CN206954218U - A kind of intelligent vehicle line traffic control automatic cruise control system based on monocular vision - Google Patents
A kind of intelligent vehicle line traffic control automatic cruise control system based on monocular vision Download PDFInfo
- Publication number
- CN206954218U CN206954218U CN201720545505.5U CN201720545505U CN206954218U CN 206954218 U CN206954218 U CN 206954218U CN 201720545505 U CN201720545505 U CN 201720545505U CN 206954218 U CN206954218 U CN 206954218U
- Authority
- CN
- China
- Prior art keywords
- steering
- motor
- vehicle
- wheel
- angular transducer
- 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.)
- Expired - Fee Related
Links
Landscapes
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The problem of needs very big steering force being turned to for traditional vehicle using mechanical steering or hydraulic power assisted, the utility model provides a kind of linear automatic cruise control system of the intelligent vehicle based on monocular vision, the system includes monocular cam, motor, steering motor, angular transducer, vehicle speed sensor, GPS, vehicle body, wheel, measurement and control unit, the utility model eliminates the mechanical connection between steering wheel and deflecting roller using steering-by-wire, when an accident occurs, mechanical device in conventional steering system can be avoided to be injured to caused by driver, also save driving space simultaneously, improve the security and comfortableness of driving.Furthermore it is possible to realize four-wheel independent steering, simulation control is carried out by stepper motor, each one wheel of motor control is turned to, and greatly improves the flexibility of vehicle.
Description
Technical field
It the utility model is related to a kind of vehicle wire-controlled steering system, and in particular to a kind of line traffic control automatic cruise control system.
Background technology
Wire-controlled steering system is the steering of new generation to grow up after EPS, and steering development is popular after being,
With it is more preferable than EPS control stability the characteristics of, it cancels the mechanical connection between steering wheel and deflecting roller, completely real by electric energy
Turn now to, thoroughly break away from the intrinsic limitation of conventional steering system, trailing wheel independently rotates, and vehicle is produced a stable effect
Power, the convenience for improving the security of automobile and driving.Many research has been carried out to this system both at home and abroad, has been currently in not
It is disconnected to improve the stage.The main purpose of intelligent vehicle line traffic control automatic cruising system research based on monocular vision is to improve to drive spy
Property, mitigate the fatigue strength that driver drives, improve the security and comfortableness of vehicle drive.Used during experiment
LabVIEW programming softwares, to the timely adjustment of vehicle condition, ensure vehicle as data acquisition, information gathering control main program
Safe driving.
Utility model content
All it is largely mechanical steering for the wheel steering system that occurs in the market, needs very big behaviour during steering
Vertical power, the problem of driver is also easy to produce fatigue in driving procedure, the utility model provides a kind of intelligence based on monocular vision
Energy Vehicular linear automatic cruise control system, the machinery that the system is eliminated using steering-by-wire between steering wheel and deflecting roller connect
Connect, when an accident occurs, mechanical device in conventional steering system can be avoided to be injured to caused by driver, also saved simultaneously
Driving space, improve the security and comfortableness of driving.Furthermore it is possible to realize four-wheel independent steering, entered by stepper motor
Row simulation control, each one wheel of motor control are turned to, and greatly improve the flexibility of vehicle.
The linear automatic cruise control system of this intelligent vehicle based on monocular vision includes monocular cam, driving electricity
Machine, steering motor, angular transducer, vehicle speed sensor, GPS, vehicle body, wheel, measurement and control unit, connecting rod, monocular cam peace
Mounted in body forward structure, angular transducer is arranged on the motor being connected with wheel, and vehicle speed sensor is arranged on motor
On, GPS is arranged on vehicle body, each four of motor, steering motor, angular transducer, vehicle speed sensor, four driving electricity
Machine is separately mounted on wheel, and vehicle speed sensor, angular transducer are installed on each motor, and four steering motors pass through connection
Axle device is connected with connecting rod, and monocular cam, angular transducer, vehicle speed sensor, GPS are connected respectively to measurement and control unit, by phase
Data transfer is closed to measurement and control unit, backward motor is analyzed, judged and handled through measurement and control unit and sends control signal.
The operation principle of the linear automatic cruise control system of this intelligent vehicle based on monocular vision is：Taken the photograph by monocular
The image shot as head carries out ranging, and passes to the signal of one vehicle location of measurement and control unit, by measurement and control unit to collecting
Signal analysis, judgement and processing after, send the instruction of adjustment speed, realize that fluid drive travels, itself and front truck is kept one
Determine safe distance between vehicles, when needing to turn to, the correctness of Driver Steering Attention is detected by angular transducer, when driver operates
When wrong, can automatic shield driver operation, carry out stability contorting automatically, which reduces the fatigue strength of driver,
Improve drive safety.
Compared with technology compare, the beneficial effects of the utility model are：Steering-by-wire instead of traditional mechanical steering
System, the mechanical connection between steering wheel and deflecting roller is eliminated, car can be automatically controlled according to the spacing between vehicle and front truck
Speed is to ensure the safe distance between vehicles between front truck, when the spacing between vehicle and front truck is less than limit value, self-actuating brake or deceleration
Control and the safe distance of front truck.There is automatic anti-fault function in wire-controlled steering system, when needing to turn to, pass through angle sensor
Device detects the correctness of Driver Steering Attention, can automatic shield when steering breaks down or driver's operation is wrong
The operation of driver, stability contorting is carried out automatically, adjusts steering operation in time.Using four-wheel steering, pass through multiple stepper motors
Simulation control is carried out, each one wheel of motor control is turned to, and the design of four-wheel independent steering makes trailing wheel participate in steering
During, greatly improve the flexibility of vehicle.
Brief description of the drawings
Fig. 1 be the utility model proposes the linear automatic cruise control system main view of the intelligent vehicle based on monocular vision
Figure.
Fig. 2 be the utility model proposes the linear automatic cruise control system left view of the intelligent vehicle based on monocular vision
Figure.
Fig. 3 be the utility model proposes the linear automatic cruise control system right side of the intelligent vehicle based on monocular vision regard
Figure.
In figure：1- vehicle bodies, 2- steering motors, 3- connecting rods, 4- wheels, 5- motors, 6- angular transducers, 7- speeds
Sensor, 8- monocular cams, 9-GPS, 10- measurement and control unit
Embodiment
The utility model is described further below in conjunction with the accompanying drawings.
The utility model includes monocular cam 8, motor 5, steering motor 2, angular transducer 6, vehicle speed sensor
7th, GPS 9, vehicle body 1, wheel 4, measurement and control unit 10, connecting rod 3, monocular cam 8 are arranged on the front portion of vehicle body 1, angular transducer
6 are arranged on the motor being connected with wheel 4, and vehicle speed sensor 7 is arranged on motor 5, and GPS 9 is arranged on vehicle body 1
On, motor 5, steering motor 2, angular transducer 6, vehicle speed sensor 7 each four, four motors 5 are separately mounted to
On wheel 4, on each motor install vehicle speed sensor 7, angular transducer 6, four steering motors 2 by shaft coupling with
Connecting rod 3 is connected, and monocular cam 8, angular transducer 6, vehicle speed sensor 7, GPS 9 electrically connect with measurement and control unit 10.Monocular
Camera 8, angular transducer 6, vehicle speed sensor 7, GPS 9 distinguish collection vehicle upcoming traffic situation, steering signal of vehicle and
The GES of four wheels, is positioned to vehicle, and various signals are transmitted into measurement and control unit 10, by measurement and control unit 10 to adopting
Control signal is sent after the signal analysis, judgement and the processing that collect, four motors 5 are driven, with control driving electricity
The rotating speed of machine 5, motor 5 act on vehicle so as to adjust speed.When needing to turn to, driven by the detection of angular transducer 6
The correctness of the person's of sailing steering operation, if detecting that driver's operation is wrong, the operation of control unit meeting automatic shield driver,
And voluntarily adjust steering angle and complete driver's steering intention.Each steering motor controls a wheel to be turned to, and four-wheel is only
The vertical design turned to makes during trailing wheel participates in steering, to greatly improve the flexibility of vehicle, can easily realize vehicle
360 ° of rotations.
Each module is described further separately below.
Measurement and control unit includes data acquisition module and control module.Data acquisition module includes three class data acquisition sessions：
(1) collection vehicle upcoming traffic situation.Using the collection vehicle upcoming traffic situation of monocular cam 8 installed in vehicle front,
GPS is positioned, and particularly as being to obtain front vehicles and the situation and vehicle oneself state of road, is made accordingly for control unit
Adjustment, that is, change running conditions of vehicle.(2) judge the correctness of steering operation, when driver has steering operation, pass through angle
Spend sensor 6 and detect the correctness of Driver Steering Attention, if detecting that driver's operation is wrong, control unit can shield automatically
The operation of driver is covered, and voluntarily adjusts steering angle.(3) speed data collection task.Sensed using the speed on wheel 4
Device 7 gathers speed information, controls the rotating speed of motor 5, so as to regulation speed.
In control module using notebook computer as device analysis, the controller of the various information of processing, it receives data and adopted
The data that collection module is passed back, are merged and calculate the state parameter of needs, send signal to control turning for motor 5
Speed.Specific tasks are：(1) when front vehicle deceleration travels or is less than safe distance with the spacings of front vehicles, reduce and drive
The rotating speed of motor makes vehicle and front vehicles keep safe distance, when front vehicles give it the gun or with the spacings of front vehicles compared with
When big, increase the rotating speed of motor, improve speed.(2) when needing to turn to, turned over necessarily by steering motor band motor car wheel
Angle, realize that driver turns to purpose, when angular transducer detects that Driver Steering Attention is wrong, control unit can be from
The operation of dynamic shielding driver, and voluntarily adjust steering angle completion driver and turn to and be intended to.
Control implementation process as follows：
The display interface of human-computer interaction module and the interface of main program are all the display interfaces of computer, and its data source is
Monocular cam 8, angular transducer 6, vehicle speed sensor 7, GPS 9, computer main program interface is opened, click on start button, journey
Sequence is started working, and the signal message measured in RIO is delivered into main program, vehicle speed sensor 7 collects the rotating speed letter of wheel
After number, signal is transmitted to data acquisition module, data acquisition module obtains the numerical value of speed after handling the signal of collection,
And shown on front panel.The collection vehicle upcoming traffic situation of monocular cam 8, GPS are positioned, and data are transmitted into number
According to acquisition module, the data that control module measures data acquisition module are handled, and obtain traffic environment residing for current automobile,
When front vehicle deceleration travels or is less than safe distance with the spacings of front vehicles, reduce the rotating speed of motor make vehicle and
Front vehicles keep safe distance, when front vehicles are given it the gun or be larger with the spacing of front vehicles, increase motor
Rotating speed, improve speed.When needing to turn to, certain angle is turned over motor car wheel by steering motor, realizes that driver turns
To purpose.
Claims (1)
1. the linear automatic cruise control system of a kind of intelligent vehicle based on monocular vision, it is characterised in that imaged including monocular
Head [8], motor [5], steering motor [2], angular transducer [6], vehicle speed sensor [7], GPS [9], vehicle body [1], wheel
[4], measurement and control unit [10], connecting rod [3], monocular cam [8] are arranged on vehicle body [1] front portion, and angular transducer [6] is arranged on
On the motor being connected with wheel [4], vehicle speed sensor [7] is arranged on motor [5], and GPS [9] is arranged on vehicle body
[1] on, motor [5], steering motor [2], angular transducer [6], each four of vehicle speed sensor [7], four motors
[5] it is separately mounted on wheel [4], vehicle speed sensor [7], angular transducer [6], four steerings is installed on each motor
Motor [2] is connected by shaft coupling with connecting rod [3], monocular cam [8], angular transducer [6], vehicle speed sensor [7],
GPS [9] electrically connects with measurement and control unit [10].
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720545505.5U CN206954218U (en) | 2017-05-17 | 2017-05-17 | A kind of intelligent vehicle line traffic control automatic cruise control system based on monocular vision |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720545505.5U CN206954218U (en) | 2017-05-17 | 2017-05-17 | A kind of intelligent vehicle line traffic control automatic cruise control system based on monocular vision |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206954218U true CN206954218U (en) | 2018-02-02 |
Family
ID=61375027
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720545505.5U Expired - Fee Related CN206954218U (en) | 2017-05-17 | 2017-05-17 | A kind of intelligent vehicle line traffic control automatic cruise control system based on monocular vision |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206954218U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109250657A (en) * | 2018-12-03 | 2019-01-22 | 江苏建筑职业技术学院 | A kind of aerial work platform steering system and control method |
| CN109720406A (en) * | 2018-11-12 | 2019-05-07 | 浙江安骥汽车科技有限公司 | A kind of vehicle wire-controlled steering system |
| CN110155157A (en) * | 2018-03-09 | 2019-08-23 | 驭达工业装备（苏州）有限公司 | A kind of non-Mecanum wheel high-precision omnidirectional vehicle |
| WO2020173184A1 (en) * | 2019-02-27 | 2020-09-03 | 深圳市大可奇科技有限公司 | Vehicle power control system and method |
| CN115009358A (en) * | 2022-07-19 | 2022-09-06 | 奇瑞汽车股份有限公司 | Double-redundancy control structure of steering engine |
-
2017
- 2017-05-17 CN CN201720545505.5U patent/CN206954218U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110155157A (en) * | 2018-03-09 | 2019-08-23 | 驭达工业装备（苏州）有限公司 | A kind of non-Mecanum wheel high-precision omnidirectional vehicle |
| CN109720406A (en) * | 2018-11-12 | 2019-05-07 | 浙江安骥汽车科技有限公司 | A kind of vehicle wire-controlled steering system |
| CN109250657A (en) * | 2018-12-03 | 2019-01-22 | 江苏建筑职业技术学院 | A kind of aerial work platform steering system and control method |
| CN109250657B (en) * | 2018-12-03 | 2023-08-01 | 江苏建筑职业技术学院 | Steering system of aerial working platform and control method |
| WO2020173184A1 (en) * | 2019-02-27 | 2020-09-03 | 深圳市大可奇科技有限公司 | Vehicle power control system and method |
| CN115009358A (en) * | 2022-07-19 | 2022-09-06 | 奇瑞汽车股份有限公司 | Double-redundancy control structure of steering engine |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN206954218U (en) | A kind of intelligent vehicle line traffic control automatic cruise control system based on monocular vision | |
| CN106347449B (en) | One kind is man-machine to drive type electric boosting steering system and mode switching method altogether | |
| CN106741137A (en) | A kind of personalized electric boosting steering system and control method | |
| CN103754219A (en) | Automatic parking system of information fusion of multiple sensors | |
| CN109291991A (en) | A kind of bi-motor line traffic control composite turning system and its control method | |
| CN209852413U (en) | Wire-controlled steering device with redundancy function | |
| CN106080206A (en) | A kind of control system of electric automobile and method | |
| CN105799549A (en) | Integration control system and method for electric power steering system (EPS) and direct yaw moment control (DYC) of electric wheel automobile | |
| CN105835820A (en) | Vehicle sensor information screening method and vehicle collision avoidance system applying same | |
| CN101318518B (en) | Steering system of instruction car | |
| CN105083375A (en) | Vehicle electric-control steering road-feel control method based on drive-by-wire technology | |
| CN105196891B (en) | A kind of universal electric chassis control system of the industrialized agriculture of wire control technology and its method | |
| WO2020237997A1 (en) | Automotive intelligent steer-by-wire system integrated with fatigue detection, and control method therefor | |
| CN105015544A (en) | Vehicle speed control system and method for full-automatic parking of electric car | |
| CN101531207A (en) | Electric power-assisted steering controller for enhancing automobile stability | |
| CN110091914A (en) | A kind of distributed automobile multi-state identification differential forward method and system | |
| CN110466361A (en) | Two-wheeled In-wheel motor driving pure electric vehicle controller and control method | |
| CN102935815A (en) | Electric differential control device and method for electric wheel vehicle | |
| CN203581090U (en) | Four-wheel steering system | |
| CN206475931U (en) | A kind of personalized electric boosting steering system | |
| CN205679400U (en) | For verifying the instruction carriage of In-wheel motor driving Control of Electric Vehicles method | |
| CN100503337C (en) | Adaptive turning speed controller for electric bicycle | |
| CN202624347U (en) | Power-assisted steering device special for electric vehicle | |
| CN207773222U (en) | Dual redundant electrically powered steering apparatus using same | |
| CN206856697U (en) | Chassis detection system and car |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180202 Termination date: 20180517 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |