CN204229228U - A kind of complete unattended control device of intelligent solar automobile - Google Patents
A kind of complete unattended control device of intelligent solar automobile Download PDFInfo
- Publication number
- CN204229228U CN204229228U CN201420650426.7U CN201420650426U CN204229228U CN 204229228 U CN204229228 U CN 204229228U CN 201420650426 U CN201420650426 U CN 201420650426U CN 204229228 U CN204229228 U CN 204229228U
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- control device
- stepper motor
- master controller
- automobile
- pilotless automobile
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P80/00—Climate change mitigation technologies for sector-wide applications
- Y02P80/10—Efficient use of energy, e.g. using compressed air or pressurized fluid as energy carrier
Abstract
The utility model proposes a kind of complete unattended control device of intelligent solar automobile, comprise solar power supply apparatus and steering control device; Solar power supply apparatus comprises solar panel, accumulator and gauge tap; Solar power supply apparatus is that steering control device is powered; Steering control device comprises road information acquisition system, radar velocity measurement system, pilotless automobile master controller, Driving Stepping Motor, turns to stepper motor, brakes stepper motor, accelerator pedal, steering axle and brake pedal; Wherein road information acquisition system is connected with the input end of pilotless automobile master controller respectively with radar velocity measurement system, the output terminal of pilotless automobile master controller respectively by Driving Stepping Motor, turn to stepper motor, braking stepper motor is corresponding in turn to and is connected with brake pedal with accelerator pedal, steering axle.The arrangement achieves unmanned function, improve intelligence degree, the road improvement traffic capacity, energy-conserving and environment-protective, ensure the sustainable development of transportation industry.
Description
Technical field
The utility model relates to technical field of intelligent traffic, specifically a kind of complete unattended control device of intelligent solar automobile.
Background technology
Along with industrial expansion and scientific and technological progress, the Travel Range of people is increasing, and the technology of automobile is gradually improved, and automobile becomes the commonplace vehicles, no matter is unit or individual, all rides instead of walk with automobile.Research for automobile is more, is mostly the research of the security of automobile, comfortableness and aesthetic property.
Because a large amount of uses of automobile, the thing followed is becoming tight the day of petroleum resources, and the price of the converted products gasoline of oil rises steadily.Thus, propose research and development new forms of energy as the demand of automobile power, and sun power becomes an optimum selection.
Orthodox car is driven by driver, the subjective factor impact that the travel conditions of automobile is subject to people is larger, the problems such as the urban road traffic congestion therefore caused due to operation lack of standardization and the maloperation of driver, road flow reduce, major traffic accidents take place frequently are day by day serious, bring inconvenience greatly and harm to the productive life of people.
Along with the sharply increase of China's automobile guarantee-quantity, these problems grow in intensity, and therefore lack a set of car networked system automobile in transit being carried out to real-time monitor and managment.
Utility model content
The utility model proposes a kind of complete unattended control device of intelligent solar automobile, the arrangement achieves the unmanned function that vehicle travels, improve the intelligence degree of vehicle operating, the simultaneously transport condition of monitoring and control vehicle effectively, the ability of practical raising traffic safety management and scientific and technological content, the road improvement traffic capacity effectively, energy-conserving and environment-protective, ensure the sustainable development of transportation industry.
The technical solution of the utility model is achieved in that
A kind of complete unattended control device of intelligent solar automobile, comprises solar power supply apparatus and steering control device;
Described solar power supply apparatus comprises solar panel, accumulator and gauge tap; Described solar power supply apparatus is that described steering control device is powered;
Described steering control device comprises road information acquisition system, radar velocity measurement system, pilotless automobile master controller, Driving Stepping Motor, turns to stepper motor, brakes stepper motor, accelerator pedal, steering axle and brake pedal; Wherein road information acquisition system is connected with the input end of pilotless automobile master controller respectively with radar velocity measurement system, the output terminal of pilotless automobile master controller respectively by Driving Stepping Motor, turn to stepper motor, braking stepper motor is corresponding in turn to and is connected with brake pedal with accelerator pedal, steering axle.
Further, described road information acquisition system is made up of vehicle-borne CCD camera and videodataclus tearing circuit.
Further, described radar velocity measurement system adopts the vehicle-mounted all-in-one radar GPS fixing flowing knotmeter that tests the speed of HY-121.
Further, described in turn to stepper motor, receive the signal that pilotless automobile master controller exports, control steering axle and turn to, described in turn to stepper motor to adopt model to be 110BYGH1202.
Further, described Driving Stepping Motor, receives the signal that pilotless automobile master controller exports, thus drives accelerator pedal to change corresponding angle, and described Driving Stepping Motor adopts model to be 130BYGH250.
Further, described braking stepper motor, receives the control signal that pilotless automobile master controller exports, thus drives brake pedal to change corresponding angle, and the model that described braking stepper motor adopts is 110BYGH1502.
Further, described pilotless automobile master controller adopts Freescale MC9S12DG128B single-chip microcomputer.
The beneficial effects of the utility model are:
(1) environmental protection and energy saving.Take sun power as the energy, cleanliness without any pollution.
(2) highly intelligent.Whole device is with Freescale MC9S12DG128 each system for electronic control unit control automobile, and the whole process of running car does not need driver to operate.
(3) high precision and high reliability.Adopt camera collection information of road surface, not by the interference of other calutron; Drive, brake and turn to by step motor control, effectively improve control accuracy.
(4) contribute to setting up efficient traffic and transportation system.
Accompanying drawing explanation
In order to be illustrated more clearly in the utility model embodiment or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only embodiments more of the present utility model, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is general structure block diagram of the present utility model;
Fig. 2 is the pin figure for master controller MC9S12DG128B of the present utility model;
Fig. 3 is motor driving figure of the present utility model.
Embodiment
Below in conjunction with the accompanying drawing in the utility model embodiment, be clearly and completely described the technical scheme in the utility model embodiment, obviously, described embodiment is only the utility model part embodiment, instead of whole embodiments.Based on the embodiment in the utility model, those of ordinary skill in the art are not making the every other embodiment obtained under creative work prerequisite, all belong to the scope of the utility model protection.
With reference to Fig. 1, the unattended control device of one full intelligent solar automobile of the present embodiment, comprises solar power supply apparatus and steering control device; Wherein, solar power supply apparatus comprises solar panel, accumulator and gauge tap; Solar power supply apparatus is that steering control device is powered.
Steering control device comprises road information acquisition system, radar velocity measurement system, pilotless automobile master controller (adopting Freescale MC9S12DG128B single-chip microcomputer), Driving Stepping Motor (model 130BYGH250), turns to stepper motor (model 110BYGH1202), braking stepper motor (model 110BYGH1502), accelerator pedal, steering axle and brake pedal; Wherein road information acquisition system and radar velocity measurement system are connected with pilotless automobile master controller input end respectively, pilotless automobile master controller output terminal respectively by Driving Stepping Motor, turn to stepper motor, braking stepper motor is corresponding in turn to and is connected with brake pedal with accelerator pedal, steering axle.
Road information acquisition system is made up of vehicle-borne CCD camera and videodataclus tearing circuit.The present embodiment adopts CCD camera to rely on support to be fixed on the inner side of front part of vehicle windshield, and camera lens is on the lower side toward the front, make its angle with height with real-time accurate acquisition road surface information for the best, and need have certain perspective.Video separation chip, pilotless automobile master controller, turn to stepper motor, Driving Stepping Motor and braking stepper motor respectively by being bolted in an insulation shell, insulation shell is by support and be bolted to automobile primary and drive between assistant driver seat.
" SONY machine vision dedicated video camera; this ccd sensor is connected with high speed digital signal processor; the road surface lane line signal collected is connected with the master controller of pilotless automobile by I/O mouth by high speed digital signal processor, master controller works according to the position control steering axle of Current vehicle relative to left and right lane line in the present embodiment camera sensing device employing 1/4.Principle and the detailed process of the work of road information acquisition system are as follows:
CCD camera collection carriageway image, and the carriageway image collected is real-time transmitted in high speed digital signal processor, high speed digital signal processor does further process to input signal.
Remove the useless point in road image and noise spot.In the road information image acquisition procedures of reality, due to surface conditions more complicated, the interference of stain, Uneven road vestige etc. may be there is, the road image collected is carried out filtering, adopt Wiener Filter Method to carry out the noise processed of image.
The road image contrast obtained due to CCD camera is not high, so Gray Histogram can be adopted to convert the contrast improving image, therefore the madjust greyscale transformation function of the image processing toolbox of Matlab is used, mapping is re-started to the gray-scale value of image, makes it to fill up the scope that whole gray-scale value allows.
The carriageway image information complete to Image semantic classification carries out binary conversion treatment, to facilitate Hough change detection lane line.Utilize threshold segmentation method to Image Segmentation Using, with one or several threshold values, the grey level histogram of image is classified, the pixel of gray-scale value in same scope is classified as same object.
Curve given in original image or straight line are transformed into a point of parameter space by Hough transformation, and the test problems of curve in original image or straight line, be transformed into the problem finding peak dot in parameter space, the polar equation of straight line is as follows:
ρ＝xcosθ+ysinθ
Utilize Hough transformation first by the point (x on straight line, y) two-dimensional space (ρ is converted to, point θ), then be multiple little lattice by ρ-θ spatial spreading, the maximum some place cell falling into little lattice corresponds to parameter space (ρ, common ground θ), (ρ, θ) is the Straight Line Fitting Parameters of image space.Transforming in image coordinate system by the Straight Line Fitting Parameters of acquisition, is namely the straight-line equation relative to image coordinate, the equation of the left and right lane line namely in image coordinate system.
Set up actual path coordinate system, regulation y-axis with left and right lane markings line parallel and with left and right Lane Mark equidistantly, the direction corresponding to vehicle head is positive dirction; Regulation x-axis crosses vehicle front-wheel wheel shaft mid point P and vertical with y-axis; Initial point O is the intersection point of diaxon.
If the x coordinate figure of automobile front-axle center point P is x
0, and the lateral attitude parameter x using this coordinate axis as vehicle in track
0.If when P point is positioned on the right side of y-axis, x
0just get; When then P point is positioned on the left of y-axis, x gets negative.Regulation θ angle is y-axis and angular separation, longitudinal direction of car axis, and the direction parameter using this angle as vehicle in track.If when headstock right avertence θ get on the occasion of; Then during headstock left avertence, θ gets negative value.In addition, if θ
0for the threshold values set, b is vehicle width, x
1for the value relevant with road width of setting.The value of x1 is pressed following formula and is selected, and wherein w is lane width.
x
1＝(w/2)+5
When meeting formula (1), judge that automobile departs to the right,
When meeting formula (2), judge that automobile departs to the left.
Pilotless automobile master controller, according to the location parameter of vehicle in current lane and direction parameter, controls steering, achieves the automatic tracking function of pilotless automobile, ensures that vehicle travels in the middle of track.
The drive motor that turns to of this embodiment selects stepper motor, and stepper motor is opened loop control unit stepper motor part electric impulse signal being changed into angular displacement or displacement of the lines.When step actuator receives a pulse signal, it rotates a fixing angle with regard to Driving Stepping Motor by the direction of setting, its rotation runs step by step with fixing angle, pilot angle displacement is carried out by gating pulse number, thus reach the object of accurately location, speed and the acceleration of electric machine rotation can be controlled simultaneously by gating pulse frequency, thus reach the object of speed governing.
The signal of pilotless automobile master controller Received signal strength acquisition module, the size that steering needs adjustment amount is obtained by certain algorithm, utilize master controller PWM module, send the PWM ripple of certain dutycycle to the control end turning to stepper motor, control end is configured with 4 field effect transistor (S1, S2, S3, S4), model is IRF3703Mosfet, these 4 field effect transistor form H type double pole mode change-over circuit by 4 TO-220 encapsulation and carry out pressure regulation, control direction of motor rotation and rotating speed.4 field effect transistor of H-type full-bridge formula driving circuit are all operated in copped wave state, and S1, S4 are one group, and S2, S3 are one group, and when wherein one group of conducting, another group must turn off.When S1, S4 conducting, S2, S3 turn off, and motor two ends add the rotating forward that forward voltage realizes motor, and the steering that can realize automobile turns over certain angle to this direction; When S2, S3 conducting, S1, S4 turn off, and motor two ends are reverse voltage, motor reversal, and the steering that can realize automobile turns over certain angle to opposite direction, thus control the working direction of automobile.Motor drive principle figure as shown in Figure 3.
The drive system of automobile adopts the change of step motor control accelerator pedal, this stepper motor principle of work with turn to stepper motor identical.The rate signal that pilotless automobile master controller inputs according to radar velocity measurement system, the control end of PWM ripple to drived control motor of certain dutycycle is sent by PWM module, stepper motor is made to rotate certain angle, thus drive accelerator pedal to change certain angle, control the travel speed of automobile.
The brake system of automobile adopts the change of step motor control brake pedal.With same principle, the velocity information that pilotless automobile master controller inputs according to radar velocity measurement system and the information of road surface that road information acquisition system collects, the control end of PWM ripple to control for brake motor of certain dutycycle is sent by PWM module, stepper motor is made to rotate certain angle, thus drive brake pedal to change certain angle, realize the braking of automobile.
Radar velocity measurement system adopts the vehicle-mounted all-in-one radar GPS fixing flowing knotmeter that tests the speed of HY-121.Radar velocity measurement mainly utilizes Doppler effect (Doppler Effect) principle, and when vehicle is when radar antenna is close, reflected signal frequency will higher than transmitter frequency; Otherwise when target is gone away from radar antenna, reflected signal frequency lower than transmitting probability, so by the change numerical value of frequency, will can calculate the relative velocity of vehicle and radar, for the work of drive system and brake system provides foundation.
The foregoing is only preferred embodiment of the present utility model; not in order to limit the utility model; all within spirit of the present utility model and principle, any amendment done, equivalent replacement, improvement etc., all should be included within protection domain of the present utility model.
Claims (7)
1. the unattended control device of full intelligent solar automobile, is characterized in that, comprise solar power supply apparatus and steering control device;
Described solar power supply apparatus comprises solar panel, accumulator and gauge tap; Described solar power supply apparatus is that described steering control device is powered;
Described steering control device comprises road information acquisition system, radar velocity measurement system, pilotless automobile master controller, Driving Stepping Motor, turns to stepper motor, brakes stepper motor, accelerator pedal, steering axle and brake pedal; Wherein road information acquisition system is connected with the input end of pilotless automobile master controller respectively with radar velocity measurement system, the output terminal of pilotless automobile master controller respectively by Driving Stepping Motor, turn to stepper motor, braking stepper motor is corresponding in turn to and is connected with brake pedal with accelerator pedal, steering axle.
2. a kind of complete unattended control device of intelligent solar automobile as claimed in claim 1, it is characterized in that, described road information acquisition system is made up of vehicle-borne CCD camera and videodataclus tearing circuit.
3. a kind of complete unattended control device of intelligent solar automobile as claimed in claim 1, is characterized in that, described radar velocity measurement system adopts the vehicle-mounted all-in-one radar GPS fixing flowing knotmeter that tests the speed of HY-121.
4. a kind of complete unattended control device of intelligent solar automobile as claimed in claim 1, it is characterized in that, described in turn to stepper motor, receive the signal that pilotless automobile master controller exports, control steering axle turns to, described in turn to stepper motor adopt model be 110BYGH1202.
5. a kind of complete unattended control device of intelligent solar automobile as claimed in claim 1, it is characterized in that, described Driving Stepping Motor, receive the signal that pilotless automobile master controller exports, thus driving accelerator pedal to change corresponding angle, described Driving Stepping Motor adopts model to be 130BYGH250.
6. a kind of complete unattended control device of intelligent solar automobile as claimed in claim 1, it is characterized in that, described braking stepper motor, receive the control signal that pilotless automobile master controller exports, thus driving brake pedal to change corresponding angle, the model that described braking stepper motor adopts is 110BYGH1502.
7. a kind of complete unattended control device of intelligent solar automobile as claimed in claim 1, it is characterized in that, described pilotless automobile master controller adopts Freescale MC9S12DG128B single-chip microcomputer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420650426.7U CN204229228U (en) | 2014-11-03 | 2014-11-03 | A kind of complete unattended control device of intelligent solar automobile |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420650426.7U CN204229228U (en) | 2014-11-03 | 2014-11-03 | A kind of complete unattended control device of intelligent solar automobile |
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| Publication Number | Publication Date |
|---|---|
| CN204229228U true CN204229228U (en) | 2015-03-25 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420650426.7U Expired - Fee Related CN204229228U (en) | 2014-11-03 | 2014-11-03 | A kind of complete unattended control device of intelligent solar automobile |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104991580A (en) * | 2015-06-18 | 2015-10-21 | 奇瑞汽车股份有限公司 | Control system of unmanned vehicle and control method thereof |
| CN105549591A (en) * | 2015-12-22 | 2016-05-04 | 刘莹瑜 | Information system for automobile unmanned driving |
| CN106200638A (en) * | 2016-07-11 | 2016-12-07 | 佛山杰致信息科技有限公司 | A kind of intelligent vehicle with obstacle avoidance function |
-
2014
- 2014-11-03 CN CN201420650426.7U patent/CN204229228U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104991580A (en) * | 2015-06-18 | 2015-10-21 | 奇瑞汽车股份有限公司 | Control system of unmanned vehicle and control method thereof |
| CN105549591A (en) * | 2015-12-22 | 2016-05-04 | 刘莹瑜 | Information system for automobile unmanned driving |
| CN106200638A (en) * | 2016-07-11 | 2016-12-07 | 佛山杰致信息科技有限公司 | A kind of intelligent vehicle with obstacle avoidance function |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150325 Termination date: 20161103 |
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| CF01 | Termination of patent right due to non-payment of annual fee |