CN114750779A - Control system for intelligently sensing road conditions, triggering brake system, driving system and steering system and executing automatic driving function - Google Patents
Control system for intelligently sensing road conditions, triggering brake system, driving system and steering system and executing automatic driving function Download PDFInfo
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- CN114750779A CN114750779A CN202210034218.3A CN202210034218A CN114750779A CN 114750779 A CN114750779 A CN 114750779A CN 202210034218 A CN202210034218 A CN 202210034218A CN 114750779 A CN114750779 A CN 114750779A
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- 238000012544 monitoring process Methods 0.000 description 16
- 230000003068 static effect Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 206010039203 Road traffic accident Diseases 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
- B60W10/184—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
Abstract
A control system for intelligently sensing road conditions and triggering a brake system, a driving system and a steering system to execute an automatic driving function is composed of sensors, a corresponding sensor control circuit and an AR navigation system, a split screen image of AR navigation is opened, a road planning map is arranged on one side, a road live-action image is shot on the other side, light spots of each color mark sensor respectively aim at the right and left proper positions of the starting point section of the planned road and the front of a vehicle direction icon on the road planning map, the vehicle is controlled to run along the road planning direction between the right and left light spots, the road live-action image is shot, the light spots of each color mark sensor respectively aim at the right and left proper positions of the starting point end of a guide color strip, the vehicle is controlled to run along the guide color strip between the right and left light spots, the light spots of each color mark sensor respectively aim at the position for displaying the traffic light, the green light is on, the vehicle is controlled to start or run at a slow speed or at the original speed and direction, the red light is on, and the automobile is controlled to slowly run until the automobile stops.
Description
Technical Field
The invention relates to a control system which is composed of a sensor and an AR navigation system, intelligently senses road conditions, triggers a brake system, a driving system and a steering system and executes an automatic driving function.
Technical Field
The intelligent automatic driving automobile is a direction of automobile industry development, the L2 level of each automobile manufacturer at present belongs to an auxiliary system for automatic driving, the L3 level is tested, the L4 level stage is researched and developed, the direction is researched and developed through vision and recognition functions, a 3D high-definition map is mainly constructed through a laser radar, the calculation difficulty is high, the cost is high, and the degree of recognition on white and static objects is low or the degree of recognition on the objects is low in severe weather. The visual recognition formed by the sensor and the AR navigation system can intelligently sense road conditions, trigger a braking system, a driving system and a steering system (the steering system refers to a control system which can automatically avoid and does not actively collide, and has the patent number of 202011324468.8) to execute an intelligent driving function, can reach the level of L3, L4 or above, has low cost, and can be popularized.
Summary of the invention
In order to solve the problem that when an automobile is automatically driven, the identification degree of the automobile for white, static objects or objects in severe weather around the road condition is low, the invention overcomes the defect that the identification degree of the automobile for white, static objects or objects in severe weather around the road condition is low, enhances the identification degree of the automobile for surrounding road conditions, and comprises the automatic driving functions of identifying a jammed automobile, identifying traffic lights, identifying road markings, avoiding pedestrians, avoiding obstacles, driving on a road, getting on and off a ramp, accelerating and decelerating and the like, and avoids traffic accidents.
The technical scheme adopted by the invention for solving the technical problem is as follows: a control system for intelligently sensing road conditions and triggering a brake system, a driving system and a steering system to execute an automatic driving function is composed of sensors, a corresponding sensor control circuit and an AR navigation system, a split screen image of AR navigation is opened, a road planning map is arranged on one side, a road live-action image is shot on the other side, light spots of each color mark sensor respectively aim at the right and left proper positions of the starting point section of the planned road and the front of a vehicle direction icon on the road planning map, the vehicle is controlled to run along the road planning direction between the right and left light spots, the road live-action image is shot, the light spots of each color mark sensor respectively aim at the right and left proper positions of the starting point end of a guide color strip, the vehicle is controlled to run along the guide color strip between the right and left light spots, the light spots of each color mark sensor respectively aim at the position for displaying the traffic light, the green light is on, the vehicle is controlled to start or run at a slow speed or at the original speed and direction, and the red light is turned on, the automobile is controlled to slowly run until the automobile stops, light spots of each color mark sensor are aligned to the stoppering vehicle warning position, and the stoppering vehicle warning light is turned on to control the automobile to slowly run or stop.
The invention has the advantages that the intelligent and accurate control of the driving direction, the driving speed and the steering range of the automobile is very safe, the automobile always drives along an AR navigation planning route in the direction, in the real scene picture of the photographic highway, the automobile is controlled to accurately follow the direction of the guide color band to execute turning or road merging, when the automobile detects obstacles or roadside road marks on the actual highway, the automobile further accurately avoids the obstacles or the road marks, when the automobile is in red, the automobile is controlled to stop from slow speed, when the automobile is in green, the automobile is controlled to start or pass slowly or drive in the original speed and direction, when a traffic jam is added, the automobile automatically decelerates or stops, the problem of low recognition degree of the automobile on surrounding white objects, static objects and other objects in bad weather is solved, the invention has been loaded and implemented, and starts to try, the functions and effects are obvious, the automatic driving system can realize high-level automatic driving, has low cost and simple structure, is easy to popularize, and can be applied to automatic driving vehicles such as tricycles, private cars, business cars, passenger cars, logistics cars and the like.
Drawings
The invention is further described with reference to the accompanying drawings:
FIG. 1 is a split screen view of AR navigation straight driving.
FIG. 2 is a screen-split view of an AR navigation turn.
Fig. 3 is a schematic diagram illustrating road condition identification.
Fig. 4 is a schematic view of controlling the direction of a vehicle.
FIG. 5 is a schematic diagram of controlling vehicle speed.
The components of fig. 1 include 1, monitor the light spot on the left side of the guidance color bar, 2, camera the road guidance color bar, 3, monitor the light spot on the right side of the guidance color bar, 4, monitor the light spot on the left side of the planned road, 5, the car direction icon, 6, the planned road, 7, monitor the light spot on the right side of the planned road, and 8, the planned road turn.
The components of fig. 2 include 1, monitor the light spot on the left of the guidance ribbon, 2, camera the road guidance ribbon, 3, monitor the light spot on the right of the guidance ribbon, 4, monitor the light spot on the left of the planned road, 5, the car direction icon, 7, monitor the light spot on the right of the planned road, and 8, plan the turn of the road.
The components of fig. 3 include 1, monitor the light spot on the left of the guidance ribbon, 2, camera the road guidance ribbon, 3, monitor the light spot on the right of the guidance ribbon, 4, monitor the light spot on the left of the planned road, 5, the car direction icon, 6, the planned road, 7, monitor the light spot on the right of the planned road, and 8, the planned road turn. 9. Monitoring the light spot of the traffic light 10. monitoring the light spot of the traffic light 11. monitoring the light spot of the traffic light 12. monitoring the light spot of the traffic light.
The components of FIG. 4 include 13, the left color sensor and switch K2, 14, the left laser range sensor and switch K3, 15, the left millimeter sensor and switch K4, 16, the left color sensor and linked switches K1, K6, 17, the left color sensor and switch K5, 18, the right color sensor and switch K8, 19, the right color sensor and linked switches K7, K9, 20, the right millimeter sensor and switches K12, 21, the right laser range sensor and switches K11, 22, the right color sensor and switch K10, 23, the left road line, 24. road right lane marking, v1. camera left lane of road guidance ribbon signal, v2. plan left lane of road, V3.. plan right lane of road signal, V4. camera right lane of road guidance ribbon signal.
FIG. 5 is a schematic diagram of controlling the speed of an automobile, which is divided into a brake control system and a drive control system, and the parts include 25 color code sensors for monitoring a jammed automobile, linkage switches K13 and K14, signal sources V5 and 26, color code sensors for monitoring traffic lights, linkage switches K15 and K16, signal sources V6 and 27, color code sensors for monitoring traffic lights, linkage switches K17 and K18, signal sources V7 and 28, color code sensors for monitoring traffic lights, linkage switches K19 and K20, and a signal source V8.
Detailed Description
Description of the specific implementation of the invention:
fig. 1 is mainly used for controlling the straight-line driving direction of an automobile, a light spot 4 on the left side of a planned highway is monitored and positioned on the left front of an automobile direction icon 5 and the left side of the starting point of the planned highway 6, a light spot 7 on the right side of the planned highway is monitored and positioned on the right front of the automobile direction icon 5 and the right side of the starting point of the planned highway 6, a light spot 1 on the left side of a monitoring guide color strip is monitored and positioned on the left side of the starting point of a shooting highway guide color strip 2, a light spot 3 on the right side of the monitoring guide color strip is monitored and positioned on the right side of the starting point of the shooting highway guide color strip 2, the automobile direction icon 5 is monitored and driven on the straight line of the planned highway, and the automobile is monitored and driven along the shooting highway guide color strip 2 between the light spot 1 on the left side of the shooting highway guide color strip 2 and the light spot 3 on the right side of the shooting highway guide color strip 2.
Fig. 2 and 4 are combined to control the automobile to turn, the automobile drives to the planned road turn 8 along the starting point of the planned road 6, the left side of the planned road turn 8 touches the light spot 4 on the left side of the monitored planned road, at this time, the color mark sensor 17 on the left side of the planned road senses that the planned road turn 8 turns left, the trigger switch K5 is closed, the signal V2 triggers the automobile steering system to turn left, until the automobile direction icon 5 moves forward between the light spot 4 on the left side of the planned road and the light spot 7 on the right side of the planned road, at the same time, on the camera road, the automobile drives along the camera guide road ribbon 2 between the light spot 1 on the left side of the monitoring guide ribbon and the light spot 3 on the right side of the monitoring guide ribbon, if the camera guide road ribbon 2 touches the light spot 1 on the left side of the monitoring guide ribbon, the color mark sensor 16 on the left side of the guide ribbon senses that the ribbon turns left, the trigger switch K1 is closed, the trigger switch K6 is opened, the signal 1 triggers the automobile steering system to turn left, the steering angle of the automobile is more accurate, in the turning or driving process of the automobile, the left color code sensor 13 on the automobile detects the road mark 23, the K2 is opened, or the laser ranging sensor 14 and the millimeter wave sensor 15 detect pedestrians, obstacles and the like, the K3 and the K4 are both opened, the left turning signal V1 of the automobile steering system is cut off, the automobile head automatically swings right to drive, the steering range is further accurately ensured, and safe driving is ensured. Similarly, the planned road turn 8 is a right turn, and each part on the right performs a corresponding function to control the correct driving direction and the accurate steering range of the automobile.
The road condition recognition and the automobile driving speed control of the automobile are implemented by combining the embodiment of the automobile, the automobile direction icon 5 moves, the camera-shooting road guides the color ribbon 2 to guide the automobile to drive, the AR navigation camera shoots the plugged automobile, the light spot 9 of the plugged automobile is monitored to detect the plugged automobile, the color mark sensor 25 of the plugged automobile is monitored to trigger, the switch K13 is closed, the signal source V5 triggers the brake control system to brake and decelerate, meanwhile, the linkage switch K14 is closed, the signal source V5 triggers the drive control system to select a low-speed gear or a zero-speed gear to work, the AR navigation camera shoots the traffic light area, the light spot 10 of the monitoring traffic light detects the green light of the left lane, the automobile drives according to the original speed and direction, if the automobile is going to the middle lane, the light spot 11 of the monitoring traffic light is detected, the red light is detected, the color mark sensor 27 of the monitoring traffic light is triggered, the switch K17 is closed, the signal source V7 triggers the brake control system to decelerate to the parking work, meanwhile, the linkage switch K18 is closed, the signal source V7 triggers the drive control system to work at the zero-speed gear, if the automobile is going to run on the right lane, the light spot 12 of the traffic light is monitored, the red light is detected on the right lane, the color mark sensor 28 of the traffic light is monitored, the switch K19 is closed, the signal source 8 triggers the brake control system to brake and decelerate to stop, meanwhile, the linkage switch K20 is closed, the signal source 8 triggers the drive control system to work at the zero-speed gear, and the brake stop effect of the automobile is further accurately controlled.
Claims (1)
1. A control system for intelligently sensing road conditions and triggering a brake system, a driving system and a steering system to execute an automatic driving function is composed of sensors, a corresponding sensor control circuit and an AR navigation system, a split screen image of AR navigation is opened, a road planning map is arranged on one side, a road live-action image is shot on the other side, light spots of each color mark sensor respectively aim at the right and left proper positions of the starting point section of the planned road and the front of a vehicle direction icon on the road planning map, the vehicle is controlled to run along the road planning direction between the right and left light spots, the road live-action image is shot, the light spots of each color mark sensor respectively aim at the right and left proper positions of the starting point end of a guide color strip, the vehicle is controlled to run along the guide color strip between the right and left light spots, the light spots of each color mark sensor respectively aim at the position for displaying the traffic light, the green light is on, the vehicle is controlled to start or run at a slow speed or at the original speed and direction, and the red light is turned on, the automobile is controlled to slowly run until the automobile stops, light spots of each color mark sensor are aligned to the stoppering vehicle warning position, and the stoppering vehicle warning light is turned on to control the automobile to slowly run or stop.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210034218.3A CN114750779A (en) | 2022-01-06 | 2022-01-06 | Control system for intelligently sensing road conditions, triggering brake system, driving system and steering system and executing automatic driving function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210034218.3A CN114750779A (en) | 2022-01-06 | 2022-01-06 | Control system for intelligently sensing road conditions, triggering brake system, driving system and steering system and executing automatic driving function |
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| Publication Number | Publication Date |
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| CN114750779A true CN114750779A (en) | 2022-07-15 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202210034218.3A Pending CN114750779A (en) | 2022-01-06 | 2022-01-06 | Control system for intelligently sensing road conditions, triggering brake system, driving system and steering system and executing automatic driving function |
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| CN (1) | CN114750779A (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103425126A (en) * | 2013-07-22 | 2013-12-04 | 黄但理 | Track-following navigation device |
| CN104015723A (en) * | 2014-06-12 | 2014-09-03 | 北京工业大学 | Intelligent vehicle control system and method based on intelligent transportation platform |
| CN105005299A (en) * | 2014-04-23 | 2015-10-28 | 王芳 | Intelligent variable speed line-inspection obstacle-avoiding dolly |
| CN109683602A (en) * | 2017-10-18 | 2019-04-26 | 江苏卡威汽车工业集团股份有限公司 | A kind of intelligence driverless electric automobile |
-
2022
- 2022-01-06 CN CN202210034218.3A patent/CN114750779A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103425126A (en) * | 2013-07-22 | 2013-12-04 | 黄但理 | Track-following navigation device |
| CN105005299A (en) * | 2014-04-23 | 2015-10-28 | 王芳 | Intelligent variable speed line-inspection obstacle-avoiding dolly |
| CN104015723A (en) * | 2014-06-12 | 2014-09-03 | 北京工业大学 | Intelligent vehicle control system and method based on intelligent transportation platform |
| CN109683602A (en) * | 2017-10-18 | 2019-04-26 | 江苏卡威汽车工业集团股份有限公司 | A kind of intelligence driverless electric automobile |
Non-Patent Citations (1)
| Title |
|---|
| 刘燕，刘志: "基于单片机控制的自主寻迹电动小车的设计", 自动化与仪器仪表, no. 2007, 25 May 2007 (2007-05-25), pages 10 - 11 * |
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