CN114475856A - A many drive mode autopilot dolly for teaching - Google Patents
A many drive mode autopilot dolly for teaching Download PDFInfo
- Publication number
- CN114475856A CN114475856A CN202111569718.9A CN202111569718A CN114475856A CN 114475856 A CN114475856 A CN 114475856A CN 202111569718 A CN202111569718 A CN 202111569718A CN 114475856 A CN114475856 A CN 114475856A
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- China
- Prior art keywords
- controller
- teaching
- driving
- autopilot
- support
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B9/00—Simulators for teaching or training purposes
- 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
- 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
- G09B9/05—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of land vehicles the view from a vehicle being simulated
Abstract
A multi-drive mode autopilot for teaching comprising: the vehicle body assembly comprises an upper assembly vehicle body and a lower assembly chassis, wherein the lower assembly chassis comprises a motor, a storage battery, a drive axle, a steering bearing, a vehicle control unit VCU and a vehicle body controller BCM, and is designed and packaged into a trolley lower assembly by using an iron plate; the upper-mounted vehicle body comprises a support, sensors, an antenna, an LED display screen and a controller, wherein a lower-mounted chassis below the support is used as a platform and is formed by welding hollow square pipes, the sensors are symmetrically distributed by taking the support as a central line, the invention not only has a whole set of complete automatic driving sensing, decision-making and control components from a hardware architecture, but also expands a remote driving controller, so that the teaching trolley not only has a common automatic driving function, but also has a function of carrying out 5G communication to realize remote driving, and students can deeply understand the automatic driving hardware architecture by matching with teaching explanation and book theoretical knowledge, thereby facilitating the understanding and digestion of related knowledge and concepts.
Description
Technical Field
The invention belongs to the field of automatic driving, and particularly relates to a multi-driving-mode automatic driving trolley for teaching.
Background
In the current market, with the expansion of the electric automobile market, the automatic driving function and level become important indexes for consumers to measure the purchase intention, and the development and application of the automatic driving technology are continuously carried out by the new momentum of each vehicle building.
Compared with the fire heat in the field of automatic driving, people in related industries are quite lack, many people who work in related work of automatic driving at present are transferred from the Internet and the traditional automobile industry, and many developers do not know the related knowledge of automatic driving at all in the stage of the education of the department. On the aspect of colleges and universities, teaching of relevant automatic driving basic knowledge is very lacked, corresponding teaching aids are basically zero, the deep technical development of teaching in laboratories is mainly used, basic education and popularization are not carried out, the requirements of the current market on a large number of relevant talents cannot be met, and therefore a teaching aid with all automatic driving basic functions is needed to assist students in understanding.
Disclosure of Invention
The invention aims to solve the technical problem of providing an automatic driving trolley with multiple driving modes for teaching aiming at the defects in the prior art, which comprises the following components: install the chassis and set up the support on the chassis of the underloading, wherein, the chassis of the underloading uses iron plate to bend into box-like, installs motor, battery, transaxle, steering bearing and vehicle control unit VCU, automobile body controller BCM on the underloading chassis, the support top is equipped with the sensor, is used to lead the antenna, installs the LED display screen at the support rear, the sensor includes ultrasonic radar, millimeter wave radar, laser radar, intelligent camera, remote driving camera, the sensor uses the support as central line symmetric distribution, installs the controller at the underloading chassis, the controller includes: the LED display screen is connected with the automatic driving controller; the inertial navigation controller is connected with the whole vehicle controller; the ultrasonic radar provides a vehicle body near-end environment state for the vehicle body controller BCM, the meter wave radar, the laser radar and the intelligent camera are connected with the automatic driving controller, and the remote driving camera is connected with the remote driving controller.
Preferably, the automatic driving controller has a storage function and a transmission interface, and can realize human-computer interaction in teaching.
Preferably, the remote driving controller can process all-round image information, has the capability of 5G information communication, can communicate with any remote driving stand nationwide through the mobile internet, transmits image, sound and chassis state data, and controls the chassis downwards.
Preferably, the number of the ultrasonic radars is 7, and the ultrasonic radars are respectively arranged right in front, left in front, right in back, left in back and right in back, and provide environment data of the near end and the lower side of the vehicle body for the trolley.
Preferably, the remote driving camera is a special fisheye camera, and is respectively arranged in the front, the rear, the left and the right directions of the trolley by taking the central point of the trolley as a reference.
Preferably, the laser radar is supported by a single support, so that the sensing laser is not shielded.
Preferably, the antenna comprises an inertial navigation main antenna and an inertial navigation slave antenna, and is installed at the top end of the support to ensure the stability of the GPS signal.
Preferably, the software architecture of the invention comprises automatic driving software and HMI human-machine interaction software, wherein the automatic driving software comprises a task route module and a data display module.
The invention has the following beneficial effects:
1. the invention not only has a complete set of automatic driving sensing, decision-making and control components from the hardware architecture, but also expands the remote driving controller, so that the teaching trolley not only has the common automatic driving function, but also has the function of carrying out 5G communication to realize remote driving.
2. The invention provides a set of comprehensive, complete and mainstream sensor deployment scheme, the scheme is directly displayed to students by designing the upper mounting bracket, and the students can deeply understand the hardware architecture of the automatic driving by matching with teaching explanation and book theoretical knowledge, so that the understanding and digestion of related knowledge and concepts are convenient.
Drawings
FIG. 1 is a block diagram of the present invention.
In the figure: 1. an inertial navigation main antenna; 2. a laser radar; 3. the inertial navigation slave antenna 4 and the intelligent camera; 5. an automatic driving controller; 6. a millimeter wave radar; 7. an inertial navigation controller; 8. an ultrasonic radar; 9. a remote driving controller; 10. an LED display screen; 11. a remote driving camera; 12. a trolley bracket; 13. and (5) installing a chassis.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, the present embodiment provides a multi-driving mode autopilot for teaching, comprising: the vehicle body structure comprises an upper mounting chassis and a lower mounting chassis, wherein the lower mounting chassis 13 comprises a motor, a storage battery, a drive axle, a steering bearing, a vehicle control unit VCU and a vehicle body controller BCM, and is designed and packaged into a trolley lower mounting by using an iron plate; the upper mounting vehicle body comprises a support, a sensor, an antenna, an LED display screen and a controller, wherein the support takes a trolley lower mounting chassis as a platform, the trolley upper mounting support is designed by considering the position of a trolley operating platform and the teaching convenience aiming at the installation position of a standardized automatic driving sensing end sensor and a remote driving camera 11, the support is formed by welding hollow square pipes, the support can directly visually display related sensors of internal automatic driving except for ensuring the supporting strength, a screen required by operating the trolley and all sensing sensors required by automatic driving are installed on the upper mounting support, and the central lines of the upper mounting support are symmetrically distributed on the whole.
The sensor includes ultrasonic radar 8, millimeter wave radar 6, laser radar 2, intelligent camera 4, long-range driving camera 11.
The upper end of the support 12 is provided with a laser radar 2, an inertial navigation main antenna 1 and an inertial navigation slave antenna 3 from top to bottom.
The LED (Light-Emitting Diode) screen 10 is installed at the rear of the support 12 on the operation desk, and provides a visual condition for the car running status data by connecting the autopilot controller running programs such as autopilot and HMI, and can visually display the autopilot parameterization interface for students.
The controller includes: an automatic Driving controller HAD5 (high automatic Driving), a remote Driving controller 9 and an inertial navigation controller 7, wherein the automatic Driving controller HAD (high automatic Driving), the remote Driving controller 9 and the inertial navigation controller 7 are installed on the platform surface of the chassis.
The automatic driving controller HAD5 is the most core hardware component in the car and is the decision-making end in automatic driving. The system has huge computing power to process massive environment data transmitted by each sensor at a sensing end, has the capability of a general host computer to run an operating system and installation software, is a running platform of an automatic driving program and an HMI (human Machine interface) program, has storage capacity and a transmission interface, and has the capability of realizing human-computer interaction in teaching.
The remote driving controller is the core of the realization of the remote driving function, has the capability of processing the communication between the panoramic image information and the 5G information, can be mutually communicated with any remote driving rack in the country through the mobile internet, has the functions of transmitting images, sounds and chassis state data, and has the function of downwards controlling the chassis.
And the inertial navigation controller processes the GPS state information and the transverse and longitudinal acceleration information of the vehicle body transmitted by the inertial navigation antenna and transmits the processed information to the vehicle control unit.
The millimeter wave radar is a means for the trolley to accurately sense a remote dynamic obstacle, can sensitively detect the speed state of the obstacle 1-200 m in front of the trolley when the trolley moves, and provides environmental data support for the trolley to realize control of front dynamic obstacle avoidance, car following and the like.
The intelligent camera 4 can sense image information right in front of the trolley, processes the image through an internal algorithm, identifies dynamic object information and lane line information, can sense detailed information of the environment in front of the trolley, such as color and shape, and provides a hardware basis for automatic driving lane line identification and traffic light identification function development.
The remote driving cameras are specially-made fisheye cameras, can sense wider environment images, are respectively arranged in the front, the rear, the left and the right directions of the trolley at a certain height by taking the central point of the trolley as a reference, and establish 360 around-looking images of the trolley through image distortion algorithm, camera calibration, image splicing algorithm and other modes to provide environment information for the remote driving and operation of a driver.
The inertial navigation master antenna and the inertial navigation slave antenna can be communicated with a satellite, provide accurate GPS data information of the current position for a vehicle when the trolley is driven automatically, and are arranged at the top end of the trolley support 12 for ensuring the stability of GPS signals.
When automatic driving training is carried out, basic explanation is firstly carried out on related hardware equipment such as a sensing sensor, a decision-making controller and a remote controller which are carried on a trolley. According to the PPT prepared in advance, the instructor can explain the performance of equipment such as the basic function and the working principle of a hardware module, and can dig the status, the functions, the basic data format, the arrangement angle and the reason of the whole automatic driving hardware architecture. A set of complete scheme is used as a teaching aid, the teaching angles which can be excavated are very rich, and even other automatic driving hardware building schemes can be developed on the basis of the teaching aid. Before the trolley is arranged in a designated area of a school, a point cloud map of the area needs to be recorded and manufactured. When a student conducts real-time operation learning, the position of the current environment in a point cloud map is observed, and vehicle positioning can be achieved in the point cloud map through the HMI; then, a target point is selected at will in the point cloud map through a route setting module, a target driving route is set, and automatic driving of the trolley is achieved; then, automatic driving can be manually stopped in the driving mode control and parameter control module, the driving mode is switched to a remote driving or parameter control mode, driving is experienced through a remote driving rack, or target parameters are manually input to achieve automatic driving of the trolley; meanwhile, the understanding and learning of the relevant concept knowledge can be deepened by observing the variation trend of the whole vehicle parameter data in the automatic driving process.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments. While the present invention has been described with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, which are illustrative and not restrictive, and it will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (8)
1. A multi-drive mode autopilot cart for teaching comprising: the lower dress chassis and the support of setting on the lower dress chassis, wherein, the lower dress chassis uses iron plate to bend into boxlike, installs motor, battery, transaxle, steering bearing and vehicle control unit VCU, automobile body controller BCM on the lower dress chassis, the support top is equipped with the sensor, is used to lead the antenna, installs the LED display screen at the support rear, the sensor includes ultrasonic radar, millimeter wave radar, laser radar, intelligent camera, remote driving camera, the sensor uses the support to install the controller as central line symmetric distribution, the lower dress chassis, the controller includes: the LED display screen is connected with the automatic driving controller; the inertial navigation controller is connected with the whole vehicle controller; the ultrasonic radar provides a vehicle body near-end environment state for the vehicle body controller BCM, the meter wave radar, the laser radar and the intelligent camera are connected with the automatic driving controller, and the remote driving camera is connected with the remote driving controller.
2. The multi-driving mode autopilot for teaching of claim 1 wherein the autopilot controller has a memory function and a transmission interface enabling human-machine interaction during teaching.
3. The multi-driving mode autopilot for teaching of claim 1 wherein the remote drive controller is capable of processing all-round image information and has 5G messaging capability, and can communicate with any remote driving stand across the country via the mobile internet, transmit image, voice, chassis status data, and control the chassis downward.
4. The multi-driving mode autopilot cart for teaching of claim 1 wherein said ultrasonic radar is 7 in number and arranged right-front, left-front, right-rear, left-rear, rear-left, rear-right, respectively, to provide the cart with three hundred sixty degrees of vehicle body proximal end and underside environmental data.
5. The multi-driving-mode automatic driving trolley for teaching as claimed in claim 1, wherein the remote driving cameras are special fisheye cameras, and are respectively arranged in the front, the rear, the left and the right directions of the trolley by taking a central point of the trolley as a reference.
6. The multi-driving mode autopilot for teaching of claim 1 wherein said lidar is supported by a separate support to ensure that the sensing laser is not blocked.
7. The multi-driving-mode autopilot for teaching of claim 1 wherein said antenna comprises a master inertial navigation antenna, a slave inertial navigation antenna, mounted on top of the stand to ensure GPS signal stability.
8. The multi-driving mode autopilot for teaching of claim 1 wherein the software architecture includes autopilot software and HMI human machine interaction software, said autopilot software including a task routing module, a data display module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111569718.9A CN114475856A (en) | 2021-12-21 | 2021-12-21 | A many drive mode autopilot dolly for teaching |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111569718.9A CN114475856A (en) | 2021-12-21 | 2021-12-21 | A many drive mode autopilot dolly for teaching |
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| Publication Number | Publication Date |
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| CN114475856A true CN114475856A (en) | 2022-05-13 |
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| CN202111569718.9A Pending CN114475856A (en) | 2021-12-21 | 2021-12-21 | A many drive mode autopilot dolly for teaching |
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| CN214540526U (en) * | 2021-04-22 | 2021-10-29 | 行云新能科技（深圳）有限公司 | Real car of instructing of adjusting is surveyed to networking car sensor |
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2021
- 2021-12-21 CN CN202111569718.9A patent/CN114475856A/en active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
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| US20170123428A1 (en) * | 2015-11-04 | 2017-05-04 | Zoox, Inc. | Sensor-based object-detection optimization for autonomous vehicles |
| WO2018098998A1 (en) * | 2016-11-30 | 2018-06-07 | 深圳市招科智控科技有限公司 | Automatic control system for driverless bus |
| CN109243207A (en) * | 2018-10-17 | 2019-01-18 | 安徽工程大学 | A kind of mobile device used for SLAM teaching demonstration |
| CN109542097A (en) * | 2018-10-24 | 2019-03-29 | 中国矿业大学 | The unmanned railless free-wheeled vehicle in underground and its travel control method of infrared top set tracking |
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