CN112133153A - Unmanned vehicle line control chassis teaching training platform and use method thereof - Google Patents
Unmanned vehicle line control chassis teaching training platform and use method thereof Download PDFInfo
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- CN112133153A CN112133153A CN202010982287.8A CN202010982287A CN112133153A CN 112133153 A CN112133153 A CN 112133153A CN 202010982287 A CN202010982287 A CN 202010982287A CN 112133153 A CN112133153 A CN 112133153A
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- 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
- G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
- G09B9/04—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of land vehicles
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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
- G09B25/02—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes of industrial processes; of machinery
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Abstract
The invention relates to the technical field of unmanned vehicles, in particular to an unmanned vehicle line control chassis teaching practical training platform and a using method thereof. This real platform of instructing of unmanned vehicle drive-by-wire chassis teaching includes: the device comprises a bracket, and an action execution module and a display teaching module which are supported on the bracket; the action execution module is used for simulating the action of the chassis controlled by the unmanned vehicle in the driving process of the unmanned vehicle; the display teaching module is connected with the action execution module and used for outputting a control instruction for controlling the action of the action execution module and receiving and displaying the working parameters fed back by the action execution module; an expansion control interface is reserved on the display teaching module. In addition, the system also comprises a sensor module which is used for researching the sensing capability of a sensor arranged on the wire control chassis of the unmanned vehicle, and a data transmission interface is reserved on the sensor module. The teaching training platform is small in size, light in weight and low in cost, has an external expanded communication interface, and can be expanded in function.
Description
Technical Field
The invention relates to the technical field of unmanned vehicles, in particular to an unmanned vehicle line control chassis teaching practical training platform and a using method thereof.
Background
The unmanned automobile is a revolution of modern automobile technology, and the drive-by-wire technology of a chassis is an important component of the unmanned technology. Currently, more and more universities and universities offer courses in the aspect of unmanned automobiles, and all relate to the design of an automatic driving algorithm at the top layer, a sensor fusion technology, steer-by-wire at the bottom layer, a brake-by-wire technology and the like. In order to meet the requirements of various universities and colleges in actual teaching, a drive-by-wire chassis training platform for teaching needs to be designed to be used as a teaching aid.
The existing practical training teaching platform has the following defects:
1. the existing practical training teaching platform is mostly transplanted to a chassis of a passenger vehicle, and has larger volume and higher cost.
2. The existing practical training teaching platform has no external expanded communication interface and no functional expansibility.
3. The existing practical training teaching platform can only solve the teaching and practical training work of the drive-by-wire chassis related to machinery and the electrical principle of the chassis, but can not solve the teaching and practical training work of the control algorithm principle of the top layer of the drive-by-wire chassis.
Disclosure of Invention
The purpose of the invention is: aiming at the defects of the prior art, the teaching and practical training platform for the unmanned vehicle linear control chassis is provided, is small in size, light in weight and low in cost, is provided with an external expansion communication interface, and can be expanded in function.
Unmanned car line accuse chassis teaching real standard platform include: the device comprises a bracket, and an action execution module and a display teaching module which are supported on the bracket;
the action execution module is used for simulating the action of the chassis controlled by the unmanned vehicle in the driving process of the unmanned vehicle;
the display teaching module is connected with the action execution module and used for outputting a control instruction for controlling the action of the action execution module and receiving and displaying the working parameters fed back by the action execution module; and an expansion control interface is reserved on the display teaching module.
As a preferred mode of the invention, the device further comprises a sensor training module; the sensor training module is used for researching the sensing capability of a sensor arranged on the unmanned vehicle line control chassis, and a data transmission interface is reserved on the sensor module.
As a preferred embodiment of the present invention, the present invention further comprises: a joint debugging joint test control unit;
an automatic driving control program, a vehicle dynamics simulation program and a map are preset in the joint debugging joint test control unit;
the display teaching module is connected with the joint debugging joint test control unit through a reserved expansion control interface, and the sensor training module is connected with the joint debugging joint test control unit through a reserved data transmission interface.
As a preferred aspect of the present invention, the action execution module includes: a steer-by-wire system or/and a drive-by-wire and brake system.
As a preferred mode of the present invention, the action execution module is provided with a fast prototype controller.
As a preferred mode of the present invention, the sensor training module includes: at least one of a laser radar sensing practical training unit, a camera sensing practical training unit and a millimeter wave radar/ultrasonic radar sensing practical training unit;
the laser radar perception training unit comprises: a lidar and a simulated obstacle supported on the support; the laser radar is connected with the display teaching module and used for sending real-time point cloud data around the scanned simulated barrier to the display teaching module;
real standard unit of camera perception includes: a camera and a display supported on the stand; the display is used for playing videos simulating road conditions, and the camera is connected with the display teaching module; the camera shoots pictures on the display to obtain video data, and the video data is sent to the display teaching module;
the millimeter wave radar/ultrasonic radar perception training unit comprises: a millimeter wave radar/ultrasonic radar, a simulated obstacle supported on the mount; the millimeter wave radar/ultrasonic radar is connected with the display teaching module and used for obtaining the distance and the speed of the simulated barrier and sending the distance and the speed to the display teaching module for displaying.
As a preferred mode of the present invention, an external data connection interface is further reserved on the display teaching module.
As a preferable mode of the present invention, when the motion execution module includes a steer-by-wire system, the bracket is provided with an angle measuring instrument for measuring a steering angle of a tire in real time; and the angle measuring instrument sends the measured steering angle to the display teaching module in real time for display.
In addition, the invention provides a use method of the unmanned vehicle drive-by-wire chassis teaching practical training platform, wherein the action execution module comprises: a steer-by-wire system or/and a drive-by-wire and brake system;
when the steer-by-wire system needs to be trained: the display teaching module is used for controlling the work of the steer-by-wire system, and the display teaching module can configure the left and right limit values and the steering speed of the steer-by-wire system and simulate steering lock; in addition, the display teaching module can receive an external control instruction through a reserved expansion control interface to control the action of the steer-by-wire system;
when the drive-by-wire and brake system needs to be trained: the display teaching module is used for controlling the drive-by-wire and brake system to work, and can be configured with the maximum rotating speed, the maximum braking force, the driving mode and the brake mode of the drive-by-wire and brake system, simulate various faults and check fault protection conditions, wherein the faults comprise overheating of a driving motor/a brake motor and insufficient brake oil pressure; in addition, the display teaching module can receive an external control instruction through a reserved expansion control interface to control the drive-by-wire and the brake system to act.
As a preferred mode of the present invention, the teaching and training platform for the unmanned vehicle linear control chassis further includes a sensor training module, and the sensor training module includes: at least one of a laser radar sensing practical training unit, a camera sensing practical training unit and a millimeter wave radar/ultrasonic radar sensing practical training unit;
when the laser radar needs to be subjected to practical training: checking real-time point cloud data scanned by the laser radar through the display teaching module; changing the working mode of the laser radar by configuring the working parameters of the laser radar, and realizing practical training of the laser radar in different working modes; simulation barriers of different shapes and different materials are placed on the support, and the sensing conditions of the laser radar on the different barriers are researched;
when the camera needs to be trained: playing a video simulating road conditions through a display supported on the support, shooting pictures on the display by using the camera, sending the shot video data to the display teaching module, and identifying and displaying the property, distance and speed of a target in the video data by the display teaching module;
when the millimeter wave radar/ultrasonic radar needs to be subjected to practical training: checking the distance and the speed of the simulated obstacle obtained by the millimeter wave radar/ultrasonic radar through the display teaching module; the sensing capability of the millimeter wave radar in different states is researched by adjusting the installation angle of the millimeter wave radar, placing simulated obstacles of different shapes and different materials on the support.
As a preferred mode of the present invention, a fast prototype controller is disposed in the action execution module, and the behavior of different control models in the steer-by-wire system is verified by modifying a steering control model in the fast prototype controller to directly modify the bottom logic of the steering system; the performance of different control models in a drive and brake-by-wire system is verified by modifying the bottom logic of the drive and brake control models in the rapid prototype controller.
As a preferred mode of the present invention, the teaching training platform for the unmanned vehicle linear control chassis further includes: a joint debugging joint test control unit;
when needing to carry out real standard to unmanned vehicle autopilot process: the display teaching module is connected with the joint debugging control unit through a reserved expansion control interface, and the sensor module is connected with the joint debugging control unit through a reserved data transmission interface;
the joint debugging joint test control unit generates a control command for the action execution module after calculating through an internal automatic driving control program by utilizing an internal vehicle dynamics simulation program and a map according to information transmitted by each sensor on the sensor training module, and sends the control command to the action execution module through a communication line to execute a corresponding control command so as to simulate the automatic driving process of the unmanned vehicle.
Has the advantages that:
(1) an expansion communication interface is reserved in the action execution module, the display teaching module and the sensor training module, and the expansion communication interface can be used in a combined mode or even can combine all parts into a platform for realizing system training.
(2) A controller developed based on rapid prototyping is used in the action execution module, so that the bottom-layer logic in the actuator can be changed, and a platform for researching a chassis top-layer control algorithm is provided for teaching.
(3) The teaching training platform uses an execution mechanical structure with simple structure and high transmission efficiency as an actuator of a steer-by-wire, a drive-by-wire and a braking system, and has small volume, light weight and low cost.
Drawings
Fig. 1 and 2 are schematic views illustrating the practical training platform when the steer-by-wire system is used as an action execution module;
FIG. 3 is a partial schematic view of an angle gauge with a steer-by-wire system as the action execution module;
FIG. 4 is a schematic diagram illustrating the use of the training platform with the drive-by-wire and brake system as an action execution module;
FIG. 5 is a schematic top view of the practical training platform with the drive-by-wire and brake system as an action execution module;
fig. 6 is a schematic structural diagram of a brake system as an action execution module.
In the figure: the system comprises a support 1, a 2-rapid prototype controller A, a 3-steering servo motor controller, a 4-steering servo motor, a 5-display teaching module, a 6-front axle and tire, a 7-steering machine, an 8-angle measuring instrument, a 9-driving motor controller, a 10-driving motor, a 11-rear axle, a 12-speed reducer and differential, a 13-braking servo motor, a 14-speed reducer, a 15-braking transmission device, a 16-braking master pump and a 17-braking servo motor controller.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
Example 1:
the embodiment is a practical training teaching platform based on a low-speed unmanned vehicle chassis, which can be used for function expansion (including joint debugging and joint testing among a plurality of practical training units) through a communication interface and is provided with a quick prototype controller.
This real platform of instructing of unmanned vehicle drive-by-wire chassis teaching includes: the device comprises a support 1, and an action execution module and a display teaching module which are supported on the support 1; the action execution module is used for simulating the action of the chassis controlled by the unmanned vehicle in the driving process of the unmanned vehicle; the action execution module comprises: a steer-by-wire system, a drive-by-wire and a brake system; the display teaching module is connected with the action execution module and used for outputting a control instruction for controlling the action of the action execution module and receiving and displaying the working parameters fed back by the action execution module; an expansion control interface is reserved on the display teaching module.
In this embodiment, as an example of the wire-controlled chassis of the unmanned vehicle with front wheels as steering wheels and rear wheels as driving wheels, as shown in fig. 1 and 2, when the wire-controlled steering system is used as an action execution module, the bracket 1 supports the wire-controlled steering system, a display teaching module 5 (i.e., a control and display device), a fast prototype controller a2 and a power supply for supplying power to each electronic device on the bracket 1; the components form a steer-by-wire training unit, and the steer-by-wire system is an actuating mechanism of the steer-by-wire training unit. The steer-by-wire system includes: a steering servo motor 4, a steering servo motor controller 3, a front axle and tire 6 and a steering machine 7; the steering machine 7 is a steering machine based on a gear rack, and the steering servo motor 4 is connected with the front axle and the tires 6 through the steering machine and used for controlling the tires on the front axle to steer.
At this time, the display teaching module 5 is used for controlling the work of the steer-by-wire system (providing a forward signal and a reverse signal), configuring various parameters such as a left steering limit value, a right steering limit value and a steering speed of the steer-by-wire system, simulating various system faults such as steering blockage and the like, and checking the fault protection condition of the steering system; and displaying working parameters of the steer-by-wire system in the working process, such as: current pulse frequency, current pulse duty cycle, current target corner, left turn limit, right turn limit, current actual corner, current fault state, current enable state, and the like.
And a CAN control interface is also reserved on the display teaching module 5, and the steering-by-wire system CAN be controlled through a CAN command.
The fast prototype controller is a simulation research technology of a control system, and enables a designer to conveniently and quickly test a new control thought (method) on real-time hardware before product development. Through real-time testing, the existing problems can be found at the initial stage of design so as to modify the prototype or parameters, and then real-time testing is carried out, so that the real-time testing is repeated, and finally a reasonable and feasible control prototype completely facing the requirements of users is generated. The teaching training platform can change the bottom logic in the actuator by using the rapid prototype controller. Specifically, the method comprises the following steps: the quick prototype controller A2 is connected with the display teaching module 5, a steering control model is arranged in the quick prototype controller A2, the bottom logic of the steer-by-wire system can be directly modified through the steering control model in the quick prototype controller A2, so that different steering control models are obtained, and the performance of different steering control models in the steer-by-wire system is displayed through the steer-by-wire training platform.
As shown in fig. 3, an angle measuring instrument 8 is disposed on the support 1 at a position corresponding to the tire, in this embodiment, the angle measuring instrument 8 is an angle measuring disc, on which dense angle scales are disposed along the circumferential direction, and when the tire on the front axle is turned, the angle scales are directly read from the angle measuring disc. The angle measuring instrument 8 can also adopt an angle sensor for monitoring the steering angle of the tire on the front axle in real time, and the steering angle monitored by the angle sensor is sent to the display teaching module 5 in real time for displaying.
As shown in fig. 4 and 5, when the drive-by-wire and brake-by-wire system is used as the motion execution module, the support 1 supports the drive-by-wire system, the brake-by-wire system, the display teaching module 5, the fast prototype controller B, and a power supply for supplying power to each electronic device on the support 1; the components form a drive-by-wire and brake practical training unit, and the drive-by-wire system and the brake-by-wire system are actuating mechanisms of the drive-by-wire and brake practical training unit. Wherein drive-by-wire system includes: a drive motor 10, a drive motor controller 9, and a rear axle 11 integrating a speed reducer and a differential 12; the driving motor 10 is connected with a rear axle 11, and tires on the rear axle 11 are driving wheels.
As shown in fig. 6, the brake-by-wire system includes: the brake servo motor 13, the speed reducer 14, the transmission device 15, the brake servo motor controller 17, the brake calipers and the brake hydraulic system; the brake servo motor 13 is connected with a transmission device 15 through a speed reducer 14, a brake main pump 16 is compressed through driving the transmission device 15 to move linearly, the brake main pump 16 pushes a brake caliper through a brake hydraulic system, and the brake caliper clamps a brake disc to realize braking.
At the moment, the display teaching module 5 is used for controlling the work of the drive-by-wire system and the brake-by-wire system, can configure various parameters such as the maximum rotating speed, the driving mode, the maximum braking force and the braking mode of the drive-by-wire system, and simulate various faults such as overheating of a motor (comprising a driving motor 10 and a braking servo motor 13), insufficient braking oil pressure and the like, and check the fault protection condition of the control system; and displaying working parameters of the drive-by-wire system and the brake-by-wire system in the working process, such as the current servo enabling state, an R gear effective indicator light, an N gear effective indicator light, a brake pressure insufficiency alarm, a brake torque maximum change rate, a drive torque maximum change rate, a maximum brake torque, a maximum drive rotating speed, a current accelerator percentage, a current brake pressure, a current wheel speed, a fault state and the like.
And the drive-by-wire system and the brake-by-wire system CAN be controlled by the CAN command reserved on the display teaching module 5.
The quick prototype controller B is connected with the display teaching module 5, a driving and braking control model is arranged in the quick prototype controller B, and the bottom logic of the drive-by-wire system and the brake-by-wire system can be directly modified through the driving and braking control model in the quick prototype controller B, so that different driving and braking control models are obtained, and the performances of the different driving and braking control models in the drive-by-wire system and the brake-by-wire system are displayed.
The working principle of the teaching training platform is as follows:
the teaching training platform can be used for training each action execution module independently, and each action execution module can also be used in combination for training and is used for practice work of different teaching requirements; when used in combination, the support, the power supply and the display teaching module are shared.
As shown in fig. 1, when the steer-by-wire system is subjected to practical training alone: the work of the steer-by-wire system is controlled by the display teaching module 5, and various system faults such as steering blockage and the like are simulated and the fault protection condition of the steer-by-wire system is checked by configuring various parameters such as left and right steering limit values, steering speed and the like of the steer-by-wire system. In addition, the steering control model in the rapid prototype controller A2 is modified to directly modify the underlying logic of the steering system, verifying the different behavior of the different control models in the actual steer-by-wire system.
As shown in fig. 4, when the drive-by-wire and brake-by-wire system is solely unitized: the drive-by-wire system and the brake-by-wire system are controlled to work through the display teaching module 5, various parameters such as maximum rotating speed, maximum braking force, driving mode, braking mode and the like are configured, various faults such as motor overheating and insufficient brake oil pressure are simulated, and the fault protection condition of the control system is checked. In addition, the different performances of different control models in the actual driving and brake-by-wire system are verified by modifying the underlying logic of the driving and brake control models in the fast prototype controller B.
When the two action execution modules need to be combined for use, the steer-by-wire practical training unit shown in fig. 1 and the drive-by-wire and brake practical training unit shown in fig. 4 are integrated, and the two practical training units share the bracket, the display teaching module, the power supply and the like, so that the whole drive-by-wire chassis teaching practical training platform is compact in structure and combined in function (for example, a simulation test of the whole vehicle is carried out).
If the front axle and the rear axle in the training unit are disassembled and replaced with the front axle and the rear axle of other unmanned vehicles, the performance of the front axle and the rear axle of other unmanned vehicles can be tested, so that the training platform can be used as a teaching aid and a test rack.
Example 2:
on the basis of the above embodiment 1, the teaching training platform for the unmanned vehicle linear control chassis further comprises: a sensor training module; the sensor training module is used for researching the sensing capability of a sensor arranged on the unmanned vehicle line control chassis, and a data transmission interface is reserved on the sensor module.
Specifically, the method comprises the following steps: the sensor training module comprises: the system comprises a laser radar sensing practical training unit, a camera sensing practical training unit and a millimeter wave radar/ultrasonic radar sensing practical training unit;
the laser radar perception training unit comprises: the laser radar, the simulation barrier, the display teaching module and the power supply are supported on the support and used for supplying power to all electronic equipment on the support. The simulated barriers comprise more than two simulated barriers with different shapes and different materials; the laser radar is connected with the display teaching module and used for sending the scanned real-time point cloud data to the display teaching module; an Ethernet port is reserved on the display teaching module, and laser radar point cloud data can be uploaded to other equipment through a network cable. Simulated obstacles with different shapes and different materials are placed on the support, and the sensing condition of the laser radar to the obstacles is researched.
Real standard unit of camera perception includes: the camera, the display teaching module and the power supply are supported on the support, and the power supply is used for supplying power to all electronic equipment on the support. The display is used for playing video of the simulated road condition, and the video comprises lane lines, various traffic marks, vehicles, pedestrians and the like; the camera is connected with the display teaching module, shoots pictures on the display to obtain video data and sends the video data to the display teaching module; and the display teaching module is used for identifying information such as properties, distances, speeds and the like of different targets on the video data and displaying the information. Because the display teaching module is reserved with an Ethernet port, video data can be uploaded to other equipment through a network cable.
The millimeter wave radar/ultrasonic radar perception training unit comprises: the device comprises a millimeter wave radar/ultrasonic radar, a simulated barrier, a display teaching module and a power supply, wherein the millimeter wave radar/ultrasonic radar is supported on a support, and the power supply is used for supplying power to all electronic equipment on the support. The simulation obstacles comprise more than two simulation obstacles with different shapes and different materials, the millimeter wave radar/ultrasonic radar is connected with the display teaching module and is used for obtaining the distance and the speed of the simulation obstacles on the bracket and sending the distance and the speed to the display teaching module for displaying; the sensing capability of the millimeter wave radar in different states can be researched by adjusting the installation angle of the millimeter wave radar/ultrasonic radar and placing simulated obstacles of different shapes and materials on the support. And a CAN interface is reserved on the display teaching module, and information CAN be uploaded to other equipment through the CAN.
The training units can be used for training independently or in combination for practice work with different teaching requirements; when used in combination, the support, the power supply and the display teaching module are shared.
When the laser radar sensing training unit is used independently: the real-time point cloud information scanned by the laser radar is checked through the display teaching module, and a point cloud file can be recorded and played; in addition, different working modes of the laser radar and different display effects in the upper computer are realized by configuring data such as the number of working beams of the laser radar and external parameters in the upper computer; the sensing conditions of the laser radar to the obstacles are researched by placing the simulated obstacles with different shapes and materials.
When the camera is used independently to sense the training unit: the video simulating the road condition is played through the display, the camera is used for shooting pictures on the display, the shot video data are calculated through a video sensing program on the rack, information such as properties, distances, speeds and the like of different targets are identified, and the information is displayed on the display teaching module.
When the millimeter wave radar/ultrasonic radar sensing training unit is used independently: the distance and the speed of peripheral barrier are shown through showing teaching module, in addition, through adjusting radar installation angle, putting the simulation barrier of different shapes and nature, the ability of radar perception under the research different states.
Example 3:
on the basis of the above embodiment 2, the practical training teaching platform further includes: a joint debugging and joint testing control module; the combined use of the action execution module and the sensor training module can be realized through the joint debugging joint test control module, and the combined debugging joint test control module is used for more complex teaching and scientific research work.
The function of the joint debugging joint test control module is realized by an internal program of an industrial personal computer supported on the bracket; the industrial personal computer is internally provided with an automatic driving control program, a vehicle dynamics simulation program, a recorded high-precision map and the like.
The action execution module and the sensor training module can be connected with the joint debugging joint testing control module through respective expansion interfaces, the joint debugging joint testing control module generates a control command for the action execution module by fusing information of each sensor on the sensor training module, utilizing a built-in vehicle dynamics simulation program and a pre-recorded high-precision map and calculating through an automatic driving control program, and sends the control command to the action execution module through a communication line, so that the action execution module executes a corresponding control command, information intercommunication is realized among all parts of the chassis training teaching platform, the automatic driving process of the whole vehicle can be simulated, and a series of actions of obstacle sensing, linear driving, steering and linear braking are integrated.
When the action execution module and the sensor practical training module are used in a combined mode, if the drive-by-wire and brake practical training unit is integrated with the camera perception practical training unit or the millimeter wave radar and ultrasonic radar perception practical training unit, the sensor practical training module sends monitored obstacle information to the actuator practical training module and is used for simulating and testing the brake performance of the unmanned vehicle when an obstacle is perceived in the driving process.
Although the invention has been described in detail above with reference to a general description and specific examples, it will be apparent to one skilled in the art that modifications or improvements may be made thereto based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.
Claims (12)
1. The utility model provides a real platform of instructing of unmanned vehicle drive-by-wire chassis teaching which characterized in that includes: the device comprises a bracket, and an action execution module and a display teaching module which are supported on the bracket;
the action execution module is used for simulating the action of the chassis controlled by the unmanned vehicle in the driving process of the unmanned vehicle;
the display teaching module is connected with the action execution module and used for outputting a control instruction for controlling the action of the action execution module and receiving and displaying the working parameters fed back by the action execution module; and an expansion control interface is reserved on the display teaching module.
2. The unmanned vehicle in-line control chassis teaching and training platform of claim 1, further comprising a sensor training module; the sensor training module is used for researching the sensing capability of a sensor arranged on the unmanned vehicle line control chassis, and a data transmission interface is reserved on the sensor training module.
3. The unmanned vehicle linear control chassis teaching and training platform of claim 2, further comprising: a joint debugging joint test control unit;
an automatic driving control program, a vehicle dynamics simulation program and a map are preset in the joint debugging joint test control unit;
the display teaching module is connected with the joint debugging control unit through a reserved expansion control interface, and the sensor module is connected with the joint debugging control unit through a reserved data transmission interface.
4. The unmanned vehicle line controlled chassis teaching and training platform of any one of claims 1-3, wherein the action execution module comprises: a steer-by-wire system or/and a drive-by-wire and brake system.
5. The unmanned vehicle linear control chassis teaching and practical training platform of claim 4, wherein the action execution module is provided with a rapid prototype controller.
6. The unmanned vehicle in-line chassis teaching and training platform of claim 2 or 3, wherein the sensor training module comprises: at least one of a laser radar sensing practical training unit, a camera sensing practical training unit and a millimeter wave radar/ultrasonic radar sensing practical training unit;
the laser radar perception training unit comprises: a lidar and a simulated obstacle supported on the support; the laser radar is connected with the display teaching module and used for sending real-time point cloud data around the scanned simulated barrier to the display teaching module;
real standard unit of camera perception includes: a camera and a display supported on the stand; the display is used for playing videos simulating road conditions, and the camera is connected with the display teaching module; the camera shoots pictures on the display to obtain video data, and the video data is sent to the display teaching module;
the millimeter wave radar/ultrasonic radar perception training unit comprises: a millimeter wave radar/ultrasonic radar, a simulated obstacle supported on the mount; the millimeter wave radar/ultrasonic radar is connected with the display teaching module and used for obtaining the distance and the speed of the simulated barrier and sending the distance and the speed to the display teaching module for displaying.
7. The unmanned vehicle line control chassis teaching and training platform as claimed in any one of claims 1-3, wherein an external data connection interface is reserved on the display teaching module.
8. The unmanned vehicle drive-by-wire chassis teaching and practical training platform of claim 4, wherein when the action execution module comprises a drive-by-wire system, the bracket is provided with an angle measuring instrument for measuring a steering angle of a tire in real time; and the angle measuring instrument sends the measured steering angle to the display teaching module in real time for display.
9. The use method of the unmanned vehicle drive-by-wire chassis teaching practical training platform is characterized in that the unmanned vehicle drive-by-wire chassis teaching practical training platform is the unmanned vehicle drive-by-wire chassis teaching practical training platform of any one of the claims 1 to 3: the action execution module comprises: a steer-by-wire system or/and a drive-by-wire and brake system;
when the steer-by-wire system needs to be trained: the display teaching module is used for controlling the work of the steer-by-wire system, and the display teaching module can configure the left and right limit values and the steering speed of the steer-by-wire system and simulate steering lock; in addition, the display teaching module can receive an external control instruction through a reserved expansion control interface to control the action of the steer-by-wire system;
when the drive-by-wire and brake system needs to be trained: the display teaching module is used for controlling the drive-by-wire and brake system to work, and can be configured with the maximum rotating speed, the maximum braking force, the driving mode and the brake mode of the drive-by-wire and brake system, simulate various faults and check fault protection conditions, wherein the faults comprise overheating of a driving motor/a brake motor and insufficient brake oil pressure; in addition, the display teaching module can receive an external control instruction through a reserved expansion control interface to control the drive-by-wire and the brake system to act.
10. The method for using the unmanned vehicle drive-by-wire chassis teaching practical training platform according to claim 9, wherein the unmanned vehicle drive-by-wire chassis teaching practical training platform further comprises a sensor practical training module, and the sensor practical training module comprises: at least one of a laser radar sensing practical training unit, a camera sensing practical training unit and a millimeter wave radar/ultrasonic radar sensing practical training unit;
when the laser radar needs to be subjected to practical training: checking real-time point cloud data scanned by the laser radar through the display teaching module; changing the working mode of the laser radar by configuring the working parameters of the laser radar, and realizing practical training of the laser radar in different working modes; simulation barriers of different shapes and different materials are placed on the support, and the sensing conditions of the laser radar on the different barriers are researched;
when the camera needs to be trained: playing a video simulating road conditions through a display supported on the support, shooting pictures on the display by using the camera, sending the shot video data to the display teaching module, and identifying and displaying the property, distance and speed of a target in the video data by the display teaching module;
when the millimeter wave radar/ultrasonic radar needs to be subjected to practical training: checking the distance and the speed of the simulated obstacle obtained by the millimeter wave radar/ultrasonic radar through the display teaching module; the sensing capability of the millimeter wave radar in different states is researched by adjusting the installation angle of the millimeter wave radar, placing simulated obstacles of different shapes and different materials on the support.
11. The use method of the unmanned vehicle drive-by-wire chassis teaching practical training platform as claimed in claim 9, wherein a fast prototype controller is provided in the action execution module, and the performance of different control models in the drive-by-wire steering system is verified by modifying the steering control model in the fast prototype controller to directly modify the underlying logic of the steering system; the performance of different control models in a drive and brake-by-wire system is verified by modifying the bottom logic of the drive and brake control models in the rapid prototype controller.
12. The method for using the unmanned vehicle drive-by-wire chassis teaching practical training platform according to claim 10, wherein the unmanned vehicle drive-by-wire chassis teaching practical training platform further comprises: a joint debugging joint test control unit;
when needing to carry out real standard to unmanned vehicle autopilot process: the display teaching module is connected with the joint debugging control unit through a reserved expansion control interface, and the sensor module is connected with the joint debugging control unit through a reserved data transmission interface;
the joint debugging joint test control unit generates a control command for the action execution module after calculating through an internal automatic driving control program by utilizing an internal vehicle dynamics simulation program and a map according to information transmitted by each sensor on the sensor training module, and sends the control command to the action execution module through a communication line to execute a corresponding control command so as to simulate the automatic driving process of the unmanned vehicle.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113515118A (en) * | 2021-04-21 | 2021-10-19 | 北京理工大学 | Movable teaching platform |
| CN115294829A (en) * | 2022-07-29 | 2022-11-04 | 北京电子科技职业学院 | Motor vehicle driving teaching system based on drive-by-wire chassis |
| CN116129730A (en) * | 2023-02-01 | 2023-05-16 | 中汽智联技术有限公司 | Teaching demonstration method based on drive-by-wire chassis and drive-by-wire chassis system |
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2020
- 2020-09-17 CN CN202010982287.8A patent/CN112133153A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113515118A (en) * | 2021-04-21 | 2021-10-19 | 北京理工大学 | Movable teaching platform |
| CN115294829A (en) * | 2022-07-29 | 2022-11-04 | 北京电子科技职业学院 | Motor vehicle driving teaching system based on drive-by-wire chassis |
| CN116129730A (en) * | 2023-02-01 | 2023-05-16 | 中汽智联技术有限公司 | Teaching demonstration method based on drive-by-wire chassis and drive-by-wire chassis system |
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