CN112519780A

CN112519780A - Unmanned vehicle and lane changing system thereof

Info

Publication number: CN112519780A
Application number: CN202011049880.3A
Authority: CN
Inventors: 孙迪科; 肖峰; 张亚东; 林宇; 郑俊鹏
Original assignee: Guangzhou Jushi Information Technology Co ltd
Current assignee: Guangzhou Jushi Information Technology Co ltd
Priority date: 2020-09-29
Filing date: 2020-09-29
Publication date: 2021-03-19

Abstract

The invention discloses an unmanned vehicle and a lane change system thereof, which comprises an image collector, an image processor, a central processor module and a control execution system, wherein the image collector collects road sign lines on a road surface, the image processor is in data connection with the image collector and is used for receiving the collected data of the image collector, identifying the image information of the image collector and distinguishing the functions of the sign lines, the central processor module is in data connection with the image processor and sends out a decision instruction after comprehensively analyzing and processing the signals transmitted by the image processor according to a preset program, and the decision instruction is transmitted to the control execution system to control whether an automobile changes lanes or not. The invention can automatically carry out lane changing operation, has higher practicability and economic benefit, is suitable for popularization and application, and has better protection on the computer database.

Description

Unmanned vehicle and lane changing system thereof

Technical Field

The invention relates to the technical field of intelligent driving, in particular to an unmanned vehicle and a lane changing system thereof.

Background

With the rapid increase in the number of motor vehicles, cities are under increasing traffic pressure. However, the road widening is limited by urban planning and building environments, and linear growth is difficult to realize along with the growth speed of motor vehicles, so that traffic congestion becomes a difficult problem to be faced by large and medium cities. Therefore, how to improve the road traffic capacity under the current road condition becomes the key research direction of the current motor vehicle technology and traffic development. The motor vehicle train technology based on the automatic driving and intelligent auxiliary driving technology can effectively improve the capacity and flow of motor vehicles on the road, and further ensure the smoothness of the road. And the automatic driving technology of the motor vehicle has obvious practical value for helping drivers to relieve fatigue and improve safety performance.

In the existing automatic driving technology of the motor vehicle, driving environments in front of, behind and at two sides of the motor vehicle are detected by means of a radar system, an ultrasonic system and/or a camera system, information such as lanes, road types or the motor vehicle, pedestrians or obstacles and other driving-related data such as lanes and steering of the motor vehicle are calculated, and the acquired driving-related data are used as reference data in the automatic driving process of the motor vehicle. However, the automatic driving of the motor vehicle in the straight path is relatively simple to implement, and when the road is complicated and crowded, the motor vehicle often cannot keep straight driving maneuver, so the motor vehicle needs to have the maneuvering operation functions of automatic road switching, automatic overtaking, automatic steering and the like to implement the automatic driving of the motor vehicle in the complicated road condition

The unmanned automobile is one of intelligent automobiles, also called a wheeled mobile robot, and mainly depends on an intelligent driver which is mainly a computer system in the automobile to achieve the unmanned aim. According to the latest report of Tosson road penetration on intellectual property and science, the number of inventions related to the automobile unmanned technology exceeds 22,000 in 2010-2015 years, and in the process, part of enterprises have completely emerged and become industry leaders in the field.

With the popularization of automobiles in the world, a large number of automobiles inevitably need a large number of drivers, in order to avoid the waste of human resources, unmanned automobiles rapidly develop, and currently, the unmanned automobiles mainly have two automatic lane changing methods: one method is that a driver gives a lane change instruction to an automobile and then the automobile completes the lane change, the method still depends on the judgment and instruction of the driver and cannot realize real unmanned driving, the other method is that the automobile runs according to a set driving route and depends on a navigation system to realize the lane change on the road, because the situation under natural conditions is complex and the real-time requirement of the system is high, the real-time identification of a traffic line is not ideal in auxiliary navigation, a plurality of problems which cannot be solved still exist, and when the computer database is placed on the automobile, the computer database is easy to be damaged due to the vibration generated by the bumping of the road surface of the automobile, and the computer database can generate a large amount of heat during long-time work, if the heat cannot be dissipated timely, the normal operation of the computer database is easy to be influenced.

Disclosure of Invention

The invention aims to solve the problems that the real-time identification of traffic lines in the prior art has not ideal effect in auxiliary navigation and still has many unsolved problems, a computer database is easy to damage because an automobile is bumpy by a road surface when being placed on the automobile, the computer database can generate a large amount of heat during long-time work, and the normal operation of the computer database is easy to be influenced if the heat cannot be dissipated in time, so that the unmanned automobile and the lane changing system thereof are provided.

In order to achieve the purpose, the invention adopts the following technical scheme:

an unmanned vehicle comprises a buffer box fixedly installed on a vehicle body, wherein the inner wall of the buffer box is connected with a buffer plate in a sliding manner, the lower end of the buffer plate is connected with the inner wall at the bottom of the buffer box through a plurality of buffer mechanisms, the upper end of the buffer plate is fixedly connected with the inner wall at the top of the buffer box through a plurality of buffer springs, the upper end of the buffer plate is fixedly connected with a supporting block, the supporting block extends out of the buffer box through an opening formed at the upper end of the buffer box and is fixedly connected with a fixed frame, a plurality of buffer rubber rings are uniformly and fixedly connected between the lower end of the fixed frame and the upper end of the buffer box, a computer database is clamped in the fixed frame, a plurality of cylindrical grooves are symmetrically formed at the upper end of the fixed frame, telescopic rods are rotatably connected in the cylindrical grooves through a plurality of ball bearings, one end of each telescopic, the upper end of the fixed frame is provided with a fixed groove corresponding to the rotating block, the rod wall of the telescopic rod in the cylindrical groove is uniformly and fixedly sleeved with a plurality of driving bevel gears, the inner wall of the fixed frame is provided with a plurality of through holes communicated with the cylindrical groove and corresponding to the driving bevel gears, the through holes are rotatably connected with screw rods through ball bearings, one end of each screw rod is fixedly connected with a driven bevel gear meshed with the driving bevel gear, the other end of each screw rod is in threaded connection with a limiting screw barrel, and the outer wall of the computer database is provided with a limiting groove corresponding to the limiting screw barrel.

Preferably, buffer gear includes that two are articulated with the buffer board lower extreme, and are the shock attenuation pole that the splayed distributes, two same reset spring of fixedly connected with between the shock attenuation pole, the lower extreme of shock attenuation pole rotates and is connected with the shock attenuation slider, the bottom inner wall of baffle-box seted up with shock attenuation slider assorted shock attenuation spout.

Preferably, the even fixedly connected with a plurality of first limit slide blocks of lateral wall of buffer board, a plurality ofly set up a plurality ofly with first limit slide block phase-match and along the first spacing spout that vertical direction set up with the inner wall of baffle-box.

Preferably, the side wall of the rotating block is symmetrically and fixedly connected with two clamping blocks, and the inner wall of the fixing groove is provided with clamping grooves corresponding to the clamping blocks.

Preferably, the outer wall of the limiting screw cylinder is symmetrically and fixedly connected with two second limiting sliding blocks, and the inner wall of the through hole is provided with a limiting sliding groove matched with the second limiting sliding blocks.

Preferably, the system comprises an image collector, an image processor, a central processor module and a control execution system, wherein the image collector collects road sign lines on a road surface, the image processor is connected with the image collector in data and used for receiving the collected data of the image collector, identifying the image information of the image collector and distinguishing the functions of the sign lines, and the central processor module is connected with the image processor in data and used for sending out a decision instruction after comprehensively analyzing and processing the signals transmitted by the image processor according to a preset program and transmitting the decision instruction to the control execution system to control whether the automobile changes lanes or not.

Preferably, the system also comprises a navigation system, wherein the navigation system is connected with the CPU module, plans a driving scheme for the automobile according to the input destination and updates the database in real time according to the acquired information.

Preferably, the environment sensing system is connected with the central processor module and comprises a camera and a millimeter wave radar, and the environment sensing system is used for acquiring the relative distance, the relative speed and the obstacle condition of surrounding vehicles and transmitting the acquired information to the central processor module.

Preferably, the system also comprises a central processor module loudspeaker which feeds back the decision instruction of the central processor module to personnel in the vehicle through a sound signal.

Compared with the prior art, the invention provides an unmanned vehicle and a lane change system thereof, which have the following beneficial effects:

1. this unmanned vehicle and lane change system thereof through the lane change system that is equipped with, under the prerequisite that does not rely on the driver to accomplish automatic lane change, the initiative discernment way route deals with various road conditions in a flexible way, therefore has higher practicality and economic benefits, is fit for popularizing and applying.

2. The unmanned vehicle and the lane changing system thereof have the advantages that the unmanned vehicle places a computer database in the fixing frame through the fixing frame, the rotating block is rotated, the rotating block drives the telescopic rod to rotate, the driving bevel gear is further driven to rotate, the screw rod is driven to rotate by the meshing action of the driving bevel gear and the driven bevel gear, the limiting screw barrel is moved out of the through hole by the threaded connection action of the screw rod and the limiting screw barrel, the limiting screw barrel is clamped with the limiting groove, the computer database and the fixing frame can be stably connected together, relative limiting locking on the computer database can be released by reversely rotating the rotating block when the locking is required to be released, the unmanned vehicle is convenient to use, the rotating block can be stably fixed in the fixing groove by the aid of the clamping block and the clamping groove, and the problem that the rotating block is influenced by external factors to rotate to influence stable placement of the computer database is.

3. The driverless vehicle and the lane changing system thereof have the advantages that through the buffer box and the buffer plate, when the vehicle runs, the computer database shakes due to the shaking generated by the vehicle, the buffer mechanism is extruded through the buffer plate, the two shock absorption rods move away from each other by utilizing the sliding of the shock absorption sliding block in the shock absorption sliding chute, the reset spring provides a back tension force for the two shock absorption rods, primary buffer shock absorption can be performed on the shock force received by the computer database, a good buffer shock absorption effect is achieved, deformation is generated by the extrusion of the stress of the buffer springs, the elastic force generated by the deformation of the buffer springs provides secondary buffer shock absorption force for the computer database, the third buffer shock absorption force is provided for the computer database through the buffer rubber ring, and good buffer shock absorption protection can be performed on the computer database, the problem that the vibration force generated when the unmanned vehicle runs affects the computer database is well avoided.

The device has the advantages of automatic lane changing operation, high practicability and economic benefit, suitability for popularization and application and better protection on a computer database.

Drawings

FIG. 1 is a schematic structural diagram of a lane change system of an unmanned vehicle according to the present invention;

FIG. 2 is a schematic view of an installation structure of a computer database of an unmanned vehicle according to the present invention;

FIG. 3 is a schematic structural view of the portion of FIG. 2A;

fig. 4 is a schematic structural view of the portion of fig. 2B.

In the figure: the damping device comprises a buffer box 1, a buffer plate 2, a buffer spring 3, a supporting block 4, a fixing frame 5, a buffer rubber ring 6, a computer database 7, a cylindrical groove 8, a telescopic rod 9, a rotating block 10, a fixing groove 11, a driving helical gear 12, a through hole 13, a screw rod 14, a driven helical gear 15, a limiting helical cylinder 16, a limiting groove 17, a damping rod 18, a reset spring 19, a damping sliding block 20 and a damping sliding groove 21.

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.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.

Referring to fig. 1-4, an unmanned vehicle comprises a buffer box 1 fixedly installed on a vehicle body, a buffer plate 2 is slidably connected to the inner wall of the buffer box 1, the lower end of the buffer plate 2 is connected to the inner wall of the bottom of the buffer box 1 through a plurality of buffer mechanisms, the upper end of the buffer plate 2 is fixedly connected to the inner wall of the top of the buffer box 1 through a plurality of buffer springs 3, a supporting block 4 is fixedly connected to the upper end of the buffer plate 2, the supporting block 4 extends out of the buffer box 1 through an opening formed at the upper end of the buffer box 1, a fixing frame 5 is fixedly connected, a plurality of buffer rubber rings 6 are uniformly and fixedly connected between the lower end of the fixing frame 5 and the upper end of the buffer box 1, a computer database 7 is clamped in the fixing frame 5, a plurality of cylindrical grooves 8 are symmetrically formed at the upper end of the fixing frame 5, a telescopic rod 9 is rotatably connected to the cylindrical, and fixedly connected with commentaries on classics piece 10, the fixed slot 11 that corresponds with commentaries on classics piece 10 is seted up to the upper end of fixed frame 5, the pole wall that telescopic link 9 is located cylinder groove 8 evenly fixed cover has connect with a plurality of initiative helical gear 12, the inner wall of fixed frame 5 is seted up a plurality of through-holes 13 that communicate with cylinder groove 8, and correspond with initiative helical gear 12, it is connected with screw rod 14 to rotate through ball bearing in the through-hole 13, the one end fixedly connected with of screw rod 14 is driven helical gear 15 with initiative helical gear 12 meshing, the other end threaded connection of screw rod 14 has spacing barrel 16, the spacing groove 17 that corresponds with spacing barrel 16 is seted up to the outer wall of computer database 7.

Buffer gear includes that two are articulated with 2 lower extremes of buffer board, and are the shock attenuation pole 18 that the splayed distributes, the same reset spring 19 of fixedly connected with between two shock attenuation poles 18, and the lower extreme of shock attenuation pole 18 rotates and is connected with damping slide 20, and damping slide 21 with damping slide 20 assorted has been seted up to the bottom inner wall of baffle-box 1.

The even fixedly connected with a plurality of first limit slider of lateral wall of buffer board 2, the inner wall of baffle-box 1 set up a plurality ofly with first limit slider phase-match and along the first limit chute of vertical direction setting.

Two clamping blocks are symmetrically and fixedly connected to the side wall of the rotating block 10, and clamping grooves corresponding to the clamping blocks are formed in the inner wall of the fixing groove 11.

Two second limiting slide blocks are symmetrically and fixedly connected to the outer wall of the limiting screw barrel 16, and limiting slide grooves matched with the second limiting slide blocks are formed in the inner wall of the through hole 13.

The road sign line recognition system is characterized by comprising an image collector, an image processor, a central processor module and a control execution system, wherein the image collector collects road sign lines on a road surface, the image processor is connected with the image collector in data and used for receiving the collected data of the image collector, recognizing the image information of the image collector and distinguishing the functions of the sign lines, and the central processor module is connected with the image processor in data and used for sending a decision instruction after comprehensively analyzing and processing the signals transmitted by the image processor according to a preset program and transmitting the decision instruction to the control execution system to control whether an automobile changes lanes or not.

The system also comprises a navigation system, wherein the navigation system is connected with the CPU module in a data mode, plans a driving scheme for the automobile according to the input destination and updates a database in real time according to the acquired information.

The environment sensing system comprises a camera and a millimeter wave radar and is used for acquiring the relative distance, the relative speed and the obstacle condition of surrounding vehicles and transmitting the acquired information to the central processor module.

The vehicle-mounted intelligent control system further comprises a central processor module loudspeaker which feeds the decision instruction of the central processor module back to the personnel in the vehicle through a sound signal.

In the invention, when in use, the lane changing system is arranged, the lane route is actively identified on the premise of not depending on the automatic lane changing of a driver, so that various road conditions are flexibly met, the lane changing system has higher practicability and economic benefit and is suitable for popularization and application, the computer database 7 is placed in the fixed frame 5 through the arranged fixed frame 5, the rotating block 10 is rotated, the rotating block 10 drives the telescopic rod 9 to rotate, further drives the driving bevel gear 12 to rotate, the screw 14 is driven to rotate by the meshing action of the driving bevel gear 12 and the driven bevel gear 15, further the limiting screw barrel 16 is moved out of the through hole 13 by the threaded connection action of the screw 14 and the limiting screw barrel 16, the limiting screw barrel 16 is clamped with the limiting groove 17, the computer database 7 and the fixed frame 5 can be stably connected together, and the relative limiting locking of the computer database 7 can be released by reversely rotating the rotating block 10 when the locking needs to be released, the automobile shock absorber is convenient to use, the rotating block 10 can be stably fixed in the fixing groove 11 by utilizing the clamping block and the clamping groove, the problem that the rotating block 10 rotates due to the influence of external factors to influence the stable placement of the computer database 7 is better solved, when an automobile runs, the computer database 7 shakes due to the shaking generated by the automobile, the buffer mechanism is extruded by the buffer plate 2, the two shock absorption rods 18 do the movement deviating from each other by utilizing the sliding of the shock absorption sliding block 20 in the shock absorption sliding groove 21, the reset spring 19 provides a back tension force for the two shock absorption rods 18, the first-stage buffer shock absorption can be performed on the shock force received by the computer database 7, the better buffer shock absorption effect is achieved, the deformation quantity is generated by the forced extrusion of the plurality of buffer springs 3, and the second-stage buffer shock absorption force is provided for the computer database 7 by utilizing the elasticity generated by the deformation quantity of the buffer springs 3, and the arranged buffer rubber ring 6 provides three-level buffer damping force for the computer database 7, so that the computer database 7 can be better buffered and protected, and the problem that the vibration force generated when the unmanned vehicle runs affects the computer database 7 is better avoided.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.

Claims

1. The unmanned vehicle comprises a buffer box (1) fixedly installed on a vehicle body, and is characterized in that the inner wall of the buffer box (1) is connected with a buffer plate (2) in a sliding manner, the lower end of the buffer plate (2) is connected with the inner wall of the bottom of the buffer box (1) through a plurality of buffer mechanisms, the upper end of the buffer plate (2) is fixedly connected with the inner wall of the top of the buffer box (1) through a plurality of buffer springs (3), the upper end of the buffer plate (2) is fixedly connected with a supporting block (4), the supporting block (4) extends out of the buffer box (1) through an opening formed in the upper end of the buffer box (1) and is fixedly connected with a fixed frame (5), a plurality of buffer rubber rings (6) are uniformly and fixedly connected between the lower end of the fixed frame (5) and the upper end of the buffer box (1), and a computer database (7) is clamped in the, a plurality of cylindrical grooves (8) are symmetrically formed in the upper end of the fixing frame (5), a telescopic rod (9) is rotatably connected into each cylindrical groove (8) through a plurality of ball bearings, one end of the telescopic rod (9) extends out of each cylindrical groove (8), a rotating block (10) is fixedly connected with each cylindrical groove, a fixing groove (11) corresponding to the rotating block (10) is formed in the upper end of the fixing frame (5), a plurality of driving bevel gears (12) are uniformly and fixedly sleeved on the rod wall of the telescopic rod (9) located in each cylindrical groove (8), a plurality of through holes (13) communicated with the cylindrical grooves (8) and corresponding to the driving bevel gears (12) are formed in the inner wall of the fixing frame (5), a screw rod (14) is rotatably connected into each through a ball bearing, and a driven bevel gear (15) meshed with the driving bevel gears (12) is fixedly connected to one end of the screw rod (14), the other end of the screw rod (14) is in threaded connection with a limiting screw cylinder (16), and the outer wall of the computer database (7) is provided with a limiting groove (17) corresponding to the limiting screw cylinder (16).

2. The unmanned vehicle as claimed in claim 1, wherein the buffer mechanism comprises two damper rods (18) hinged to the lower end of the buffer plate (2) and distributed in a splayed shape, a same reset spring (19) is fixedly connected between the two damper rods (18), a damper slide block (20) is rotatably connected to the lower end of each damper rod (18), and a damper slide groove (21) matched with the damper slide block (20) is formed in the inner wall of the bottom of the buffer box (1).

3. The unmanned vehicle of claim 1, wherein the side wall of the buffer plate (2) is uniformly and fixedly connected with a plurality of first limiting slide blocks, and the inner wall of the buffer box (1) is provided with a plurality of first limiting slide grooves which are matched with the first limiting slide blocks and are arranged along the vertical direction.

4. The unmanned vehicle of claim 1, wherein the side wall of the rotating block (10) is symmetrically and fixedly connected with two clamping blocks, and the inner wall of the fixing groove (11) is provided with a clamping groove corresponding to the clamping blocks.

5. The unmanned vehicle of claim 1, wherein the outer wall of the limiting screw cylinder (16) is symmetrically and fixedly connected with two second limiting sliding blocks, and the inner wall of the through hole (13) is provided with a limiting sliding groove matched with the second limiting sliding blocks.

6. The lane changing system of the unmanned vehicle as claimed in claim 1, comprising an image collector, an image processor, a central processor module and a control execution system, wherein the image collector collects road sign lines on a road surface, the image processor is in data connection with the image collector and is used for receiving the collected data of the image collector, identifying the image information of the image collector and distinguishing the functions of the sign lines, the central processor module is in data connection with the image processor and sends out a decision instruction after comprehensively analyzing and processing the signals transmitted by the image processor according to a preset program, and the decision instruction is transmitted to the control execution system to control whether the vehicle changes lanes or not.

7. The unmanned vehicle lane change system of claim 6, further comprising a navigation system, wherein the navigation system is in data connection with the central processor, and the navigation system plans a driving scheme for the vehicle according to an input destination and updates the database in real time according to the acquired information.

8. The unmanned vehicle lane-changing system of claim 6, further comprising an environment sensing system, wherein the environment sensing system is connected with the CPU module, the environment sensing system comprises a camera and a millimeter wave radar, and is used for collecting relative distance, relative speed and obstacle condition of surrounding vehicles and transmitting the collected information to the CPU module.

9. The unmanned vehicle lane-changing system of claim 6, further comprising a central processor module speaker, wherein the decision instruction of the central processor module is fed back to a person in the vehicle through a sound signal.