CN204895460U - Automatic adjusting device of a remotely piloted vehicle windage - Google Patents
Automatic adjusting device of a remotely piloted vehicle windage Download PDFInfo
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- CN204895460U CN204895460U CN201520502971.6U CN201520502971U CN204895460U CN 204895460 U CN204895460 U CN 204895460U CN 201520502971 U CN201520502971 U CN 201520502971U CN 204895460 U CN204895460 U CN 204895460U
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Abstract
The utility model relates to an automatic adjusting device of a remotely piloted vehicle windage, it be through the air velocity transducer that sets up at the roof and wind direction sensor measurements go out wind speed soft breeze to, utilize microprocessor to calculate horizontal effort and vertical effort, make the decision -making behind the on -vehicle centralized computer integrated analysis, turn to, throttle, braking control parameter's adjustment.
Description
Technical field
The utility model relates to a kind of automatic driving vehicle windage automatic regulating apparatus.
Background technology
Each developed country of the world all starts to research and develop automatic driving vehicle, and automatic driving vehicle needs by various sensor collection running environment information, and the information that vehicle-mounted centralized computer process is collected, sends instruction, orders about automatic driving vehicle and realizes correct enforcement.As automatic driving vehicle travel in the environment of strong wind or the too fast generation of moving velocity air draught increase, affect the normal traveling of automatic driving vehicle.Automatic driving vehicle needs to adjust its traveling and turns to, and the parameters such as braking, so automatic driving vehicle needs equipment windage automatic regulating apparatus.In order to solve this technical matters, we devise an automatic driving vehicle windage automatic regulating apparatus.The utility model proposes a kind of device, its effect is that automatic driving vehicle travels in the environment of strong wind, under the air resistance effect that wind-force effect or moving velocity produce very soon, automatic driving vehicle can adjust moving velocity or course changing control parameter automatically, reduce automatic driving vehicle travel in the environment having wind or air draught that moving velocity produces very soon and cause accident, property loss.
Utility model content
For the above, the purpose of this utility model is to provide a kind of automatic driving vehicle windage automatic regulating apparatus, it comprise be fixed on roof wind transducer, air velocity transducer and the AD converter, microprocessor, vehicle-mounted centralized computer, steering controlling device, accelerator control device, the braking force control system that are contained in car.Wind transducer is connected AD converter with air velocity transducer, AD converter connects microprocessor, microprocessor comprises calculating unit and delivery unit, and micro-process connects vehicle-mounted centralized computer, and vehicle-mounted centralized computer connects steering controlling device, accelerator control device, braking force control system respectively.This device is to better allow automatic driving vehicle in the environment of strong wind, the traveling of safe and efficient rate in wind application force or the air draught situation that produces very soon because of moving velocity.
In order to realize the purpose of this utility model, the technical scheme adopted is: a kind of automatic driving vehicle windage automatic regulating apparatus, it utilizes the wind speed being fixed on the wind transducer of roof and air velocity transducer and measuring the wind direction of automatic driving vehicle in the environment having wind and wind speed or produce very soon because of moving velocity, wind transducer and air velocity transducer send AD converter the wind direction measured and wind speed to electric signal, by AD converter, the wind direction received and wind speed electric signal are converted to digital signal and send microprocessor to, take off data is utilized to calculate longitudinal force and the lateral force of air-out by the calculating unit in microprocessor, and send vehicle-mounted centralized computer to by delivery unit, vehicle-mounted centralized computer passes through the road environment information collected (comprising longitudinal force and the lateral force of wind), the movement state information etc. of other vehicle of periphery, comprehensive descision is carried out to current driving situation, and send instruction to steering controlling device, accelerator control device, braking force control system, the adjustment carried out speed or turn to.
The beneficial effects of the utility model: when the air draught that automatic driving vehicle travels in the environment having wind or moving velocity produces very soon, by the change of wind direction and wind application force can be identified, allow during automatic driving vehicle travels in the environment having wind or moving velocity produces very soon air draught and automatically adjust moving velocity or course changing control parameter.Thus can reduce in the environment of the air draught that automatic driving vehicle produces very soon because of traveling or moving velocity in the environment having wind, and the loss of the accident caused, property.
Accompanying drawing explanation
Accompanying drawing 1 is the utility model integral structure schematic diagram.
Accompanying drawing 1, wind transducer 1, air velocity transducer 2, AD converter 3, AD converter 4, microprocessor 7 (calculating unit 5, delivery unit 6), vehicle-mounted centralized computer 8, steering controlling device 9, accelerator control device 10, braking force control system 11.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the utility model is described in further detail.
Figure 1 shows the structure of the automatic driving vehicle windage automatic regulating apparatus of a kind of embodiment of the utility model.
As shown in Figure 1, a kind of automatic driving vehicle windage automatic regulating apparatus, it comprises wind transducer 1, air velocity transducer 2, AD converter 3, AD converter 4, microprocessor 7, vehicle-mounted centralized computer 8, steering controlling device 9, accelerator control device 10, braking force control system 11.Wind transducer 1 and air velocity transducer 2 to measure the direction of wind and the speed of wind, if automatic driving vehicle can identify the direction of wind and the speed of wind, the adjustment that being conducive to drives a vehicle turns to and the control of the speed of a motor vehicle in the process of driving, wind transducer 1, air velocity transducer 2 is connected with AD converter 3 and AD converter 4, AD converter 3 and AD converter 4 convert digital signal to the electric signal of the wind direction measured and wind speed and send microprocessor 7 to, calculating unit 5 in microprocessor 7 is according to wind direction and wind speed, the wind force data calculated, by the delivery unit 6 in microprocessor 7, wind direction and wind velocity data and the wind force data calculated are sent to vehicle-mounted centralized computer 8, after vehicle-mounted centralized computer 8 judges, send instruction to steering controlling device 9, accelerator control device 10, braking force control system 11, the adjustment carried out speed or turn to.
Wind transducer 1 and air velocity transducer 2 are all arranged on the roof of automatic driving vehicle, along with the movement of vehicle, the wind direction that wind transducer 1 measures gained is the angle in the conduct direction of relative car is θ, and the wind speed that air velocity transducer 2 measures gained is also the air speed value of relative car is v.Calculating unit 5 is according to the following wind that calculates to the horizontal force of car (or claim lateral force, vertical with the conduct direction of car) and longitudinal force (setting the conduct direction of car), and wind to the computing formula of the horizontal force of car is:
The longitudinal force computing formula of wind to car is:
(the unit of wind speed degree: m/s; A
1for automobile longitudinal sectional area, A
2for automobile lateral cross-sectional area, unit: m
2; Cw is air resistance coefficient), the direction of application force can be determined according to θ angle, by delivery unit 6, the longitudinal force value of wind direction, wind speed, wind and lateral action force value computing value are sent to vehicle-mounted centralized computer 8, instruction is sent to steering controlling device 9, accelerator control device 10, braking force control system 11, the adjustment carried out speed or turn to after vehicle-mounted centralized computer 8 judges.
When automatic driving vehicle travels the air draught (longitudinal force) produced when the longitudinal force, lateral force and the automatic driving vehicle that travel the wind of generation in the environment that wind is larger travel too fast, all automatic driving vehicle is caused to the impact of driving, vehicle-mounted centralized computer 8 makes instruction to steering controlling device 9, accelerator control device 10, braking force control system 11, the adjustment carried out speed He turn to; Lateral Wind power can affect the turn around parameters of automatic driving vehicle, and turn around parameters arranges improper, also likely causes automatic driving vehicle rollover accident, so need the turn around parameters constantly adjusting automatic driving vehicle according to the size and Orientation of Lateral Wind power.
When wind action power is larger, automatic driving vehicle wants the speed keeping setting, must regulate throttle or braking, and automatic driving vehicle is by regulating the control of speed control parameter realization to car speed of accelerator control device 10 and braking force control system 11.
Above-described is only embodiments more of the present utility model.For the person of ordinary skill of the art, under the prerequisite not departing from the utility model creation design, can also make at least one distortion and improve, these all belong to protection domain of the present utility model.
Claims (2)
1. an automatic driving vehicle windage automatic regulating apparatus, is characterized in that: it comprise be fixed on roof wind transducer, air velocity transducer and the AD converter, microprocessor, vehicle-mounted centralized computer, steering controlling device, accelerator control device, the braking force control system that are contained in car.
2. automatic driving vehicle windage automatic regulating apparatus according to claim 1, it is characterized in that: wind transducer is connected AD converter with air velocity transducer, AD converter connects microprocessor, microprocessor comprises calculating unit and delivery unit, micro-process connects vehicle-mounted centralized computer, and vehicle-mounted centralized computer connects steering controlling device, accelerator control device, braking force control system respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520502971.6U CN204895460U (en) | 2015-07-14 | 2015-07-14 | Automatic adjusting device of a remotely piloted vehicle windage |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520502971.6U CN204895460U (en) | 2015-07-14 | 2015-07-14 | Automatic adjusting device of a remotely piloted vehicle windage |
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| CN204895460U true CN204895460U (en) | 2015-12-23 |
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| CN201520502971.6U Active CN204895460U (en) | 2015-07-14 | 2015-07-14 | Automatic adjusting device of a remotely piloted vehicle windage |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106439688A (en) * | 2016-10-31 | 2017-02-22 | 珠海创烨科技有限公司 | Automatic automotive wind-sensing steering LED lamps and automobile adopting same |
| CN108725578A (en) * | 2017-04-14 | 2018-11-02 | 华为技术有限公司 | The method and apparatus for controlling intelligent vehicle running direction |
| CN111717280A (en) * | 2019-03-20 | 2020-09-29 | 本田技研工业株式会社 | Vehicle control device, vehicle control method, and storage medium |
| CN114162134A (en) * | 2022-02-14 | 2022-03-11 | 西南交通大学 | Method, device and storage medium for predicting vehicle track on sea-crossing bridge |
| CN114802278A (en) * | 2022-03-04 | 2022-07-29 | 净豹智能机器人(台州)有限公司 | Vehicle control system and method for unmanned driving in severe weather |
| WO2023168606A1 (en) * | 2022-03-08 | 2023-09-14 | 华为技术有限公司 | Data transmission method, apparatus, and system |
-
2015
- 2015-07-14 CN CN201520502971.6U patent/CN204895460U/en active Active
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106439688A (en) * | 2016-10-31 | 2017-02-22 | 珠海创烨科技有限公司 | Automatic automotive wind-sensing steering LED lamps and automobile adopting same |
| CN108725578A (en) * | 2017-04-14 | 2018-11-02 | 华为技术有限公司 | The method and apparatus for controlling intelligent vehicle running direction |
| CN108725578B (en) * | 2017-04-14 | 2020-08-07 | 华为技术有限公司 | Method and device for controlling driving direction of intelligent automobile |
| CN111717280A (en) * | 2019-03-20 | 2020-09-29 | 本田技研工业株式会社 | Vehicle control device, vehicle control method, and storage medium |
| CN111717280B (en) * | 2019-03-20 | 2022-09-02 | 本田技研工业株式会社 | Vehicle control device, vehicle control method, and storage medium |
| CN114162134A (en) * | 2022-02-14 | 2022-03-11 | 西南交通大学 | Method, device and storage medium for predicting vehicle track on sea-crossing bridge |
| CN114162134B (en) * | 2022-02-14 | 2022-05-06 | 西南交通大学 | Method, device and storage medium for predicting vehicle track on sea-crossing bridge |
| CN114802278A (en) * | 2022-03-04 | 2022-07-29 | 净豹智能机器人(台州)有限公司 | Vehicle control system and method for unmanned driving in severe weather |
| WO2023168606A1 (en) * | 2022-03-08 | 2023-09-14 | 华为技术有限公司 | Data transmission method, apparatus, and system |
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