CN111775941A - Automatic unmanned vehicle and control system - Google Patents
Automatic unmanned vehicle and control system Download PDFInfo
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- CN111775941A CN111775941A CN201910204396.4A CN201910204396A CN111775941A CN 111775941 A CN111775941 A CN 111775941A CN 201910204396 A CN201910204396 A CN 201910204396A CN 111775941 A CN111775941 A CN 111775941A
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- LFQSCWFLJHTTHZ-UHFFFAOYSA-N Ethanol Chemical compound CCO LFQSCWFLJHTTHZ-UHFFFAOYSA-N 0.000 claims description 5
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- 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
- B60W30/182—Selecting between different operative modes, e.g. comfort and performance modes
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- 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
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
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- 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
-
- 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
- B60W40/04—Traffic conditions
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- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
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- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/143—Alarm means
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- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/146—Display means
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Human Computer Interaction (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The invention belongs to the technical field of unmanned driving, and particularly relates to an automatic unmanned vehicle and a control system, which comprise a vehicle body, wherein a conversion device for switching driving states, an acquisition device for monitoring traffic road conditions, a main control device for calculating and analyzing and sending corresponding instructions and a driving device for receiving and executing the instructions sent by the main control device are arranged on the vehicle body; the main control device comprises a software system, and the software system comprises a data receiving module, a data monitoring module, a data analysis module, a data decision module, a path planning module, a navigation module and an instruction module. The invention aims to provide an automatic unmanned vehicle, which is improved on the existing vehicle and is provided with a conversion device, a collection device, a main control device and a running device, so that the unmanned vehicle can be freely switched from active driving to active driving, and the problems of high cost and high potential safety hazard of the unmanned vehicle are solved.
Description
Technical Field
The invention belongs to the technical field of unmanned driving, and particularly relates to an automatic unmanned vehicle and a control system.
Background
At present, with the improvement of the living standard of people, more and more people buy the automobile, and with the rapid development of automobile electronic technology and intelligent technology, the future automobile development is changed towards the mode of active safety and intelligent driving and finally unmanned driving. At present, the demand of users for personalized use of vehicles is increasing, and particularly, the users switch between unmanned driving and active driving (man-made driving) of the vehicles. The unmanned driving is realized on the basis of links such as environment perception, real-time control, accurate execution and the like through a computer technology, an electronic communication technology, a sensing technology and the like.
The existing unmanned vehicles on the market are manufactured by new vehicles or modified by vehicles and need to be replaced completely, the production cost is high, most groups are hard to bear, and resource waste and fund waste are caused. The existing unmanned vehicle cannot meet diversified and personalized use requirements of customers, human misoperation is easy to exist, the consequences of situations such as overload, drunk driving and the like are serious when the unmanned vehicle is in use, and the problem needs to be solved urgently.
Disclosure of Invention
The invention aims to provide an automatic unmanned vehicle, which is improved on the existing vehicle and is provided with a conversion device, a collection device, a main control device and a running device, so that the unmanned vehicle can be freely switched from active driving to active driving, and the problems of high cost and high potential safety hazard of the unmanned vehicle are solved.
The purpose of the invention is realized as follows:
an automatic unmanned vehicle comprises a vehicle body, wherein a conversion device for switching driving states, an acquisition device for monitoring traffic conditions, a main control device for calculating, analyzing and sending corresponding instructions and a running device for receiving and executing the instructions sent by the main control device are arranged on the vehicle body;
the conversion device comprises an electronic intelligent main control panel, the electronic intelligent main control panel comprises a touch screen, and the touch screen is arranged on a display of the vehicle body; a driving switching button is arranged on one side of the touch screen; the vehicle body is also internally provided with a detection device and an alarm device for monitoring the state of a driver;
the collecting device comprises a laser ranging sensor and an ultrasonic ranging sensor which are arranged around the vehicle body, a millimeter wave radar is arranged in front of the vehicle body, the laser radar is arranged at the top of the vehicle body, a first camera, a second camera and a third camera arranged at the tail of the vehicle body are arranged on the rearview mirrors on the left side and the right side in front of the vehicle body, a water level monitoring sensor is arranged on a chassis of the vehicle body, a binocular camera is arranged at the head of the vehicle body, and the collecting device further comprises a data chain transceiver;
the main control device comprises an integrated circuit board, a memory, an I/0 circuit, a bus, a power supply circuit, a fireproof and waterproof circuit joint, an equipment box, a heat dissipation circuit, an anti-interference circuit and an electromagnetic shielding layer which are arranged on a main board of the vehicle body and supporting equipment thereof, and the main control device also comprises a navigation device for path planning;
the running device comprises an accelerator driving device, a brake driving device and a direction control device;
the conversion device, the acquisition device, the main control device and the running device are all electrically connected.
Further, a safety device is further mounted on the vehicle body, and comprises an alcohol detector arranged on a sun shield or a steering wheel, and an overload detection camera arranged on a rearview mirror inside the vehicle body; the safety device also includes a data bus interface for reading and monitoring data relating to the vehicle body.
Furthermore, the detection device comprises a biological sensor arranged on the steering wheel, an infrared detector and a camera detector which are arranged above the interior of the vehicle body; the alarm device comprises a buzzer or a loudspeaker.
Furthermore, the navigation device comprises a satellite positioner, a Beidou map, a Goodpasture map, an indoor navigation system, a memory and an input/output interface.
Further, all be provided with the motor on throttle drive equipment, brake drive equipment and the direction control equipment, be provided with photoelectric encoder on motor housing's the axis of rotation, be provided with hall sensor and motor temperature sensor on the motor coil, the last motor shock sensor that is provided with of motor housing.
Furthermore, the accelerator driving device comprises an accelerator rotating shaft, one end of the accelerator rotating shaft is provided with an accelerator rotating shaft adapter, the other end of the accelerator rotating shaft is connected with an accelerator pedal, the accelerator rotating shaft is also provided with an accelerator clutch, the accelerator clutch is connected with an accelerator gear box, and an accelerator motor is arranged on the accelerator gear box; the brake driving device comprises a brake rotating shaft, one end of the brake rotating shaft is provided with a brake rotating shaft adapter, the other end of the brake rotating shaft is connected with a brake pedal, the brake rotating shaft is also provided with a brake clutch, the brake clutch is connected with a brake gear box, and a brake motor is arranged on the brake gear box; the steering control equipment comprises a steering shaft, a steering wheel is installed at one end of the steering shaft, a steering wheel clutch is further arranged on the steering shaft and connected with a speed change gear box, a steering wheel steering motor is installed on the speed change gear box, and an angle encoder circuit board is arranged on the steering wheel steering motor.
Furthermore, the inside of throttle gear box, brake gear box and change gear box all is provided with gear box temperature sensor, all is provided with gear box vibrations sensor on the shell.
Furthermore, an accelerator pressure sensor is arranged on the accelerator clutch and is arranged on the accelerator rotating shaft and close to one side of the accelerator pedal; a brake pressure sensor is arranged on the brake clutch, the brake pressure sensor is arranged on the brake rotating shaft and close to one side of the brake rotating shaft adapter, and a gravity sensor is arranged on the brake pedal; and a separation sensor is arranged on the steering wheel clutch and is arranged on the steering shaft and close to one side of the steering wheel.
Further, the main control device is connected with an air-conditioning cooling system of the vehicle body; the main control device is also provided with a current voltmeter for monitoring circuit abnormity; the main control device is connected with an emergency standby system, and the emergency standby system is connected with the accelerator clutch, the brake clutch and the steering wheel clutch.
A control system comprises the automatic unmanned vehicle, the main control device comprises a software system, the software system comprises a data receiving module, a data monitoring module, a data analysis module, a data decision module, a path planning module, a navigation module and an instruction module, and the main control device analyzes, processes and calculates the data of the traffic road conditions, the surrounding fixed obstacles, the moving obstacles, the traffic rules, the vehicle distances and the like acquired by the acquisition device and sends instructions of deceleration, acceleration, obstacle avoidance, parking, overtaking, steering, lane changing and the like to a driving device.
Compared with the prior art, the invention has the outstanding and beneficial technical effects that:
1. according to the invention, through the conversion device, the acquisition device, the main control device and the running device on the vehicle body, the free switching between unmanned driving and active driving of the vehicle is realized, the whole vehicle is not required to be completely replaced or newly manufactured, the cost and the resources are greatly saved, and the diversified and personalized use requirements of consumers are met.
2. According to the invention, the laser ranging sensor, the ultrasonic ranging sensor, the millimeter wave radar, the laser radar, the first camera, the second camera, the third camera, the water level monitoring sensor and the binocular camera are arranged to detect the conditions of obstacles, short-distance obstacles, water level and water puddles around the vehicle body, so that the all-directional driving safety during unmanned driving is ensured to a great extent.
3. By arranging the safety device, the invention prevents manual misoperation, controls overload, reduces drunk driving and safety accidents, and greatly eliminates potential safety hazards when using the unmanned vehicle.
Drawings
FIG. 1 is a schematic diagram of the present invention.
FIG. 2 is a second schematic structural diagram of the present invention.
Fig. 3 is a schematic view of the structure of the vehicle interior part of the present invention.
Fig. 4 is a schematic view of the motor structure of the present invention.
Fig. 5 is a schematic structural diagram of the throttle driving device of the invention.
Fig. 6 is a schematic structural view of the brake actuating apparatus of the present invention.
Fig. 7 is a schematic view of the structure of the direction control apparatus of the present invention.
Fig. 8 is a configuration diagram of the main control device of the present invention.
Reference numerals:
1-a vehicle body; 2-laser ranging sensor; 3-ultrasonic ranging sensor; 4-millimeter wave radar;
5-laser radar; 6-a first camera; 7-a second camera; 8-a third camera;
9-water level monitoring sensor; 10-binocular camera; 11-a data link transceiver; 12-an alcohol detector;
13-overload detection camera; 14-touch screen; 15-driving toggle button; 16-a biosensor;
17-an infrared detector; 18-a camera detector; 19-a buzzer; 20-a motor housing; 21-a photoelectric encoder;
22-a motor coil; 23-a hall sensor; 24-a motor temperature sensor; 25-a motor vibration sensor;
26-throttle shaft; 27-accelerator rotating shaft adapter; 28-accelerator pedal; 29-throttle clutch;
30-throttle gear box; 31-throttle motor; 32-brake rotating shaft; 33-brake rotating shaft adapter;
34-a brake pedal; 35-brake clutch; 36-brake gear box; 37-a brake motor; 38-steering shaft;
39-a steering wheel; 40-a steering wheel clutch; 41-a change gear box; 42-steering wheel steering motor;
43-angle encoder circuit board; 44-gearbox temperature sensor; 45-gearbox vibration sensor;
46-throttle pressure sensor; 47-brake pressure sensor; 48-gravity sensor; 49-a separate sensor;
50-air conditioning system.
Detailed Description
The following describes embodiments of the present invention in further detail with reference to the accompanying drawings.
An automated unmanned vehicle.
As shown in fig. 1 and 2, the vehicle comprises a vehicle body 1, wherein a switching device for switching driving states, a collecting device for monitoring traffic conditions, a main control device for calculating, analyzing and sending corresponding instructions, and a driving device for receiving and executing the instructions sent by the main control device are mounted on the vehicle body 1. The conversion device, the acquisition device, the main control device and the running device are all electrically connected. The invention skillfully arranges different functional devices on the existing structure of the automatic transmission vehicle to achieve the free switching between unmanned driving and active driving of the vehicle.
The conversion device can be freely switched according to the requirements of a driver and comprises an electronic intelligent main control panel, wherein the electronic intelligent main control panel comprises a touch screen 14, and the touch screen 14 is arranged on a display of the vehicle body 1 or a special display screen developed according to the invention is replaced; a driving switching button 15 is arranged on one side of the touch screen; the vehicle body 1 is also provided with a detection device and an alarm device for monitoring the state of a driver. The detection device is used for detecting whether the vehicle is in an unmanned state in the active driving mode or not and giving an alarm according to the situation.
Referring specifically to fig. 3, the detection device includes a biosensor 16 disposed on a steering wheel 39, an infrared detector 17 and a camera detector 18 disposed above the interior of the vehicle body 1; the alarm means comprises a buzzer 19 or a loudspeaker.
The acquisition device comprises a laser ranging sensor 2 and an ultrasonic ranging sensor 3 which are arranged around the vehicle body 1, wherein the laser ranging sensor 2 is used for detecting that the environment around the vehicle body 1 comprises obstacles and a road surface, and the ultrasonic ranging sensor 3 is used for detecting short-distance obstacles; a millimeter wave radar 4 is arranged in front of the vehicle body 1 and used for detecting obstacles in front of the vehicle body 1; the top of the vehicle body 1 is provided with a laser radar 5 for detecting 3D omnibearing obstacles around the vehicle body 1; a first camera 6, a second camera 7 and a third camera 8 arranged at the tail part of the vehicle body 1 are arranged on the rearview mirrors at the left side and the right side in front of the vehicle body 1, and the third camera 8 is connected to a reversing camera image system of the vehicle body 1; a chassis of the vehicle body 1 is provided with a water level monitoring sensor 9 for detecting the current water level condition of the vehicle; the head of the vehicle body 1 is provided with a binocular camera 10 for detecting a water pit in front of the vehicle. Gather the ripple pattern, the reflection of the image or the regional interior environment contrast etc. of the sump in automobile body 1 the place ahead through binocular camera 10, carry out image recognition algorithm through the morphological change of water and judge the sump degree of depth in the place ahead, area, work as the sump degree of water level degree of depth that binocular camera 10 gathered can't be confirmed or the water level area is too big, with the information transmission who gathers to master control set, send the instruction to running gear through master control set and slow down and park, remind navigating mate and manual switching to initiative driving state simultaneously. The acquisition device further comprises a data link transceiver 11, wherein the data link transceiver 11 is arranged at the rear part of the vehicle body 1 and mainly comprises other wireless signal transmission devices through GPRS, WiFi and 3G/4G/5G. The data collected by the collecting device is used for analyzing environmental road conditions, and if the current traffic road conditions comprise indicating lamps, speed limit, traffic limitation, driving routes, road structures, pavements, driving lanes and the like, and fixed barriers around the barriers are as follows: parking vehicles, isolation barriers, flower beds, temporary barriers, etc., moving obstacles such as: the system comprises pedestrians, moving vehicles, animals and the like, water levels and the like, wherein if the acquisition device finds abnormality, information is transmitted to the main control device, and the main control device sends an instruction to the running device after receiving the information, automatically gives an alarm and drives the vehicles to stop in a safety zone for parking inspection.
The main control device comprises an integrated circuit board, a memory, an I/0 circuit, a bus, a power supply circuit, a fireproof waterproof circuit joint, an equipment box, a heat dissipation circuit, an anti-interference circuit and an electromagnetic shielding layer, wherein the integrated circuit board, the memory, the I/0 circuit, the bus, the power supply circuit, the fireproof waterproof circuit joint, the equipment box, the heat dissipation circuit, the anti-interference circuit and the electromagnetic shielding layer are arranged on a main board of the vehicle body 1 and supporting. The integrated circuit board comprises integrated circuits such as a CPU, a GPU, an FPGA, a DSP and the like and auxiliary circuit boards thereof. The navigation device comprises a satellite positioner, a Beidou map, a Gaode map, an Tencent map, a Baidu map, an indoor navigation system, a memory and an input/output interface. The satellite positioner, the Beidou map, the Gaode map, the Tencent map and the Baidu map are used for acquiring navigation information, the motor vehicle running path of a destination is planned by acquiring navigation pattern information, the automatic navigation information is derived from grafting external Beidou map, the Gaode map, the Tencent map or the Baidu map to realize path planning, and indoor navigation can adopt an indoor navigation system to lead the vehicle to back up and park according to coordinate points of parking spaces and fixed parking spaces of a parking lot; the reverse gear shifting is performed in an active driving state.
The main control device also comprises a matched software system which comprises a data receiving module, a data monitoring module, a data analysis module, a data decision module, a path planning module, a navigation module and an instruction module. The path planning includes automatic navigation, backing and steering of the vehicle during unmanned driving, and the path planning is wirelessly received by the main control device, and sends out an instruction to perform navigation of the vehicle in the unmanned driving state and is displayed on the touch screen 14. The main control device is used for acquiring current traffic road conditions including indicator lights, speed limit, traffic restriction, driving routes, road structures, road surfaces, driving lanes and the like, and fixing obstacles around such as: parking vehicles, isolation barriers, flower beds, temporary barriers, etc., moving obstacles such as: the speed, distance, direction and other information of pedestrians, moving vehicles, animals and the like are calculated and analyzed, and commands such as starting, stopping, accelerating, decelerating, obstacle avoidance, steering, lane changing and the like are sent out.
The driving device comprises an accelerator driving device, a brake driving device and a direction control device. The driving device acts on the brake and the accelerator of the vehicle according to the instructions sent by the main control device, such as the current traffic road conditions, speed limit requirements, obstacle avoidance and the like, and completes the operations of starting, accelerating, decelerating, steering and the like of the vehicle.
As shown in fig. 3, a safety device is further installed on the vehicle body 1, and is used for collecting and alarming information such as brake oil or brake pads, drunk driving, overload and the like, the safety device comprises an alcohol detector 12 arranged on a sun shield or a steering wheel 39, and the alcohol detector 12 is used for identifying whether a driver drives drunk driving and reminding the driver to manually switch an unmanned driving state; an overload detection camera 13 arranged on a rearview mirror inside the vehicle body 1 identifies the condition of a vehicle passenger through images, and if the vehicle passenger is in excess, the vehicle automatically reminds that the vehicle stops running in an unmanned state; the safety device also comprises a data bus interface for reading and monitoring the relevant data of the vehicle body 1, and can read, monitor, remind and use other data such as a vehicle brake pad, brake oil, tire pressure, a vehicle door, speed, oil quantity, gear oil and the like, and if safe driving is influenced, the main control device automatically prompts an alarm and indicates the driving device to drive the vehicle to stop and check in a safe zone.
As shown in fig. 5, 6 and 7, the throttle gear box 30, the brake gear box 36 and the speed change gear box 41 are all provided with gear box temperature sensors 44 inside, and the shell is provided with gear box vibration sensors 45. The invention judges whether each gear box normally operates or not by detecting the engine oil temperature, the gear rotation and other parameters of the gear box, when the abnormality is found, the main control device automatically prompts an alarm and instructs the running device to drive the vehicle to stop and check in a safety zone, and the emergency lamp is started. And motors are arranged on the accelerator driving device, the brake driving device and the direction control device. Referring to fig. 4 in particular, a photoelectric encoder 21 is disposed on a rotating shaft of the motor housing 20, a hall sensor 23 and a motor temperature sensor 24 are disposed on the motor coil 22, and a motor vibration sensor 25 is disposed on the motor housing 20. The invention judges whether the motor normally operates or not by collecting parameters of the motor such as rotating speed, temperature, vibration and the like, when the motor is abnormal, the main control device automatically alarms and instructs the driving device to drive the vehicle to stop in a safety zone for parking inspection, and the emergency lamp is started.
As shown in fig. 5, the accelerator driving device includes an accelerator rotating shaft 26, one end of the accelerator rotating shaft 26 is provided with an accelerator rotating shaft adapter 27, the other end of the accelerator rotating shaft 26 is connected with an accelerator pedal 28, the accelerator rotating shaft 26 is further provided with an accelerator clutch 29, the accelerator clutch 29 is connected with an accelerator gear box 30, and an accelerator motor 31 is installed on the accelerator gear box 30. The accelerator clutch 29 is provided with an accelerator pressure sensor 46, and whether the accelerator clutch 29 works normally is detected through the weight of an accelerator. The accelerator pressure sensor 46 is disposed on the accelerator shaft 26 near one side of the accelerator pedal 28. The accelerator clutch 29 receives an instruction of a running device and has an automatic closing or separating function, when the accelerator clutch 29 is closed, the force of the accelerator pedal 28 is automatically controlled, namely, the running speed for converting the oil supply amount is automatically controlled, and when the accelerator clutch 29 is separated, the manual control is realized.
As shown in fig. 6, the brake driving device includes a brake rotating shaft 32, one end of the brake rotating shaft 32 is provided with a brake rotating shaft adapter 33, the other end of the brake rotating shaft is connected with a brake pedal 34, the brake rotating shaft 32 is further provided with a brake clutch 35, the brake clutch 35 is connected with a brake gear box 36, and a brake motor 37 is installed on the brake gear box 36. The brake pressure sensor 47 is arranged on the brake clutch 35, and the weight of the brake is used for detecting whether the brake clutch 35 works normally or not. Brake pressure sensor 47 sets up on the brake pivot 32 and be close to one side of brake pivot adapter 33, install gravity inductor 48 on the brake pedal 34, work as master control set sends the instruction to brake drive device, brake clutch 35 can not normally work the time, gravity inductor 48 to master control set sends the instruction, reminds the driver after, carries out artificial brake speed reduction and parks. The brake clutch 35 receives the instruction of the running device and has an automatic closing or separating function, when the brake clutch 35 is closed, the force of the brake pedal 34 is automatically controlled to control the running speed or stop of the vehicle, and when the brake clutch 35 is separated, manual control is achieved.
As shown in fig. 7, the direction control device includes a steering shaft 38, a steering wheel 39 is mounted at one end of the steering shaft 38, a steering wheel clutch 40 is further disposed on the steering shaft 38, the steering wheel clutch 40 is connected with a speed change gear box 41, a steering wheel steering motor 42 is mounted on the speed change gear box 41, and an angle encoder circuit board 43 is disposed on the steering wheel steering motor 42. The steering clutch 40 is provided with a release sensor 49, and the release sensor 49 is provided on the steering shaft 38 on a side close to the steering wheel 39. The steering wheel clutch 40 receives the instruction of the running device and has an automatic folding or separating function, when the steering wheel clutch 40 is folded, the steering wheel steering motor 42 rotates to drive the change gear box 41 to rotate, and the rotation of the steering wheel 39 is controlled according to the angle value on the angle encoder circuit board 43. The separation sensor 49 detects whether the steering wheel 39 and the steering wheel clutch 40 normally work through detecting the rotation direction, the equal operation angle data of the direction rotating shaft of the steering wheel clutch 40 and the separation data to judge whether the steering wheel clutch 40 normally works, and when the abnormality is found, the main control device automatically gives an alarm and indicates the running device to drive the vehicle to stop and check in a safety zone, and the emergency lamp is started.
Preferably, the main control device is connected with an air-conditioning cooling system 50 of the vehicle body 1, and the environment suitable for the main control device is reduced through the air-conditioning cooling system 50; the main control device is also provided with a current voltmeter for monitoring circuit abnormity; the main control device is connected with an emergency standby system, and the emergency standby system is connected with the accelerator clutch 29, the brake clutch 35 and the steering wheel clutch 40. When the data of the current voltmeter are abnormal, namely the main control device works abnormally, the emergency standby system is automatically started, alarms are reminded, meanwhile, an instruction is sent to the running device, and the accelerator clutch 29, the brake clutch 35 and the steering wheel clutch 40 are automatically separated and then enter an active driving mode.
The automatic driving and the active driving are established by the person with an active driving license approved by the national administration, and the automatic driving and the active driving of the vehicle are operated. After the vehicle modified according to the invention is tested repeatedly on the spot, the field model can be put into use after various moving obstacles, fixed obstacles and various traffic rule identification tests, the speed which is granted by a traffic control department is ensured to be reduced by 10-20 percent when the vehicle runs automatically, the speed is controlled by the main control device, and the vehicle runs safely by the running device.
The invention provides an automatic unmanned vehicle, which is additionally provided with an unmanned technical device under the condition that the structure of the original vehicle is not changed, is provided with hardware functional equipment and software equipment matched with the hardware device, is additionally provided with series equipment according to each function on the basis of each original function of the vehicle, does not change all structures of the original vehicle and the change of safe driving performance of active driving and the change of operation and control after the equipment is added, and can achieve and realize the free switching between the unmanned driving and the active driving of the vehicle.
After the automatic driving technology is added, human misoperation is prevented, overload is controlled, drunk driving and safety accidents are reduced, meanwhile, the method can be directly applied to the existing owned vehicles and the groups which have unmanned driving requirements and desire to own, the use of the unmanned vehicles can be realized and owned by reducing the capital investment, the waste of national resources can be reduced, the cost is saved, and diversified and personalized use requirements of customers are met.
The specific working process of the scheme is as follows:
the invention mainly comprises a conversion device, a collection device, a main control device, a running device and a safety device. The conversion device transmits information to the acquisition device when the unmanned vehicle drives, after the signals received by the acquisition device, the data acquired by the acquisition device are stably transmitted to the main control device, and the main control device can send instructions to the driving device after analysis and unmanned driving. The unmanned driving state and the active driving state are switched by pedestrians after being artificially started; the vehicle backing and gear shifting are manually controlled in the active driving state, the unmanned driving mode and the active driving mode are switched by clicking the touch screen 14 or the driving switching button 15, and the buzzer 19 or the loudspeaker is used for reminding. The acquisition device receives the instruction of the conversion device and then transmits the instruction to the main control device, the main control device receives the information and then sends the instruction to the running device, the running device drives the steering wheel clutch 40, the accelerator clutch 29 and the brake clutch 35 to execute the instruction, the steering wheel clutch 40, the accelerator clutch 29 and the brake clutch 35 are automatically closed and then unmanned driving is carried out, and active driving stopping operation is prompted; the steering wheel clutch 40, the accelerator clutch 29 and the brake clutch 35 are automatically separated to enter active driving, and unmanned driving is prompted to stop entering active driving operation.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and substitutions can be made without departing from the technical principle of the present invention, and these modifications and substitutions should also be regarded as the protection scope of the present invention.
Claims (10)
1. An automatic unmanned vehicle, includes automobile body (1), its characterized in that: the vehicle body (1) is provided with a conversion device for switching driving states, an acquisition device for monitoring traffic road conditions, a main control device for calculating and analyzing and sending corresponding instructions and a running device for receiving and executing the instructions sent by the main control device;
the conversion device comprises an electronic intelligent main control panel, the electronic intelligent main control panel comprises a touch screen (14), and the touch screen (14) is arranged on a display of the vehicle body (1); a driving switching button (15) is arranged on one side of the touch screen (14); a detection device and an alarm device for monitoring the state of a driver are also arranged in the vehicle body (1);
the collecting device comprises a laser ranging sensor (2) and an ultrasonic ranging sensor (3) which are arranged around the vehicle body (1), a millimeter wave radar (4) is arranged in front of the vehicle body (1), the laser radar (5) is arranged at the top of the vehicle body (1), a first camera (6), a second camera (7) and a third camera (8) arranged at the tail of the vehicle body (1) are arranged on the rearview mirrors at the left side and the right side of the front of the vehicle body (1), a water level monitoring sensor (9) is arranged on a chassis of the vehicle body (1), a binocular camera (10) is arranged at the head of the vehicle body (1), and the collecting device further comprises a data chain transceiver (11);
the main control device comprises an integrated circuit board, a memory, an I/0 circuit, a bus, a power supply circuit, a fireproof and waterproof circuit joint, an equipment box, a heat dissipation circuit, an anti-interference circuit and an electromagnetic shielding layer which are arranged on a main board of the vehicle body (1) and supporting equipment thereof, and the main control device also comprises a navigation device for path planning;
the running device comprises an accelerator driving device, a brake driving device and a direction control device;
the conversion device, the acquisition device, the main control device and the running device are all electrically connected.
2. An automated unmanned vehicle according to claim 1, wherein: the automobile body (1) is also provided with a safety device, the safety device comprises an alcohol detector (12) arranged on a sun shield or a steering wheel (39) and an overload detection camera (13) arranged on a rearview mirror inside the automobile body (1); the safety device further comprises a data bus interface for reading and monitoring data relating to the vehicle body (1).
3. An automated unmanned vehicle according to claim 1 or 2, wherein: the detection device comprises a biological sensor (16) arranged on a steering wheel (39), an infrared detector (17) and a camera detector (18) which are arranged above the interior of the vehicle body (1); the alarm device comprises a buzzer (19) or a loudspeaker.
4. An automated unmanned vehicle according to claim 1, wherein: the navigation device comprises a satellite positioner, a Beidou map, a Gaode map, an indoor navigation system, a memory and an input/output interface.
5. An automated unmanned vehicle according to claim 1, wherein: all be provided with the motor on throttle drive device, brake drive device and the direction control equipment, be provided with photoelectric encoder (21) on the axis of rotation of motor housing (20), be provided with hall sensor (23) and motor temperature sensor (24) on motor coil (22), be provided with motor shock sensor (25) on motor housing (20).
6. An automated unmanned vehicle according to claim 1 or 5, wherein: the accelerator driving device comprises an accelerator rotating shaft (26), one end of the accelerator rotating shaft (26) is provided with an accelerator rotating shaft adapter (27), the other end of the accelerator rotating shaft is connected with an accelerator pedal (28), the accelerator rotating shaft (26) is also provided with an accelerator clutch (29), the accelerator clutch (29) is connected with an accelerator gear box (30), and an accelerator motor (31) is arranged on the accelerator gear box (30); the brake driving device comprises a brake rotating shaft (32), one end of the brake rotating shaft (32) is provided with a brake rotating shaft adapter (33), the other end of the brake rotating shaft is connected with a brake pedal (34), the brake rotating shaft (32) is also provided with a brake clutch (35), the brake clutch (35) is connected with a brake gear box (36), and a brake motor (37) is installed on the brake gear box (36); the direction control equipment comprises a steering shaft (38), a steering wheel (39) is installed at one end of the steering shaft (38), a steering wheel clutch (40) is further arranged on the steering shaft (38), the steering wheel clutch (40) is connected with a speed change gear box (41), a steering wheel steering motor (42) is installed on the speed change gear box (41), and an angle encoder circuit board (43) is arranged on the steering wheel steering motor (42).
7. An automated unmanned vehicle according to claim 6, wherein: the inside of throttle gear box (30), brake gear box (36) and change gear box (41) all is provided with gear box temperature sensor (44), all is provided with gear box vibrations sensor (45) on the shell.
8. An automated unmanned vehicle according to claim 6, wherein: an accelerator pressure sensor (46) is arranged on the accelerator clutch (29), and the accelerator pressure sensor (46) is arranged on the accelerator rotating shaft (26) and close to one side of the accelerator pedal (28); a brake pressure sensor (47) is arranged on the brake clutch (35), the brake pressure sensor (47) is arranged on the brake rotating shaft (32) and close to one side of the brake rotating shaft adapter (33), and a gravity sensor (48) is arranged on the brake pedal (34); a separation sensor (49) is arranged on the steering wheel clutch (40), and the separation sensor (49) is arranged on the steering shaft (38) and close to one side of the steering wheel (39).
9. An automated unmanned vehicle according to claim 1, wherein: the main control device is connected with an air-conditioning cooling system (50) of the vehicle body (1); the main control device is also provided with a current voltmeter for monitoring circuit abnormity; the main control device is connected with an emergency standby system, and the emergency standby system is connected with the accelerator clutch (29), the brake clutch (35) and the steering wheel clutch (40).
10. A control system, characterized by: the automatic unmanned vehicle as claimed in any one of claims 1-9, wherein the master control device comprises a software system, the software system comprises a data receiving module, a data monitoring module, a data analysis module, a data decision module, a path planning module, a navigation module and an instruction module, and the master control device analyzes, processes and calculates the data of the traffic road condition, the surrounding fixed obstacles, the moving obstacles, the traffic rules, the vehicle distance and the like acquired by the acquisition device and sends instructions of deceleration, acceleration, obstacle avoidance, parking, overtaking, steering, lane changing and the like to the driving device.
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| CN201910204396.4A CN111775941A (en) | 2019-03-18 | 2019-03-18 | Automatic unmanned vehicle and control system |
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Effective date of registration: 20240415 Address after: Room 102, No. 1, Xiaoshaoqing Village, Guangnan Community, Qidian Street, Yangzonghai Scenic Spot, Kunming City, Yunnan Province, 650500 Applicant after: Wisdom Ltd. Country or region after: China Address before: 650106 rooms 318 and 319, 3rd floor, comprehensive office building of Xincheng (majinpu) high tech industrial base, high tech Development Zone, Kunming, Yunnan Applicant before: YUNNAN ZHONGSHANG ZHENGXIAO AGRICULTURAL TECHNOLOGY Co.,Ltd. Country or region before: China |