CN111240335A - Automatic driving system of intelligent integrated vehicle - Google Patents
Automatic driving system of intelligent integrated vehicle Download PDFInfo
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- CN111240335A CN111240335A CN202010067311.5A CN202010067311A CN111240335A CN 111240335 A CN111240335 A CN 111240335A CN 202010067311 A CN202010067311 A CN 202010067311A CN 111240335 A CN111240335 A CN 111240335A
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- 230000004927 fusion Effects 0.000 claims abstract description 11
- 238000012360 testing method Methods 0.000 claims abstract description 8
- 230000006870 function Effects 0.000 claims description 9
- 230000007613 environmental effect Effects 0.000 claims description 6
- 230000008447 perception Effects 0.000 claims description 6
- 238000012545 processing Methods 0.000 claims description 6
- 238000000034 method Methods 0.000 claims description 2
- 230000008569 process Effects 0.000 claims description 2
- 238000005516 engineering process Methods 0.000 abstract description 7
- 230000006855 networking Effects 0.000 abstract description 4
- 238000012549 training Methods 0.000 abstract description 2
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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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
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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
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, 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
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/027—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising intertial navigation means, e.g. azimuth detector
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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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B25/00—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B9/00—Simulators for teaching or training purposes
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Abstract
The invention relates to the technical field of intelligent networked automobiles, in particular to an automatic driving system of an intelligent integrated automobile. The software part of the sensing system comprises a sensor fusion algorithm and sensor debugging software, and the hardware part of the sensing system comprises a 16-line laser radar, a millimeter wave radar, a camera and a combined navigation module. The software part of the decision-making system comprises an unmanned algorithm, and the hardware part of the decision-making system comprises an unmanned processor, a switch and a 4G router. The invention can safely and comprehensively support the practical training and algorithm test of the intelligent networking automobile technology.
Description
Technical Field
The invention relates to the technical field of intelligent networked automobiles, in particular to an automatic driving system of an intelligent integrated automobile.
Background
An intelligent networking automobile, also known as icv (intelligent Connected vehicle), is an organic combination of the modern developed and popular car networking technology and vehicles carrying intelligent devices, and realizes interactive execution and flexible control of people, vehicles, environment and networking information by carrying advanced sensors, control units and execution mechanisms and by high-speed communication technology, navigation, network and other technologies. The safety, the efficiency and the comfort of the driving of the vehicle are improved, and the mature automatic driving technology is finally realized.
However, at present, technologies for intelligent networked automobiles and intelligent driving systems need to be developed, a hardware sensor needs to be subjected to large-data testing and high-level improvement to ensure the driving safety of the automobile, and a system needs to be continuously detected to ensure the support of the intelligent automobile. Our technicians and practitioners, including schools, students, and research institutes engaged in relevant research, also need associated platforms and hardware for teaching, training, and testing.
Disclosure of Invention
The invention aims to provide an automatic driving system of an intelligent integrated vehicle, which aims to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme:
the automatic driving system comprises a sensing system, a decision-making system, a control system and an operating platform, wherein the sensing system collects environmental information and leads the environmental information to the decision-making system, the decision-making system transmits the decision-making information to the control system, and hardware equipment of the sensing system, the decision-making system and the control system is integrated on the operating platform.
Further: the software part of the sensing system comprises a sensor fusion algorithm and sensor debugging software, and the hardware part of the sensing system comprises a 16-line laser radar, a millimeter wave radar, a camera and a combined navigation module.
Further: the software part of the decision system comprises an unmanned algorithm, and the hardware part of the decision system comprises an unmanned processor, a switch and a 4G router.
Further: the control system comprises a drive-by-wire chassis vehicle, the drive-by-wire chassis vehicle has the functions of drive-by-wire steering, driving and braking, the control system is connected with an operating platform through hardware, the operating platform comprises a sensor adjusting rack and a plurality of high-precision slide rails, a display screen and an emergency braking device are arranged on the sensor adjusting rack, and the high-precision slide rails comprise position adjusting and angle adjusting functions.
Further: the combined navigation module comprises a GNSS antenna and an inertial navigation host, and the host must be fixed in the operation process of the inertial navigation host.
A workflow obtained by an autopilot system of an intelligent integrated vehicle, the workflow comprising at least the steps of:
assembling a high-precision guide rail on a required sensor device part, debugging the position and the angle of the sensor device, testing the integrity of devices such as a display screen on a sensor device assembling and adjusting rack, and assembling vehicle body hardware;
secondly, configuring sensing system hardware and decision system hardware, and carrying out line connection according to the wiring requirements of the hardware;
thirdly, configuring system software including a multi-sensor fusion scheme and an automatic driving algorithm, and adjusting parameters through a display screen;
processing signals acquired by an external sensor through a sensor fusion scheme, importing a processing result into an automatic driving algorithm and controlling the operation of the line control chassis;
and fifthly, feeding the driving data back to an information terminal of the control system by the decision system.
Further: the sensor equipment covers a sensing system and a decision-making system and comprises a 16-line laser radar, a millimeter wave radar, a GPS, an inertial navigation system, an industrial personal computer, an AGX processor, a switch, a 4G router and the like.
The invention has the advantages that: the system integrates abundant and comprehensive sensor hardware and software equipment so as to provide students and testers with safe and sufficient hardware configuration and algorithm function. And meanwhile, a high-precision slide rail and an angle adjusting mechanism are configured for students and testers to adjust the pose of the sensor, and a display screen is arranged for operators to adjust parameters. The assembled wire-controlled electric vehicle realizes automatic driving functions such as automatic starting and stopping, tracking driving, emergency braking, obstacle avoidance, traffic light identification and the like under the support of a multi-sensor fusion scheme and an automatic driving algorithm, and is used for collecting test data and testing sensor hardware and algorithm functions.
Drawings
FIG. 1 is a schematic diagram of the overall structure of an intelligent vehicle automatic driving system according to the present invention;
FIG. 2 is a schematic diagram of a sensing system according to the present invention;
FIG. 3 is a schematic diagram of a decision making system according to the present invention;
FIG. 4 is a schematic structural diagram of a control system and an operating platform according to the present invention;
fig. 5 is a flowchart of the operation of the present invention.
In the figure: 1. a sensing system; 101. a 16-line laser radar; 102. a millimeter wave radar; 103. a camera; 104. a combined navigation module; 2. a decision-making system; 21. an unmanned processor; 22. a switch; 23. a 4G router; 3. a control system; 301. a drive-by-wire chassis; 4. an operating platform; 41. a sensor adjusting rack; 42. high accuracy slide rail.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the equipment or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
Referring to fig. 1-5, the present invention provides a technical solution:
an automatic driving system of an intelligent integrated vehicle comprises a sensing system 1, a decision-making system 2, a control system 3 and an operating platform 4, wherein the sensing system 1 collects environmental information and leads the environmental information to the decision-making system 2, the decision-making system 2 transmits the decision-making information to the control system 3, and hardware equipment of the sensing system 1, the decision-making system 2 and the control system 3 is integrated on the operating platform 4.
The software part of the perception system 1 comprises a sensor fusion algorithm and sensor debugging software, and the hardware part of the perception system 1 comprises a 16-line laser radar 101, a millimeter wave radar 102, a camera 103 and a combined navigation module 104.
The software part of the decision system 2 comprises the unmanned algorithm and the hardware part of the decision system 2 comprises the unmanned processor 21, the switch 22 and the 4G router 23.
Control system 3 includes drive-by-wire chassis car 301, and drive-by-wire chassis car 301 has drive-by-wire steering, drive and braking function, and control system 3 hard-wired operation platform 4, operation platform 4 includes sensor adjusting rack 41 and a plurality of high accuracy slide rail 42, is equipped with display screen and emergency braking device on the sensor adjusting rack 41, and high accuracy slide rail 42 includes position control and angle modulation function.
The integrated navigation module 104 includes two parts, namely a GNSS antenna and an inertial navigation host, and the inertial navigation host must be kept fixed during operation.
Referring to fig. 5, a workflow obtained by the automatic driving system of the intelligent integrated vehicle at least includes the following steps:
assembling a high-precision guide rail 42 on a required sensor device part, debugging the position and angle of the sensor device, testing the integrity of devices such as a display screen on a sensor device assembling and adjusting rack 41, and assembling vehicle body hardware;
secondly, configuring hardware of a perception system 1 and hardware of a decision system 2, and carrying out line connection according to the wiring requirements of the hardware;
thirdly, configuring system software including a multi-sensor fusion scheme and an automatic driving algorithm, and adjusting parameters through a display screen;
processing signals acquired by an external sensor through a sensor fusion scheme, importing a processing result into an automatic driving algorithm and controlling the operation of the line control chassis 301;
and fifthly, feeding the driving data back to an information terminal of the control system by the decision system.
The sensor equipment covers the sensing system 1 and the decision-making system 2 and comprises a 16-line laser radar 101, a millimeter wave radar 102, a GPS, an inertial navigation system, an industrial personal computer, an AGX processor, a switch 22, a 4G router 23 and the like.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (7)
1. The utility model provides an automatic driving system of intelligence integrated vehicle which characterized in that: the automatic driving system comprises a sensing system (1), a decision-making system (2), a control system (3) and an operating platform (4), wherein the sensing system (1) collects environmental information and leads the environmental information to the decision-making system (2), the decision-making system (2) transmits the decision-making information to the control system (3), and hardware equipment comprising the sensing system (1), the decision-making system (2) and the control system (3) is integrated on the operating platform (4).
2. The autopilot system of an intelligent integrated vehicle of claim 1 wherein: the software part of the perception system (1) comprises a sensor fusion algorithm and sensor debugging software, and the hardware part of the perception system (1) comprises a 16-line laser radar (101), a millimeter wave radar (102), a camera (103) and a combined navigation module (104).
3. The autopilot system of an intelligent integrated vehicle of claim 1 wherein: the software part of the decision system (2) comprises an unmanned algorithm, and the hardware part of the decision system (2) comprises an unmanned processor (21), a switch (22) and a 4G router (23).
4. The autopilot system of an intelligent integrated vehicle of claim 1 wherein: control system (3) are including drive-by-wire chassis car (301), drive-by-wire chassis car (301) have drive-by-wire steering, drive and braking function, control system (3) hardware connection operation platform (4), operation platform (4) are including sensor assembly and debugging rack (41) and a plurality of high accuracy slide rail (42), be equipped with display screen and emergency braking device on sensor assembly and debugging rack (41), high accuracy slide rail (42) are including position control and angle modulation function.
5. The automatic driving system of intelligent integrated vehicle according to claim 2, characterized in that: the integrated navigation module (104) comprises a GNSS antenna and an inertial navigation host, and the inertial navigation host must be fixed in the operation process.
6. The workflow obtained by the autopilot system of an intelligent integrated vehicle according to claim 1, characterized in that: the workflow at least comprises the following steps:
assembling a high-precision guide rail (42) on a required sensor device part, debugging the position and angle of the sensor device, testing the integrity of devices such as a display screen on a sensor device assembling and adjusting rack (41), and assembling vehicle body hardware;
secondly, configuring hardware of a perception system (1) and hardware of a decision system (2), and carrying out line connection according to the wiring requirements of the hardware;
thirdly, configuring system software including a multi-sensor fusion scheme and an automatic driving algorithm, and adjusting parameters through a display screen;
processing signals acquired by an external sensor through a sensor fusion scheme, importing a processing result into an automatic driving algorithm and controlling the operation of the line control chassis (301);
and fifthly, feeding the driving data back to an information terminal of the control system by the decision system.
7. The autopilot system of an intelligent integrated vehicle of claim 6 wherein: the sensor equipment covers a sensing system (1) and a decision-making system (2) and comprises a 16-line laser radar (101), a millimeter wave radar (102), a GPS, an inertial navigation system, an industrial personal computer, an AGX processor, a switch (22), a 4G router (23) and the like.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010067311.5A CN111240335A (en) | 2020-01-20 | 2020-01-20 | Automatic driving system of intelligent integrated vehicle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010067311.5A CN111240335A (en) | 2020-01-20 | 2020-01-20 | Automatic driving system of intelligent integrated vehicle |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104793617A (en) * | 2015-04-01 | 2015-07-22 | 山东农业大学 | Automatic ridge walking device of tobacco harvester |
| US20170108863A1 (en) * | 2015-10-14 | 2017-04-20 | Magna Electronics Inc. | Driver assistance system with sensor offset correction |
| CN208766529U (en) * | 2018-09-30 | 2019-04-19 | 北京云迹科技有限公司 | The obstacle avoidance system of Multi-sensor Fusion and robot comprising it |
| CN110427034A (en) * | 2019-08-13 | 2019-11-08 | 浙江吉利汽车研究院有限公司 | A kind of target tracking system and method based on bus or train route collaboration |
| CN110568852A (en) * | 2019-10-12 | 2019-12-13 | 深圳市布谷鸟科技有限公司 | Automatic driving system and control method thereof |
-
2020
- 2020-01-20 CN CN202010067311.5A patent/CN111240335A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104793617A (en) * | 2015-04-01 | 2015-07-22 | 山东农业大学 | Automatic ridge walking device of tobacco harvester |
| US20170108863A1 (en) * | 2015-10-14 | 2017-04-20 | Magna Electronics Inc. | Driver assistance system with sensor offset correction |
| CN208766529U (en) * | 2018-09-30 | 2019-04-19 | 北京云迹科技有限公司 | The obstacle avoidance system of Multi-sensor Fusion and robot comprising it |
| CN110427034A (en) * | 2019-08-13 | 2019-11-08 | 浙江吉利汽车研究院有限公司 | A kind of target tracking system and method based on bus or train route collaboration |
| CN110568852A (en) * | 2019-10-12 | 2019-12-13 | 深圳市布谷鸟科技有限公司 | Automatic driving system and control method thereof |
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Application publication date: 20200605 |