CN111487974A - High-speed unmanned target vehicle - Google Patents
High-speed unmanned target vehicle Download PDFInfo
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- CN111487974A CN111487974A CN202010346497.8A CN202010346497A CN111487974A CN 111487974 A CN111487974 A CN 111487974A CN 202010346497 A CN202010346497 A CN 202010346497A CN 111487974 A CN111487974 A CN 111487974A
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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
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
- G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
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Abstract
The invention discloses a high-speed unmanned target vehicle, which comprises a ground control end and a target vehicle execution end, wherein the ground control end is connected with the target vehicle execution end; the high-speed unmanned target vehicle realizes high-speed running by combining the advantages of autonomous driving and remote control driving, has two autonomous driving modes of a GPS and an image, and can be selected according to different use environments; the high-speed unmanned target vehicle solves the problems that a rail type target vehicle runs linearly and has short running distance, and also solves the problems of delay control of remote control driving and mutual uncontrolled information exchange in the process of remote control driving; in the running process of the target vehicle, the ground control end constantly monitors road condition information of the target vehicle and running information of the target vehicle, and a video returned by the high-definition image transmission device has no pause phenomenon and a wireless transmission device has no interruption phenomenon of data transmission; the high-speed unmanned target vehicle can be manually intervened according to needs in the driving process, and the safety of the unmanned target vehicle is improved. The direction and speed of the target vehicle adopt a closed-loop control scheme, and the computer performs closed-loop control according to the current direction, speed and target direction of the target vehicle and the set speed, so that the accuracy is high.
Description
Technical Field
The invention relates to the technical field of automatic driving, in particular to a high-speed unmanned target vehicle.
Background
At present, most of mobile target vehicles at home and abroad are mainly divided into the following types:
first kind rail mounted target car, rail mounted target car can only be according to track rectilinear movement, and the place is that fixed track length is limited, the shortcoming: if the driving route is required to be changed, the track is required to be laid again, which takes long time and is high in cost.
The second remote control unmanned target vehicle adopts a remote control method, and the target vehicle controls the running state of the target vehicle at all times in the running process. The disadvantages are that: the target vehicle has the problems of delay, low running speed and high safety when the data interaction of the target vehicle at the remote control end is not smooth.
The third is to market existing unmanned cars such as: google unmanned vehicles and Baidu unmanned vehicles are converted into unmanned vehicles. The disadvantages are that: retrofitting is expensive.
Disclosure of Invention
1. Technical problem to be solved
The invention provides a high-speed unmanned target vehicle which can work in extremely dangerous environment, can increase the work difficulty under the condition of unmanned remote control, reduces the time of work action and improves the labor efficiency.
2. Technical scheme
In order to achieve the purpose, the invention provides the following technical scheme: a high-speed unmanned target vehicle comprises a ground control end and a target vehicle execution end; the target vehicle execution end comprises an unmanned vehicle, a trailer, a target, a high-precision GPS, an on-board computer, a brake control motor, an accelerator control motor and a direction control motor; the vehicle-mounted wireless transmission radio station, the vehicle-mounted image transmission equipment, the high-precision GPS, the brake control motor, the accelerator control motor and the direction control motor are arranged on the unmanned vehicle and are electrically connected with the vehicle-mounted computer; the vehicle-mounted computer is electrically connected with an OBD port of the unmanned vehicle; the bottom surface control end comprises a terminal computer and a terminal wireless transmission radio station, the terminal wireless transmission radio station is electrically connected with the terminal computer, and the terminal wireless transmission radio station is in wireless communication with the vehicle-mounted wireless transmission radio station.
The high-speed unmanned target vehicle is characterized in that the high-precision GPS, the throttle control motor, the brake control motor, the vehicle-mounted wireless transmission radio station and the direction control motor are connected with a vehicle-mounted computer through RS232 cables.
The high-speed unmanned target vehicle is characterized in that the traction device is a hard connection traction device.
The high-speed unmanned target vehicle further comprises a high-definition camera, the high-definition camera is installed right in front of the unmanned vehicle and connected with an on-board computer through a USB cable, and when the image autonomous driving mode is selected, the computer can calculate the deviation value of the current position of the target vehicle and the central position of the road traffic marking at two sides according to the road characteristics (the road traffic marking at the left side and the right side of the target vehicle) collected by the high-definition camera.
In the high-speed unmanned target vehicle, the throttle control motor is connected with the throttle pedal of the unmanned vehicle through a throttle cable.
In the high-speed unmanned target vehicle, the brake control motor is connected with the brake pedal of the unmanned vehicle through a brake cable.
The high-speed unmanned target vehicle is characterized in that the steering input shaft of the steering wheel of the unmanned vehicle is driven to rotate by the direction control motor.
The high-speed unmanned target vehicle is characterized in that the vehicle-mounted wireless image transmission device is arranged right above the unmanned vehicle.
The high-speed unmanned target vehicle also comprises wireless image transmission equipment; the transmitter of the wireless image transmission equipment is arranged right in front of the unmanned vehicle and is connected with the vehicle-mounted computer through an RS232 cable; and the receiver of the wireless image transmission equipment is connected with the terminal computer through an RS232 cable.
3. Advantageous effects
(1) The high-speed unmanned target vehicle realizes high-speed running by combining the advantages of autonomous driving and remote control driving, and the maximum speed can exceed 100 km/h. The high-speed unmanned target vehicle has two autonomous driving modes of a GPS and an image, and can be selected according to different use environments;
(2) the high-speed unmanned target vehicle solves the problems that a rail type target vehicle runs linearly and the running distance is short, simultaneously solves the problems of delay control of remote control driving and uncontrolled interruption of the target vehicle due to information interaction in the process of remote control driving, and has lower manufacturing cost compared with target vehicles modified by Google and Baidu unmanned vehicles and rail type target vehicles;
(3) in the running process of the target vehicle, the ground control end constantly monitors road condition information of the target vehicle and running information of the target vehicle, and a video returned by the high-definition image transmission device has no pause phenomenon and a wireless transmission device has no interruption phenomenon of data transmission;
(4) the high-speed unmanned target vehicle can be manually intervened according to needs in the driving process, and the safety of the unmanned target vehicle is improved. The direction and speed of the target vehicle adopt a closed-loop control scheme, and the computer performs closed-loop control according to the current direction, speed and target direction of the target vehicle and the set speed, so that the accuracy is high.
Drawings
FIG. 1 is a schematic diagram of an external system of a high speed unmanned drone vehicle in accordance with an embodiment of the present invention;
fig. 2 is a system schematic diagram of a high-speed unmanned target vehicle according to an embodiment of the invention.
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.
Example 1: image autonomous driving mode testing:
referring to fig. 1 and 2, a road with road traffic markings is selected, and a target vehicle is placed in the center of the road traffic markings on both sides of the road. The distance between the ground control end and the target vehicle is 2km, the equipment is powered on, and the unmanned vehicle 1 is started.
and 3, entering remote control starting, wherein the terminal computer 11 transmits a starting control instruction through the terminal wireless transmission radio station 12, the vehicle-mounted wireless transmission radio station 4 transmits the starting control instruction to the vehicle-mounted computer 6 after receiving the starting control instruction, and the vehicle-mounted computer 6 controls the brake control motor 7 to rotate reversely after receiving the starting control instruction, so that the brake pedal of the unmanned vehicle 1 is released in place, and at the moment, the vehicle-mounted computer 6 reads the speed of the unmanned vehicle 1 in real time through an OBD port. And the vehicle-mounted computer 6 controls the accelerator control motor 8 to rotate forwards through PID closed-loop control according to the comparison between the current speed of the unmanned vehicle 1 and the set speed, and pulls down the accelerator pedal of the unmanned vehicle 1 through the accelerator pedal to accelerate to the set speed. The vehicle-mounted computer 6 reads the road surface characteristic information of the videos of the high-definition camera 13 all the time, the vehicle-mounted computer 6 resolves the deviation between the current position of the unmanned vehicle 1 and the central position of the road traffic markings on the two sides of the road according to the road traffic markings on the two sides of the road, and the vehicle-mounted computer 6 controls the direction control motor 9 to rotate forwards and backwards through PID closed-loop control, so that the direction of the unmanned vehicle is controlled, and the unmanned vehicle can always run along the central position of the road traffic markings on the two sides of the road. At the moment, the vehicle-mounted computer 6 returns the running information of the current unmanned vehicle 1, including the speed, the running distance and the deviation of the current position, through the vehicle-mounted wireless transmission radio station 4; the transmitter of the wireless image transmission device 14 transmits the traveling road surface information of the unmanned vehicle 1 to the receiver of the wireless image transmission device 14;
and 4, after 1min, the unmanned vehicle 1 stably reaches 80km/h with deviation amount of +/-2 km. The deviation of the unmanned vehicle 1 in the driving direction is +/-0.3 m;
step 5, in the driving process of the unmanned vehicle 1, the ground control end discovers that an obstacle is in front of the unmanned vehicle 1 through a receiver of the wireless image transmission device 14, at the moment, the terminal computer 11 is switched into a remote control mode to send a brake control command to the terminal wireless transmission radio station 12, the vehicle wireless transmission radio station 4 receives the brake control command and then transmits the brake control command to the vehicle-mounted computer 6, the vehicle-mounted computer 6 receives the brake control command and controls the brake control motor 7 to rotate forwards to pull the brake pedal of the unmanned vehicle 1 downwards through a brake cable, meanwhile, the vehicle-mounted computer 6 controls the accelerator control motor 8 to rotate backwards to lift the accelerator pedal of the unmanned vehicle 1 upwards through the accelerator cable, and at the moment, the unmanned vehicle 1 starts to brake; meanwhile, a left turn control instruction is sent to a terminal wireless transmission station 12 through a terminal computer 11, the vehicle-mounted wireless transmission station 4 receives the left turn control instruction and then transmits the left turn control instruction to a vehicle-mounted computer 6, the vehicle-mounted computer 6 receives the left turn control instruction and then controls a direction control motor 9 to rotate forwards to hit the steering wheel of the unmanned vehicle 1 leftwards through a direction execution mechanism, the unmanned vehicle 1 bypasses an obstacle and then sends a right turn control instruction to the terminal wireless transmission station 12 through the terminal computer 11, the vehicle-mounted wireless transmission station 4 receives the right turn control instruction and then transmits the right turn control instruction to the vehicle-mounted computer 6, and after the vehicle-mounted computer 6 receives the right turn control instruction, the direction control motor 9 is controlled to rotate backwards to hit the steering wheel of the unmanned vehicle 1 rightwards through the direction execution mechanism to drive the unmanned vehicle to the original driving road, at the moment, the vehicle-mounted computer 6 is restored to the automatic mode to control the speed and the direction through the PID closed loop;
step 6, when the driving distance of the unmanned vehicle reaches 3km/h, parking operation is executed, and the vehicle-mounted computer 6 sends a reverse control instruction to the accelerator control motor 8 to control the accelerator control motor to reversely rotate so as to lift the accelerator pedal of the unmanned vehicle upwards through an accelerator cable; meanwhile, the vehicle-mounted computer 6 sends a forward rotation control instruction to the accelerator control motor 8 to control the brake control motor to rotate forward and pull down the brake pedal of the unmanned vehicle through a brake cable. And when the vehicle-mounted computer 6 monitors that the speed of the unmanned vehicle 1 is zero, stopping all operations and finishing the test.
Example 2: GPS autonomous driving mode testing
Referring to the attached drawings 1-2, a road is selected, a target vehicle firstly calibrates a route needing to be driven by the target vehicle by using a GPS, after calibration is finished, the distance between a ground control end and the target vehicle is 2km, equipment is powered on, and an unmanned vehicle 1 is started.
and 3, entering remote control starting, wherein the terminal computer 11 transmits a starting control instruction through the terminal wireless transmission radio station 12, the vehicle-mounted wireless transmission radio station 4 transmits the starting control instruction to the vehicle-mounted computer 6 after receiving the starting control instruction, and the vehicle-mounted computer 6 controls the brake control motor 7 to rotate reversely after receiving the starting control instruction, so that the brake pedal of the unmanned vehicle 1 is released in place, and at the moment, the vehicle-mounted computer 6 reads the speed of the unmanned vehicle 1 in real time through an OBD port. And the vehicle-mounted computer 6 controls the accelerator control motor 8 to rotate forwards through PID closed-loop control according to the comparison between the current speed of the unmanned vehicle 1 and the set speed, and pulls down the accelerator pedal of the unmanned vehicle 1 through the accelerator pedal to accelerate to the set speed. The vehicle-mounted computer 6 reads the high-precision GPS5 at any moment and calculates the current position of the current unmanned vehicle 1, the vehicle-mounted computer 6 controls the direction control motor 9 to rotate forwards and backwards through PID closed-loop control according to the deviation between the current position of the unmanned vehicle 1 and a preset route position, and therefore the direction of the unmanned vehicle is controlled and the unmanned vehicle can always run along the preset route. At the moment, the vehicle-mounted computer 6 returns the running information of the current unmanned vehicle 1, including the speed, the running distance and the deviation of the current position, through the vehicle-mounted wireless transmission radio station 4; the transmitter of the wireless image transmission device 14 transmits the traveling road surface information of the unmanned vehicle 1 to the receiver of the wireless image transmission device 14;
and 4, after 1min, the unmanned vehicle 1 stably reaches 80km/h with deviation amount of +/-2 km. The deviation of the unmanned vehicle 1 in the driving direction is +/-0.3 m;
step 5, in the driving process of the unmanned vehicle 1, the ground control end discovers that an obstacle is in front of the unmanned vehicle 1 through a receiver of the wireless image transmission device 14, at the moment, the terminal computer 11 is switched into a remote control mode to send a brake control command to the terminal wireless transmission radio station 12, the vehicle wireless transmission radio station 4 receives the brake control command and then transmits the brake control command to the vehicle-mounted computer 6, the vehicle-mounted computer 6 receives the brake control command and controls the brake control motor 7 to rotate forwards to pull the brake pedal of the unmanned vehicle 1 downwards through a brake cable, meanwhile, the vehicle-mounted computer 6 controls the accelerator control motor 8 to rotate backwards to lift the accelerator pedal of the unmanned vehicle 1 upwards through the accelerator cable, and at the moment, the unmanned vehicle 1 starts to brake; meanwhile, a left turn control instruction is sent to a terminal wireless transmission station 12 through a terminal computer 11, the vehicle-mounted wireless transmission station 4 receives the left turn control instruction and then transmits the left turn control instruction to a vehicle-mounted computer 6, the vehicle-mounted computer 6 receives the left turn control instruction and then controls a direction control motor 9 to rotate forwards to hit the steering wheel of the unmanned vehicle 1 leftwards through a direction execution mechanism, the unmanned vehicle 1 bypasses an obstacle and then sends a right turn control instruction to the terminal wireless transmission station 12 through the terminal computer 11, the vehicle-mounted wireless transmission station 4 receives the right turn control instruction and then transmits the right turn control instruction to the vehicle-mounted computer 6, and after the vehicle-mounted computer 6 receives the right turn control instruction, the direction control motor 9 is controlled to rotate backwards to hit the steering wheel of the unmanned vehicle 1 rightwards through the direction execution mechanism to drive the unmanned vehicle to the original driving road, at the moment, the vehicle-mounted computer 6 is restored to the automatic mode to control the speed and the direction through the PID closed loop;
step 6, when the driving distance of the unmanned vehicle reaches 3km/h, parking operation is executed, and the vehicle-mounted computer 6 sends a reverse control instruction to the accelerator control motor 8 to control the accelerator control motor to reversely rotate so as to lift the accelerator pedal of the unmanned vehicle upwards through an accelerator cable; meanwhile, the vehicle-mounted computer 6 sends a forward rotation control instruction to the accelerator control motor 8 to control the brake control motor to rotate forward and pull down the brake pedal of the unmanned vehicle through a brake cable. And when the vehicle-mounted computer 6 monitors that the speed of the unmanned vehicle 1 is zero, stopping all operations and finishing the test.
Example analysis of results:
after the preparation of the high-speed unmanned target vehicle is finished, the power-on test is carried out, a ground control end inputs a control signal and starts the unmanned target vehicle to start the target vehicle for 1min to accelerate, the target vehicle enters a constant speed state after 1min and is stable near a set speed value, the deviation between the running speed of the stabilized target vehicle and the set speed is +/-2 km/h, and the deviation value of the ascending speed, the descending speed and the turning speed is larger and fluctuates +/-4 km/h. In the running process of the target vehicle, the left-right swinging amount of the target vehicle is +/-0.3 m, and the left-right swinging amount of the target vehicle on an uneven road surface is +/-0.5 m. The target vehicle automatically brakes after running to the set running distance, when the running speed is more than 80km/h, the braking distance is less than 100m, and when the running speed is less than 120km/h, the braking distance is less than 200 m. The target car is at the in-process of traveling, and target car road conditions information and target car information of traveling are monitored constantly to ground control end, and the video of high definition picture transmission equipment passback appears no stuck phenomenon, wireless transmission equipment transmission data appears no interrupt phenomenon, and high-speed unmanned target car can carry out manual intervention as required at the in-process of traveling and include: direction, throttle, brake, etc.
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 (8)
1. A high-speed unmanned target car which characterized in that: comprises a ground control end and a target vehicle execution end; the target vehicle execution end comprises an unmanned vehicle (1), a trailer (2), a target (3), a vehicle-mounted wireless transmission radio station (4), a high-precision GPS (5), a vehicle-mounted computer (6), a brake control motor (7), an accelerator control motor (8) and a direction control motor (9); the vehicle-mounted wireless transmission radio station is characterized in that the trailer (2) is connected with the unmanned vehicle (1) through a traction device (10), the target (3) is fixed on the trailer (2), and the vehicle-mounted wireless transmission radio station (4), the high-precision GPS (5), the brake control motor (7), the accelerator control motor (8) and the direction control motor (9) are arranged on the unmanned vehicle (1) and are electrically connected with the vehicle-mounted computer (6); the vehicle-mounted computer (6) is electrically connected with an OBD port of the unmanned vehicle (1); the ground control end comprises a terminal computer (11) and a terminal wireless transmission radio station (12), the terminal wireless transmission radio station (12) is electrically connected with the terminal computer (11), and the terminal wireless transmission radio station (12) is in wireless communication with the vehicle-mounted wireless transmission radio station (4).
2. The high speed unmanned target vehicle of claim 1, wherein: and the high-precision GPS (5), the accelerator control motor (8), the brake control motor (7), the vehicle-mounted wireless transmission radio station (4) and the direction control motor (9) are connected with the vehicle-mounted computer (6) through RS232 cables.
3. The high speed unmanned target vehicle of claim 1, wherein: the traction device (10) is a hard connection traction device.
4. The high speed unmanned target vehicle of claim 1, wherein: still include high definition digtal camera (13), high definition digtal camera (13) are installed in unmanned vehicle (1) dead ahead, and pass through USB cable connection with on-vehicle computer (6).
5. The high speed unmanned target vehicle of claim 1, wherein: the accelerator control motor (8) is connected with an accelerator pedal of the unmanned vehicle (1) through an accelerator cable.
6. The high speed unmanned target vehicle of claim 1, wherein: the brake control motor (7) is connected with a brake pedal of the unmanned vehicle (1) through a brake cable.
7. The high speed unmanned target vehicle of claim 1, wherein: and the direction control motor (9) drives a steering input shaft of a steering wheel of the unmanned vehicle (1) to rotate.
8. The high speed unmanned target vehicle of claim 1, wherein: also includes a wireless map transmission device (14); the transmitter of the wireless image transmission equipment (14) is arranged right in front of the unmanned vehicle (1) and is connected with the vehicle-mounted computer (6) through an RS232 cable; the receiver of the wireless image transmission equipment (14) is connected with the terminal computer (11) through an RS232 cable.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010346497.8A CN111487974A (en) | 2020-04-27 | 2020-04-27 | High-speed unmanned target vehicle |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111879184A (en) * | 2020-08-27 | 2020-11-03 | 航天科工智能机器人有限责任公司 | Moving target car system |
| CN112477909A (en) * | 2020-12-10 | 2021-03-12 | 浙江鲸叹科技有限公司 | Spliced unmanned automobile |
| CN113225680A (en) * | 2020-12-17 | 2021-08-06 | 陕西华通机电制造有限公司 | Unmanned target vehicle communication system |
| CN114185347A (en) * | 2021-12-02 | 2022-03-15 | 河北汉光重工有限责任公司 | Crawler-type unmanned target vehicle remote control system |
| CN114248707A (en) * | 2021-11-15 | 2022-03-29 | 河北汉光重工有限责任公司 | System for remotely displaying traveling state and fault early warning of unmanned target vehicle |
-
2020
- 2020-04-27 CN CN202010346497.8A patent/CN111487974A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111879184A (en) * | 2020-08-27 | 2020-11-03 | 航天科工智能机器人有限责任公司 | Moving target car system |
| CN112477909A (en) * | 2020-12-10 | 2021-03-12 | 浙江鲸叹科技有限公司 | Spliced unmanned automobile |
| CN112477909B (en) * | 2020-12-10 | 2022-04-12 | 浙江鲸叹科技有限公司 | Spliced unmanned automobile |
| CN113225680A (en) * | 2020-12-17 | 2021-08-06 | 陕西华通机电制造有限公司 | Unmanned target vehicle communication system |
| CN114248707A (en) * | 2021-11-15 | 2022-03-29 | 河北汉光重工有限责任公司 | System for remotely displaying traveling state and fault early warning of unmanned target vehicle |
| CN114185347A (en) * | 2021-12-02 | 2022-03-15 | 河北汉光重工有限责任公司 | Crawler-type unmanned target vehicle remote control system |
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