CN115571060A - Steering wheel follow-up laser radar and follow-up control method thereof - Google Patents

Steering wheel follow-up laser radar and follow-up control method thereof Download PDF

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Publication number
CN115571060A
CN115571060A CN202211077762.2A CN202211077762A CN115571060A CN 115571060 A CN115571060 A CN 115571060A CN 202211077762 A CN202211077762 A CN 202211077762A CN 115571060 A CN115571060 A CN 115571060A
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CN
China
Prior art keywords
laser radar
steering wheel
follow
motor
controller
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202211077762.2A
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Chinese (zh)
Inventor
沈兵
韩飞
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
FAW Bestune Car Co Ltd
Original Assignee
FAW Bestune Car Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by FAW Bestune Car Co Ltd filed Critical FAW Bestune Car Co Ltd
Priority to CN202211077762.2A priority Critical patent/CN115571060A/en
Publication of CN115571060A publication Critical patent/CN115571060A/en
Pending legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
    • B60R11/02—Arrangements for holding or mounting articles, not otherwise provided for for radio sets, television sets, telephones, or the like; Arrangement of controls thereof
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R19/00—Wheel guards; Radiator guards, e.g. grilles; Obstruction removers; Fittings damping bouncing force in collisions
    • B60R19/02—Bumpers, i.e. impact receiving or absorbing members for protecting vehicles or fending off blows from other vehicles or objects
    • B60R19/48—Bumpers, i.e. impact receiving or absorbing members for protecting vehicles or fending off blows from other vehicles or objects combined with, or convertible into, other devices or objects, e.g. bumpers combined with road brushes, bumpers convertible into beds
    • B60R19/483—Bumpers, i.e. impact receiving or absorbing members for protecting vehicles or fending off blows from other vehicles or objects combined with, or convertible into, other devices or objects, e.g. bumpers combined with road brushes, bumpers convertible into beds with obstacle sensors of electric or electronic type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/021—Determination of steering angle
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
    • B60R2011/0001—Arrangements for holding or mounting articles, not otherwise provided for characterised by position
    • B60R2011/004—Arrangements for holding or mounting articles, not otherwise provided for characterised by position outside the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
    • B60R2011/0042—Arrangements for holding or mounting articles, not otherwise provided for characterised by mounting means
    • B60R2011/008—Adjustable or movable supports
    • B60R2011/0085—Adjustable or movable supports with adjustment by rotation in their operational position
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/14—Adaptive cruise control

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Electromagnetism (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Traffic Control Systems (AREA)

Abstract

The invention relates to a steering wheel follow-up laser radar which comprises a laser radar, a transmission mechanism driving the laser radar to rotate and a control system controlling the transmission mechanism. The laser radar is rotatably connected to the bumper bracket; the transmission mechanism comprises a motor and a connecting rod, one end of the connecting rod is meshed with an output shaft of the motor, and the other end of the connecting rod is hinged with the laser radar; the control system comprises a controller and a corner sensor, wherein the corner sensor is used for collecting steering wheel corner information and transmitting the steering wheel corner information to the controller, and the controller controls the output of motor torque. According to the steering wheel follow-up laser radar and the follow-up control method thereof, the laser radar can realize follow-up steering of the laser radar along the turning direction of the vehicle in the self-adaptive cruise process of the curve, the accuracy of target identification is improved, safety and reliability are realized, and the problems of reaction delay, mistaken identification of target objects of adjacent lanes and emergency braking caused by the existing laser radar are solved.

Description

Steering wheel follow-up laser radar and follow-up control method thereof
Technical Field
The invention relates to the technical field of automobile radars, in particular to a steering wheel follow-up laser radar and a follow-up control method thereof.
Background
The adaptive cruise system of the ACC automobile is a comfortable auxiliary driving function of the automobile, and more automobiles are equipped with the ACC system. In the ACC system, the ranging radar is used to measure the headway, relative speed and relative acceleration of the vehicle and the vehicle ahead, and is one of the key devices in the adaptive cruise control system.
The conventional laser radar is generally fixedly arranged on two sides of a front bumper, and has the following problems: when the vehicle is bent, the ACC function may mistakenly identify the target object of the adjacent lane due to the problem of laser radar response delay, so that the problem of emergency braking is caused.
Disclosure of Invention
The invention aims to provide a steering wheel follow-up laser radar and a follow-up control method thereof, and aims to solve the problems that the conventional laser radar has reaction delay, mistakenly identifies a target object of an adjacent lane and causes emergency braking.
In order to solve the technical problems, the invention is realized by adopting the following technical scheme:
a steering wheel-follow lidar comprising: the laser radar 10 is rotatably connected to the bumper bracket; the transmission mechanism 20 comprises a motor 21 and a connecting rod 23, one end of the connecting rod 23 is meshed with an output shaft 22 of the motor 21, and the other end of the connecting rod 23 is hinged with the laser radar 10; the control system 30 comprises a controller 31 and a steering angle sensor 32, the steering angle sensor 32 is used for collecting steering wheel steering angle information and transmitting the steering wheel steering angle information to the controller 31, and the controller 31 is electrically connected with the motor 21 and controls the output of the torque of the motor 21.
Further, the laser radar 10 is rotatably connected to the bumper bracket by a positioning pin 11.
Further, a sliding groove 24 is arranged outside the housing of the motor 21, and the connecting rod 23 is slidably connected in the sliding groove 24.
Further, the connecting rod 23 is connected with a hook 12 arranged on the shell of the laser radar 10 through a ball 25.
A follow-up control method of a steering wheel follow-up laser radar comprises the following steps:
s1, a controller receives steering wheel corner signals collected by a corner sensor;
s2, the controller calculates the rotating angle of the laser radar according to the steering angle of the steering wheel;
and S3, the controller transmits an instruction to the motor, controls the torque output of the motor, and realizes torque transmission through the connecting rod, so that the laser radar rotates around the positioning pin by the rotating angle calculated in the step S2.
Further, the angle of the laser radar is equal to the steering wheel angle multiplied by the steering gear ratio.
Compared with the prior art, the invention has the beneficial effects that:
according to the steering wheel follow-up laser radar and the follow-up control method thereof, the laser radar can realize follow-up steering of the laser radar along the turning direction of the vehicle in the self-adaptive cruise process of the curve, the accuracy of target identification is improved, safety and reliability are realized, and the problems of reaction delay, mistaken identification of target objects of adjacent lanes and emergency braking caused by the existing laser radar are solved.
Drawings
The invention is further described with reference to the accompanying drawings in which:
FIG. 1 is a schematic structural diagram of a steering wheel servo laser radar of the present invention;
FIG. 2 is a schematic structural view of the transmission mechanism of the present invention;
FIG. 3 is a flow chart of a steering wheel follow-up lidar follow-up control method of the present invention;
in the above figures:
10. laser radar, 11 positioning pins and 12 hooks;
20. the transmission mechanism 21, the motor 22, the output shaft 23, the connecting rod 24, the chute 25 and the ball head;
30. a control system, 31, a controller, 32, a rotation angle sensor;
40. a steering wheel.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the following detailed description of the present invention with reference to the accompanying drawings makes it clear that the described embodiments are a part of the embodiments of the present invention, and not all of them. 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.
Example one
Referring to fig. 1 and 2, the present embodiment provides a steering wheel servo laser radar, which includes a laser radar 10, a transmission mechanism 20 for driving the laser radar 10 to rotate, and a control system 30 for controlling the transmission mechanism 20.
In order to ensure that the lidar 10 can rotate along with the vehicle steering, the lidar 10 is rotatably connected to a bumper bracket, and in the embodiment, the lidar 10 is preferably rotatably connected to the bumper bracket through a positioning pin 11.
The transmission mechanism 20 comprises a motor 21 and a connecting rod 23, one end of the connecting rod 23 is meshed with an output shaft 22 of the motor 21, in this embodiment, the motor 21 is a stepping motor, and is mounted on a front bumper, the distance between the motor 21 and the laser radar 10 is 0.15 m, a sliding groove 24 is arranged on the outer side of a shell of the motor 21, and the connecting rod 23 is slidably connected in the sliding groove 24; the other end of the connecting rod 23 is hinged to the laser radar 10, and in this embodiment, preferably, the connecting rod 23 is connected to a hook 12 arranged on a housing of the laser radar 10 through a ball 25; the motor 21 can drive the connecting rod 23 to slide in the sliding groove 24, so as to drive the laser radar 10 to rotate around the positioning pin 11.
The control system 30 includes a controller 31 and a rotation angle sensor 32, the rotation angle sensor 32 is installed on a steering column connected to a steering wheel 40, obtains rotation angle information of the steering wheel 40 by a photoelectric coupling principle, and transmits the rotation angle information to the controller 31, the controller 31 is installed inside an instrument panel and electrically connected to the motor 21, and after receiving a rotation angle signal, the controller 31 calculates a rotation angle of the laser radar 10 and controls output of torque of the motor 21.
Example two
Referring to fig. 3, the present embodiment provides a following control method for a steering wheel following lidar, which includes:
s1, a controller receives steering wheel corner signals collected by a corner sensor;
s2, the controller calculates the turning angle of the laser radar according to the steering angle of the steering wheel;
and S3, the controller transmits an instruction to the motor, controls the torque output of the motor, and realizes torque transmission through the connecting rod, so that the laser radar rotates around the positioning pin by the rotating angle calculated in the step S2.
The steering angle sensor 32 collects a steering angle signal of the steering wheel 40 in real time, and when the vehicle turns, the controller 31 receives the steering angle signal of the steering wheel 40 collected by the steering angle sensor 32.
The controller 31 calculates a turning angle required by the laser radar 10 according to a steering angle of the steering wheel 40 according to a preset calculation logic, wherein the turning angle of the laser radar 10 is equal to a turning angle of the steering wheel 40 multiplied by a transmission ratio of a steering engine, and the laser radar 10 is ensured to turn by the same angle along with the vehicle.
The controller 31 transmits an instruction to the motor 21, controls torque output of the motor 21, drives the connecting rod 23 to slide in the sliding groove 24, and realizes torque transmission through the connecting rod 23 to drive the laser radar 10 to rotate by a required rotation angle around the positioning pin 11.
In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of 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 application. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (6)

1. A steering wheel-follow lidar, comprising:
the laser radar (10), the laser radar (10) is rotatably connected to the bumper bracket;
the transmission mechanism (20) comprises a motor (21) and a connecting rod (23) with one end meshed with an output shaft (22) of the motor (21), and the other end of the connecting rod (23) is hinged with the laser radar (10);
the control system (30) comprises a controller (31) and a rotation angle sensor (32), the rotation angle sensor (32) is used for collecting rotation angle information of a steering wheel and transmitting the rotation angle information to the controller (31), and the controller (31) is electrically connected with the motor (21) and controls the output of the torque of the motor (21).
2. A steering wheel-follow lidar according to claim 1, wherein the lidar (10) is rotatably attached to a bumper bracket by a locating pin (11).
3. A steering wheel-follow lidar according to claim 1, wherein a sliding slot (24) is provided outside the housing of the motor (21), and the link (23) is slidably connected within the sliding slot (24).
4. A steering wheel-follow lidar according to claim 1, wherein the linkage (23) is connected to a hook (12) provided on the housing of the lidar (10) via a ball (25).
5. A follow-up control method of a steering wheel follow-up laser radar is characterized in that,
s1, a controller receives steering wheel corner signals collected by a corner sensor;
s2, the controller calculates the turning angle of the laser radar according to the steering angle of the steering wheel;
and S3, the controller transmits an instruction to the motor, controls the torque output of the motor, and realizes torque transmission through the connecting rod, so that the laser radar rotates around the positioning pin by the rotating angle calculated in the step S2.
6. A method of steering wheel slaving lidar according to claim 5, wherein the degree of rotation of the lidar is equal to the steering wheel angle multiplied by the steering gear ratio.
CN202211077762.2A 2022-09-05 2022-09-05 Steering wheel follow-up laser radar and follow-up control method thereof Pending CN115571060A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202211077762.2A CN115571060A (en) 2022-09-05 2022-09-05 Steering wheel follow-up laser radar and follow-up control method thereof

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202211077762.2A CN115571060A (en) 2022-09-05 2022-09-05 Steering wheel follow-up laser radar and follow-up control method thereof

Publications (1)

Publication Number Publication Date
CN115571060A true CN115571060A (en) 2023-01-06

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CN202211077762.2A Pending CN115571060A (en) 2022-09-05 2022-09-05 Steering wheel follow-up laser radar and follow-up control method thereof

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Country Link
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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN118033598A (en) * 2024-04-15 2024-05-14 深圳市速腾聚创科技有限公司 Laser radar control method, laser radar control device and computer readable storage medium

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN118033598A (en) * 2024-04-15 2024-05-14 深圳市速腾聚创科技有限公司 Laser radar control method, laser radar control device and computer readable storage medium

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