controlled signal processing, and control driving executing agency holds
The row driving instruction output target rotational direction and torque, realize the power drive control of vehicle.
Optionally, further includes:
Switching control judgement between unmanned/someone's remote control mode；
If executing someone's remote control, the remote controler driving instruction of driver is read；
Read the current travel speed of vehicle；
The Vehicle Controller is to obtaining target drives after remote controler driving instruction and current travel speed calculation process
Control signal；
The driving mechanism is converted to driving instruction after target drives are controlled signal processing, and control driving executing agency holds
The row driving instruction output target rotational direction and torque, realize the power drive control of vehicle.
Optionally, the Vehicle Controller includes: to remote controler driving instruction and current travel speed calculation process
Scope limitation and parameter tune are carried out to Vehicle Speed according to the parameter of power drive motor normal range of operation
It is whole；Vehicle driving is read to prepare status signal and judged；
It reads vehicle current gear signal and according to current vehicle speed, target drives control signal is converted into driving motor control
The message format of device processed；
It calls the interface module from encapsulation and relevant parameter is set, drive control message is sent to driving executing agency.
The third aspect, the embodiment of the present invention also provide a kind of pilotless automobile drive system development approach, comprising:
It is divided according to exploitation demand progress pilotless automobile drive system functional module and establishes model；
Functional simulation verifying is carried out to pilotless automobile drive control model；
Model file after verifying is generated into the program that Vehicle Controller can be run；
The program that Vehicle Controller can be run is stored into Vehicle Controller；
Pilotless automobile drive control program in Vehicle Controller is subjected to vehicle test and the verifying of real vehicle road.
Optionally, further includes:
After vehicle test and the verifying of real vehicle road are found the problem and analyzed, then modify model or parameter and according to the preceding step
It is rapid to execute, until the function and performance of entire driving control system reach design requirement.
As shown from the above technical solution, a kind of pilotless automobile drive system provided in an embodiment of the present invention, driving control
Method and development approach processed carry out module division compared with prior art according to demand, establish model, and functional simulation is verified,
Modeling and simulation process fast verification function, discovery and can solve the problems, such as and improve and perfect, prove performance, can save 50-
80% development cycle and cost, and it is convenient for communication and discussion, upgrading and maintenance.Instruction and data friendship is carried out by CAN communication
Stream, strong antijamming capability can guarantee requirement of real-time.Docking is smooth from prototype verification to volume production, cuts down the number of intermediate links, thus greatly
Width reduces project cost and risk.Pilotless automobile pilotless automobile drive system enforcement division provided in an embodiment of the present invention
Part is few, has the advantages of simple structure and easy realization and repairs.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to make one simply to introduce, it should be apparent that, the accompanying drawings in the following description is this hair
Bright some embodiments for those of ordinary skill in the art without creative efforts, can be with root
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is a kind of driverless electric automobile driving system structure schematic diagram in one embodiment of the invention；
Fig. 2 is driverless electric automobile drive system control strategy schematic diagram in one embodiment of the invention；
Fig. 3 is driverless electric automobile DBW system workflow schematic diagram in one embodiment of the invention；
Fig. 4 is that driverless electric automobile drive-by-wire controls program schematic diagram in one embodiment of the invention；
Fig. 5 be one embodiment of the invention in pilotless automobile drive system nobody/someone's pattern switching schematic diagram；
Fig. 6 is driverless electric automobile drive-by-wire someone's mode control programs signal in one embodiment of the invention
Figure；
Fig. 7 is the unmanned mode control programs signal of driverless electric automobile drive-by-wire in one embodiment of the invention
Figure；
Fig. 8 is that driverless electric automobile drive-by-wire control priority judges schematic diagram in one embodiment of the invention；
Fig. 9 is pilotless automobile drive system development process schematic diagram in one embodiment of the invention.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without creative efforts, shall fall within the protection scope of the present invention.
As shown in Figure 1, the embodiment of the present invention provides a kind of pilotless automobile pilotless automobile drive system, comprising:
Vehicle Controller, driving mechanism and the driving executing agency being connect with the driving mechanism；The driving mechanism with it is described vehicle-mounted
Controller communication connection；It further include that the onboard sensor in vehicle predetermined position is set and is communicated to connect with the onboard sensor
Industrial control equipment, the industrial control equipment and the Vehicle Controller communicate to connect；The onboard sensor senses road row in real time
Vehicle information, and the road running information is sent to the industrial control equipment, the industrial control equipment is believed according to the road travel
Breath carries out behaviour decision making analysis and is converted to target drives control instruction；The industrial control equipment sends institute to the Vehicle Controller
State target drives control instruction；The Vehicle Controller according to after the target drives control instruction calculation process to the driving
Mechanism sends the control signal of torque and rotation direction, and Motor torque and rotation direction are controlled signal processing by the driving mechanism
After be converted to driving instruction, control driving executing agency executes the driving instruction output target rotational direction and torque, realizes
The power drive control of vehicle.Below pilotless automobile drive system provided by the invention is unfolded to be described in detail.
In the present invention, onboard sensor is mounted on the predetermined position of pilotless automobile, these onboard sensors are real-time
It senses road running information (for example, camera and laser radar, vehicle driving real time video data of camera acquisition), it is vehicle-mounted
These the described road running informations sensed are sent to the industrial control equipment by sensor.
The industrial control equipment carries out behaviour decision making analysis according to the road running information and is converted to target drives control
Instruction, the industrial control equipment send the target drives control instruction to the Vehicle Controller.Specifically, industrial control equipment receives
The data and application intelligent recognition, decision of onboard sensor acquisition calculate analysis and processing data, carry out data fusion, control is determined
Drive control instruction output is converted to after the technical treatments such as plan judgement.Optionally, in the present invention, industrial control equipment is optional passes through
CAN and Vehicle Controller (ECU, Electronic Control Unit) are communicated to connect.The drive control that industrial control equipment generates refers to
It enables and Vehicle Controller (ECU) is transmitted to by CAN bus.
The Vehicle Controller sends torsion to the driving mechanism according to after the target drives control instruction calculation process
The control signal of square and rotation direction.Specifically, Vehicle Controller is counted after the judgement of unmanned intelligent algorithm analysis and decision
It calculates target drives direction and speed and is sent to driving mechanism.It should be appreciated that the unmanned intelligence referred in the present invention
Energy algorithm can select existing maturation method to realize that this is no longer going to repeat them.Optionally, in the present invention, described vehicle-mounted
Controller is optional to be communicated to connect by CAN and driving mechanism.Vehicle Controller calculates target rotational direction and torque passes through CAN
Bus transfer is to driving mechanism.
In the present invention, the Vehicle Controller according to after the target drives control instruction calculation process to the driving
Mechanism sends the control signal of torque and rotation direction, and the driving mechanism transfers to described after handling torque and rotation direction
Drive executing agency.Specifically, the driving mechanism can set suitable motor control program according to actual condition and by target
Position is converted into the electric current of motor and voltage signal control instruction is exported to driving executing agency.
In the present invention, the driving executing agency includes motor, transmission mechanism and driving mechanism, the motor with it is described
Transmission mechanism machine driving；The power output end of the power intake of the transmission mechanism and the motor is sequentially connected；It is described
The torque and rotation direction of motor output are transferred to driving mechanism execution after the transmission mechanism.Motor is chosen as alternating current
Machine, transmission mechanism are chosen as universal joint.Specifically, motor receives the execution side of correspondingly rotating after the control signal of driving mechanism
To and torque, motor output power be directly delivered to after rear axle assy slows down wheel hub realize driving.
As shown in Fig. 2, going forward side by side every trade by sensor real-time perception road running information as Analysis of Policy Making, it is then converted into specific
Torque and rotation direction instruction, suitable motor control program can be set according to actual condition and target position is converted into electricity
The electric current and voltage signal control instruction of machine finally go to target rotational direction and torsion by ECU and motor driver control motor
Square；The present invention selects absolute value encoder, suitable motor control program can be set according to actual condition and turn target position
The electric current and voltage signal control instruction for changing motor into, realize the power drive control of vehicle；Onboard sensor gets tune again
Vehicle speed and traffic information after whole, and foregoing schemes are successively executed, to realize closed-loop control.
Pilotless automobile pilotless automobile drive system provided in an embodiment of the present invention, using modularized design, respectively
Building block technique maturation, function-stable, connection and assembling are simple, convenient and fast；Pilotless automobile provided in an embodiment of the present invention without
People's driving drive system execution unit is few, has the advantages of simple structure and easy realization and repairs.
For the superiority for further embodying pilotless automobile pilotless automobile drive system provided by the invention, such as scheme
Shown in 3, the present invention also provides a kind of drive-by-wire control methods applied to above-mentioned drive system, this method comprises: vehicle-mounted biography
Sensor and industrial control equipment, which are established, to be communicated to connect；The industrial control equipment reads the road running information and carries out behaviour decision making analysis simultaneously
Generate target drives data；Vehicle Controller reads the target drives data that industrial control equipment calculates；Vehicle Controller reads vehicle
Current travel speed；The Vehicle Controller obtains target after handling current travel speed and target drives data operation
Driving control signal is simultaneously sent to driving mechanism；The driving mechanism will be converted to driving after target drives control signal processing and refer to
It enables, control driving executing agency executes the driving instruction output torque, realizes Automobile drive.
Specifically, as shown in Figure 1, Vehicle Controller (ECU) is by CAN connection industrial personal computer, by calling from encapsulation
Simulink module realizes the transmitting-receiving of message, after carrying out threshold decision to the data of reading, reads the target that industrial personal computer calculates and drives
Dynamic data, after driving target position calculated by algorithm, finally send out CAN message to motor driver control motor and go to target position
It sets.Further, as shown in figure 5, to make up unpiloted deficiency, reserve manned function and be able to carry out someone/
Switching between unmanned mode.Specifically, by reading someone/unmanned mode signal and judging, i.e., changeable
To corresponding driving mode.In the present invention, pilotless automobile drive control method, further includes: unmanned/someone's remote control
Switching control judgement between mode；If there is someone's remote control is executed, then the remote controler driving instruction of driver is read；
Read the current row drive speed of vehicle；The Vehicle Controller is to remote controler driving instruction and current row drive speed operation
Target drives control signal is obtained after processing；The driving mechanism will be converted to driving after target drives control signal processing and refer to
It enables, control driving executing agency executes the driving instruction output target rotational direction and torque, realizes the power drive of vehicle
Control.
As shown in Figures 4 to 7, the Vehicle Controller is to remote controler driving instruction and current travel speed calculation process
It include: that scope limitation and parameter adjustment are carried out to Vehicle Speed according to the parameter of power drive motor normal range of operation；
Vehicle driving is read to prepare status signal and judged；Vehicle current gear signal and according to current vehicle speed is read, by target
Driving control signal is converted into the message format of drive motor controller；It calls the interface module from encapsulation and corresponding ginseng is set
Drive control message is converted into target drives control signal by number.
Under someone's remote driving mode: as shown in fig. 6, under manned mode, according to manipulation remote controler realization pair
The drive control of vehicle.Specifically, remote controler driving instruction is read；The road running information sensed by sensor reads road
Vehicle Speed and target velocity in the running information of road；According to the parameter of power drive motor normal range of operation to vehicle
Travel speed and target velocity carry out scope limitation and parameter adjustment；Vehicle driving is read to prepare status signal and judged；
Read gear signal and according to current vehicle speed, the information such as remote controler driving instruction and current gear adjustment gear；It is driven according to power
Target drives control signal is converted into the CAN message format of drive motor controller by dynamic electric machine controller CAN protocol；It calls
From the interface module of encapsulation and relevant parameter is set, drive control message is sent to drive motor controller by CAN communication；
Drive motor controller controls the Current Voltage and output torque of driving motor according to message, realizes the power drive control of vehicle
System.
Under unmanned remote controlled driving mode: as shown in fig. 7, the associated drives control instruction that need to be issued according to industrial personal computer, real
The drive control of existing vehicle.Specifically, the road running information sensed by sensor reads the vehicle in road running information
Travel speed and target velocity；According to the parameter of power drive motor normal range of operation to Vehicle Speed and target velocity
Carry out scope limitation and parameter adjustment；The difference of Vehicle Speed and target velocity is exported to next step and is handled；Read vehicle
Traveling prepares status signal and is judged；Reading vehicle driving terminates status signal and is judged；Read current vehicle
Gear signal and according to current vehicle speed, the information such as target vehicle speed and current gear adjust gear；According to power drive motor control
Target drives control signal is converted into the CAN message format of drive motor controller by device CAN protocol；Call connecing from encapsulation
Simultaneously relevant parameter is arranged in mouth mold block, and drive control message is sent to drive motor controller by CAN communication；Driving motor control
Device processed controls the Current Voltage and output torque of driving motor according to message, realizes the power drive control of vehicle.
As shown in figure 8, need to instruct vehicle control progress priority analysis for the driving safety of vehicle, specifically:
Since power drive, steering driving and braking are to provide power by three mutually independent motors, and consider unmanned
The algorithm of upper layer application is also to be developed respectively for different sensors.To avoid such as power drive instruction and brake finger
Maloperation caused by when order exists simultaneously, power drive function described in the embodiment of the present invention are banned when having braking instruction
With.
For the superiority for further embodying pilotless automobile pilotless automobile drive system provided by the invention, this hair
It is bright that a kind of method for developing above system is also provided, as shown in figure 9, the embodiment of the present invention provides a kind of driverless electric automobile
Pilotless automobile drive system development approach, comprising: pilotless automobile drive system function mould is carried out according to exploitation demand
Block divides and establishes model；Functional simulation verifying is carried out to pilotless automobile drive control model；By the model text after verifying
Part generates the program that Vehicle Controller can be run；The program that Vehicle Controller can be run is stored into Vehicle Controller；By vehicle
Pilotless automobile drive control program in set controller carries out vehicle test and the verifying of real vehicle road.The present invention is mentioned below
Detailed description is unfolded in the driverless electric automobile pilotless automobile drive system development approach of confession.
In the present invention, optionally upon modelling, pilotless automobile drive system function is carried out according to exploitation demand
Module, which divides, carries out functional module division, and the method modeled by matlab/simulink is built in matlab/simulink
Formwork erection type, and carry out functional simulation verifying.Specifically, the present invention is realized using the technology path based on modelling, root
According to Requirements Modeling, functional simulation is verified, such as by the various of driverless electric automobile pilotless automobile drive system
Driving condition modeling, such as emulated, under some special road conditions in the driverless electric automobile drive-by-wire on straight road surface
Driverless electric automobile drive-by-wire (there are certain slope angles) driverless electric automobile drive-by-wire emulation, in different loads
Driverless electric automobile drive-by-wire emulates under heavy, friction speed situation.It should be appreciated that the present invention is to unmanned
The method that electric car drive-by-wire control program is emulated is not limited only to this, other emulation with identical or same function
The present invention still may be implemented in method, and this is no longer going to repeat them.
In the present invention, program is being controlled into after emulation, calling from encapsulation to driverless electric automobile drive-by-wire
Simulink module docking CAN communication packet sending and receiving data and automatically generate can programming code, code programming is enterprising to ECU
Row hardware in loop and real vehicle drive test.Specifically, as shown in figure 9, the present invention carries out automatic code using ECU code-development tool packet
It generates, the model file after verifying is generated into the program that Vehicle Controller can be run.The program that Vehicle Controller can be run is deposited
It stores up in Vehicle Controller, model code programming is debugged to ECU.The ECU control software solution is in the present invention
In only provide and have using the control flow execution part of the drive functional module in layer model: alternating current generator, motor driver and
Universal joint and connecting cable.The CAN communication with industrial personal computer is first established, by calling the simulink module from encapsulation to realize message
Transmitting-receiving can need to carry out the switching of someone and unmanned mode according to scene after carrying out threshold decision to the data of reading；
If selecting unmanned mode, the target drives data of industrial personal computer calculating are read, driving target position are calculated by algorithm, finally
Hair CAN message goes to target position to motor driver control motor.If selecting someone's mode, the driving of driver is read
Data, remaining step are identical as unmanned mode.
Finally carry out vehicle test and the verifying of real vehicle road；In the present invention, by the unmanned electricity in Vehicle Controller
Electrical automobile drive-by-wire controls program and carries out vehicle test and the verifying of real vehicle road, in verification process, then develops mould after debugging
Type and/or parameter, fast construction function-stable, pilotless automobile drive system of good performance.In vehicle test and real vehicle
It after finding the problem and analyze in road validation test verifying, then modifies model/or parameter and is executed according to the preceding step, until whole
The function and performance of a driving control system reach design requirement.
Driverless electric automobile pilotless automobile drive system development approach provided by the invention, setting based on model
Meter fast verification function, discovery and can solve the problems, such as in modeling and simulation process and improve and perfect, prove performance, give birth to automatically
It ensure that at code technique from model to seamless interfacing the software that can be run.It models according to demand, functional simulation verifying is adopted
Real time workshop is carried out with ECU code-development tool packet, model code programming is debugged to ECU；Optimize after debugging again
Model and parameter, fast construction function-stable, pilotless automobile drive system of good performance.
In conclusion a kind of pilotless automobile drive system provided in an embodiment of the present invention, drive control method and opening
Forwarding method carries out module division compared with prior art according to demand, establishes model, and functional simulation is verified in modeling and simulation
Process fast verification function, discovery and can solve the problems, such as and improve and perfect, prove performance, can save the exploitation of 50-80%
Period and cost, and it is convenient for communication and discussion, upgrading and maintenance.Instruction and data exchange, anti-interference energy are carried out by CAN communication
Power is strong, can guarantee requirement of real-time.Docking is smooth from prototype verification to volume production, cuts down the number of intermediate links, so that project be greatly reduced
Cost and risk.Pilotless automobile pilotless automobile drive system execution unit provided in an embodiment of the present invention is few, structure
Simply, it is easy to accomplish and maintenance.
The apparatus embodiments described above are merely exemplary, wherein described, module can as illustrated by the separation member
It is physically separated with being or may not be, the function of each module can be existed when implementing this specification example scheme
It is realized in same or multiple software and/or hardwares.Some or all of mould therein can also be selected according to the actual needs
Block achieves the purpose of the solution of this embodiment.Those of ordinary skill in the art are without creative efforts
To understand and implement.
It should be noted that, in this document, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any actual relationship or order or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to
Non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those
Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or equipment
Intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that
There is also other identical elements in process, method, article or equipment including the element.Term " on ", "lower" etc. refer to
The orientation or positional relationship shown is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of the description present invention and simplifies
Description, rather than the device or element of indication or suggestion meaning must have a particular orientation, constructed and grasped with specific orientation
Make, therefore is not considered as limiting the invention.It for the ordinary skill in the art, can be as the case may be
Understand the concrete meaning of above-mentioned term in the present invention.
In specification of the invention, numerous specific details are set forth.Although it is understood that the embodiment of the present invention can
To practice without these specific details.In some instances, well known method, structure and skill is not been shown in detail
Art, so as not to obscure the understanding of this specification.Similarly, it should be understood that disclose in order to simplify the present invention and helps to understand respectively
One or more of a inventive aspect, in the above description of the exemplary embodiment of the present invention, each spy of the invention
Sign is grouped together into a single embodiment, figure, or description thereof sometimes.However, should not be by the method solution of the disclosure
It is interpreted into and reflects an intention that i.e. the claimed invention requires more than feature expressly recited in each claim
More features.More precisely, as the following claims reflect, inventive aspect is less than single reality disclosed above
Apply all features of example.Therefore, it then follows thus claims of specific embodiment are expressly incorporated in the specific embodiment,
It is wherein each that the claims themselves are regarded as separate embodiments of the invention.It should be noted that in the absence of conflict, this
The feature in embodiment and embodiment in application can be combined with each other.The invention is not limited to any single aspect,
It is not limited to any single embodiment, is also not limited to any combination and/or displacement of these aspects and/or embodiment.And
And can be used alone each aspect and/or embodiment of the invention or with other one or more aspects and/or its implementation
Example is used in combination.
All the embodiments in this specification are described in a progressive manner, identical between each embodiment/similar
Part may refer to each other, and each embodiment focuses on the differences from other embodiments.Especially for equipment
For embodiment, Installation practice, since it is substantially similar to the method embodiment, so being described relatively simple, related place
Illustrate referring to the part of embodiment of the method.It is above-mentioned that this specification specific embodiment is described.Other embodiments exist
In the scope of the appended claims.In some cases, the movement recorded in detail in the claims or step can be according to not
The sequence in embodiment is same as to execute and still may be implemented desired result.In addition, process depicted in the drawing is not
Particular order or consecutive order shown in certain requirement are just able to achieve desired result.In some embodiments, multitask
Processing and parallel processing are also possible or may be advantageous.
Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Pipe present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: its according to
So be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features into
Any modification, equivalent substitution, improvement and etc. such as row；And these any modification, equivalent substitution, improvement and etc., do not make relevant art side
The essence of case departs from the scope of the technical solutions of the embodiments of the present invention, and should all cover in claim and specification of the invention
Range in.
Claims (10)
1. a kind of pilotless automobile drive system characterized by comprising
Vehicle Controller, driving mechanism and the driving executing agency being connect with the driving mechanism；
The driving mechanism and the Vehicle Controller communicate to connect；
It further include the industrial control equipment that the onboard sensor in vehicle predetermined position is set and is communicated to connect with the onboard sensor,
The industrial control equipment and the Vehicle Controller communicate to connect；
The onboard sensor senses road running information in real time, and the road running information is sent to the industry control and is set
Standby, the industrial control equipment carries out behaviour decision making analysis according to the road running information and is converted to target drives control instruction；
The industrial control equipment sends the target drives control instruction to the Vehicle Controller；The Vehicle Controller is according to the mesh
Mark the control signal for sending torque and rotation direction after drive control ordering calculation is handled to the driving mechanism, the driving machine
Structure will be converted to driving instruction after Motor torque and rotation direction control signal processing, and control driving executing agency executes the drive
Dynamic instruction output target rotational direction and torque, realize the power drive control of vehicle.
2. pilotless automobile drive system according to claim 1, which is characterized in that the driving executing agency includes
Driving motor, transmission mechanism and driving mechanism, the motor are connect with the transmission mechanism；
The power output end of the power intake of the transmission mechanism and the motor is sequentially connected；
The power output end of the transmission mechanism is connect with the driving mechanism machine driving；
The torque and rotation direction of the motor output are transferred to driving mechanism execution after the transmission mechanism.
3. pilotless automobile drive system according to claim 1, which is characterized in that the industrial control equipment is according to
Road running information carries out behaviour decision making analysis
Industrial control equipment receives the data of onboard sensor acquisition and application intelligent recognition, decision calculate analysis and processing data, into
Drive control instruction output is converted to after row data fusion, control decision judgement.
4. pilotless automobile drive system according to claim 1, which is characterized in that the Vehicle Controller is according to institute
Stating target drives control instruction calculation process includes:
The Vehicle Controller calculates target rotational direction and torque after the judgement of unmanned intelligent algorithm analysis and decision
And it is sent to driving mechanism.
5. pilotless automobile drive system according to claim 1, which is characterized in that the driving mechanism by torque and
Being converted to driving instruction after rotation direction control signal processing includes:
The driving instruction is converted to corresponding electric current to the driving mechanism and voltage signal controls driving motor rotation direction
And velocity of rotation, the driving instruction output target rotational direction and torque are executed, realizes the power drive control of vehicle.
6. a kind of pilotless automobile drive control method, which is characterized in that be applied to described in claim 1 to 5 any one
Pilotless automobile drive system, comprising:
Onboard sensor and industrial control equipment, which are established, to be communicated to connect；
The industrial control equipment reads the road running information and carries out behaviour decision making analysis and generate target drives data；
Vehicle Controller reads the target drives data that industrial control equipment calculates；
Vehicle Controller reads the current travel speed of vehicle；
The Vehicle Controller obtains target drives control letter after handling current travel speed and target drives data operation
Number and be sent to driving mechanism；
The driving mechanism is converted to driving instruction after target drives are controlled signal processing, and control driving executing agency executes institute
Driving instruction output target rotational direction and torque are stated, realizes the power drive control of vehicle.
7. pilotless automobile drive control method according to claim 6, which is characterized in that further include:
Switching control judgement between unmanned/someone's remote control mode；
If there is someone's remote control, then the remote controler drive control instruction of driver is read；
Read the current travel speed of vehicle；
The Vehicle Controller is to obtaining target drives control after remote controler driving instruction and current travel speed calculation process
Signal；
The driving mechanism is converted to driving instruction after target drives are controlled signal processing, and control driving executing agency executes institute
Driving instruction output target rotational direction and torque are stated, realizes the power drive control of vehicle.
8. pilotless automobile drive control method according to claim 6 or 7, which is characterized in that the vehicle-mounted control
Device includes: to remote controler driving instruction and current travel speed calculation process
Scope limitation is carried out to Vehicle Speed according to the parameter of power drive motor normal range of operation and parameter adjusts；
Vehicle driving is read to prepare status signal and judged；
It reads vehicle current gear signal and according to current vehicle speed, target drives control signal is converted into drive motor controller
Message format；
It calls the interface module from encapsulation and relevant parameter is set, drive control message is sent to drive motor controller.
9. a kind of pilotless automobile drive system development approach, which is characterized in that
Include:
It is divided according to exploitation demand progress pilotless automobile drive system functional module and establishes model；
Functional simulation verifying is carried out to pilotless automobile drive control model；
Model file after verifying is generated into the program that Vehicle Controller can be run；
The program that Vehicle Controller can be run is stored into Vehicle Controller；
Pilotless automobile drive control program in Vehicle Controller is subjected to vehicle test and the verifying of real vehicle road.
10. pilotless automobile drive system development approach according to claim 9, which is characterized in that further include:
After vehicle test and the verifying of real vehicle road are found the problem and analyzed, then modifies model or parameter and held according to the preceding step
Row, until the function and performance of entire driving control system reach design requirement.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910611715.3A CN110316194A (en) | 2019-07-08 | 2019-07-08 | A kind of pilotless automobile drive system, drive control method and development approach |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910611715.3A CN110316194A (en) | 2019-07-08 | 2019-07-08 | A kind of pilotless automobile drive system, drive control method and development approach |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110316194A true CN110316194A (en) | 2019-10-11 |
Family
ID=68123053
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910611715.3A Pending CN110316194A (en) | 2019-07-08 | 2019-07-08 | A kind of pilotless automobile drive system, drive control method and development approach |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110316194A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110696631A (en) * | 2019-11-18 | 2020-01-17 | 广东工业大学 | Bottom layer electric control system of unmanned electric vehicle |
| CN111862727A (en) * | 2020-07-28 | 2020-10-30 | 中国科学院自动化研究所 | Artificial intelligence graphical programming teaching platform and method |
| CN114063497A (en) * | 2021-11-04 | 2022-02-18 | 上海智能网联汽车技术中心有限公司 | Remote control tracking system and method based on four-wheel drive and steering chassis |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104460673A (en) * | 2014-11-21 | 2015-03-25 | 广西智通节能环保科技有限公司 | Unmanned driving system |
| CN106774291A (en) * | 2016-12-26 | 2017-05-31 | 清华大学苏州汽车研究院（吴江） | A kind of electric-control system of automatic Pilot electric automobile |
| CN107200020A (en) * | 2017-05-11 | 2017-09-26 | 江苏大学 | It is a kind of based on mix theory pilotless automobile self-steering control system and method |
| CN108445885A (en) * | 2018-04-20 | 2018-08-24 | 鹤山东风新能源科技有限公司 | A kind of automated driving system and its control method based on pure electric vehicle logistic car |
| CN108762271A (en) * | 2018-06-04 | 2018-11-06 | 北京智行者科技有限公司 | Control unit for vehicle |
| CN109515207A (en) * | 2018-10-18 | 2019-03-26 | 合肥君信电子科技有限公司 | A kind of intelligent driven controlling system of automatic driving vehicle |
| CN109969192A (en) * | 2017-12-28 | 2019-07-05 | 郑州宇通客车股份有限公司 | A kind of vehicle and automatic driving control system |
-
2019
- 2019-07-08 CN CN201910611715.3A patent/CN110316194A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104460673A (en) * | 2014-11-21 | 2015-03-25 | 广西智通节能环保科技有限公司 | Unmanned driving system |
| CN106774291A (en) * | 2016-12-26 | 2017-05-31 | 清华大学苏州汽车研究院（吴江） | A kind of electric-control system of automatic Pilot electric automobile |
| CN107200020A (en) * | 2017-05-11 | 2017-09-26 | 江苏大学 | It is a kind of based on mix theory pilotless automobile self-steering control system and method |
| CN109969192A (en) * | 2017-12-28 | 2019-07-05 | 郑州宇通客车股份有限公司 | A kind of vehicle and automatic driving control system |
| CN108445885A (en) * | 2018-04-20 | 2018-08-24 | 鹤山东风新能源科技有限公司 | A kind of automated driving system and its control method based on pure electric vehicle logistic car |
| CN108762271A (en) * | 2018-06-04 | 2018-11-06 | 北京智行者科技有限公司 | Control unit for vehicle |
| CN109515207A (en) * | 2018-10-18 | 2019-03-26 | 合肥君信电子科技有限公司 | A kind of intelligent driven controlling system of automatic driving vehicle |
Non-Patent Citations (1)
| Title |
|---|
| 秦文东: "纯电动汽车感应电机驱动系统控制建模与仿真研究", 中国优秀硕士学位论文全文数据库工程科技II辑, no. 2014, 15 May 2014 (2014-05-15), pages 035 - 313 * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110696631A (en) * | 2019-11-18 | 2020-01-17 | 广东工业大学 | Bottom layer electric control system of unmanned electric vehicle |
| CN111862727A (en) * | 2020-07-28 | 2020-10-30 | 中国科学院自动化研究所 | Artificial intelligence graphical programming teaching platform and method |
| CN114063497A (en) * | 2021-11-04 | 2022-02-18 | 上海智能网联汽车技术中心有限公司 | Remote control tracking system and method based on four-wheel drive and steering chassis |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US20220379920A1 (en) | Trajectory planning method and apparatus | |
| CN110160804B (en) | Test method, device and system for automatically driving vehicle | |
| US20210262808A1 (en) | Obstacle avoidance method and apparatus | |
| WO2021102955A1 (en) | Path planning method for vehicle and path planning apparatus for vehicle | |
| CN106218639B (en) | Automatic driving vehicle, the method and apparatus for controlling automatic driving vehicle | |
| WO2021000800A1 (en) | Reasoning method for road drivable region and device | |
| CN110316194A (en) | A kind of pilotless automobile drive system, drive control method and development approach | |
| CN108428357A (en) | A kind of parallel remote driving system for intelligent network connection vehicle | |
| CN107479532A (en) | The domain controller test system and method for a kind of intelligent automobile | |
| CN113156927A (en) | Safety control method and safety control device for automatic driving vehicle | |
| CN111873975B (en) | Control method, device, system, equipment and medium for electronic parking brake | |
| JP7226048B2 (en) | Vehicle control interface and vehicle system | |
| CN109634259A (en) | Automatic Pilot redundancy control method, system and verification platform | |
| JP2020172165A (en) | Vehicle control interface and vehicle system | |
| CN113167038B (en) | Method and device for vehicle to pass through barrier gate cross bar | |
| CN113525373A (en) | Lane changing control system and method for vehicle | |
| CN109318899A (en) | Negotiation of bends method, apparatus, equipment and the storage medium of automatic driving vehicle | |
| CN110606070A (en) | Intelligent driving vehicle and braking method thereof, vehicle-mounted equipment and storage medium | |
| US20230249660A1 (en) | Electronic Mechanical Braking Method and Electronic Mechanical Braking Apparatus | |
| CN113968242B (en) | Automatic driving scene generation method, device and system | |
| JP2021116046A (en) | Vehicle control device, vehicle, vehicle control method and program | |
| CN113954858A (en) | Method for planning vehicle driving route and intelligent automobile | |
| JP7443820B2 (en) | In-vehicle equipment control device and vehicle control system | |
| CN110027610A (en) | Pilotless automobile wire-controlled steering system, rotating direction control method and development approach | |
| WO2024087712A1 (en) | Target behavior prediction method, intelligent device and vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20200304 Address after: Room 101, building 5, No. 1378-6, North Panyu Avenue, Donghuan street, Panyu District, Guangzhou, Guangdong 511492 Applicant after: Guangzhou YILAITE Automatic Driving Technology Co., Ltd Address before: Room 7-1275, Xingsheng Road, Tianhe District, Guangzhou City, Guangdong 510000 Applicant before: Guangzhou Yiliu New Energy Automotive Technology Co.,Ltd. |
|
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20210709 Address after: 075001 room 8352, 3rd floor, east of Jingyi Road, Nanshan Economic Development Zone, Zhangjiakou Economic Development Zone, Hebei Province Applicant after: Yite Zhixing Technology (Zhangjiakou) Co.,Ltd. Address before: 511492 Room 101, building 6, No. 1378-5, North Panyu Avenue, Donghuan street, Panyu District, Guangzhou City, Guangdong Province Applicant before: Guangzhou YILAITE Automatic Driving Technology Co.,Ltd. |
|
| TA01 | Transfer of patent application right | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |