CN207984614U - A kind of electric vehicle automatic ride control system - Google Patents
A kind of electric vehicle automatic ride control system Download PDFInfo
- Publication number
- CN207984614U CN207984614U CN201820357698.6U CN201820357698U CN207984614U CN 207984614 U CN207984614 U CN 207984614U CN 201820357698 U CN201820357698 U CN 201820357698U CN 207984614 U CN207984614 U CN 207984614U
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- electric vehicle
- laser radar
- radar sensor
- real time
- main control
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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
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The utility model provides a kind of electric vehicle automatic ride control system,The camera being electrically connected including main control module and with main control module,Stepper motor,Laser radar sensor,Inertial Measurement Unit,Tachogenerator and electric machine controller,Camera acquires the image information in electric vehicle driving process in real time,Stepper motor drives laser radar sensor to rotate in predetermined angular,Vehicle front barrier and the relative distance between vehicle and barrier is measured in laser radar sensor real time scan electric vehicle driving process,Inertial Measurement Unit detects the acceleration and angular speed in electric vehicle driving process in real time,Tachogenerator detects the rotation direction and velocity of rotation of driving motor in electric vehicle driving process in real time,Electric machine controller controls a variety of travelings action of driving motor,Main control module to much information handle and control stepper motor and electric machine controller.This system can control electric vehicle automatic running into traveling, not need manual operation.
Description
Technical field
The utility model is related to field of artificial intelligence, and in particular to a kind of electric vehicle automatic ride control system.
Background technology
Currently, with the fast development of infrastructure, the place such as present airport, market, amusement park the more is repaiied the more big, thus
Need the distance of people's walking increasingly longer, although currently there is the additional transports tool such as bicycle, sightseeing bus, these are auxiliary
The vehicles are helped still to need artificial operation, thus the trip for limiting people to a certain extent is free and uses needs.
Utility model content
Manual operation is still needed for additional transport tool in the prior art, thus limits people to a certain extent
Trip freely and use the technical issues of needing, a kind of electric vehicle automatic ride control system of the utility model offer.
In order to solve the above-mentioned technical problem, the utility model uses the following technical solution：
A kind of electric vehicle automatic ride control system, including main control module and be electrically connected with main control module camera, step
Stepper motor, laser radar sensor, Inertial Measurement Unit, tachogenerator and electric machine controller；The camera is suitable for real-time
The image information of front and back in electric vehicle driving process is acquired, the stepper motor is suitable for driving laser radar in predetermined angular
Sensor rotation, the laser radar sensor are suitable for vehicle front barrier in real time scan electric vehicle driving process and measure
Go out the relative distance between vehicle and barrier, the Inertial Measurement Unit is suitable for adding in detection electric vehicle driving process in real time
Speed and angular speed, the tachogenerator are suitable for the rotation direction of driving motor in detection electric vehicle driving process in real time and turn
Dynamic speed, the electric machine controller are suitable for controlling a variety of travelings action of driving motor, and the main control module is suitable for pair
The range information of image information, laser radar sensor output including camera acquisition, the acceleration of Inertial Measurement Unit detection
Much information including degree and the rotation direction and velocity of rotation of the detection of angular velocity signal and tachogenerator is handled, and right
Stepper motor and electric machine controller are controlled.
Compared with prior art, electric vehicle automatic ride control system provided by the utility model, passes through main control module pair
The image information of camera acquisition is stored to record the driving path of electric vehicle, according to laser radar sensor output away from
Compare whether be less than default safe distance value with a distance from this from information, driving motor is controlled when less than default safe distance value and is stopped
Rotation, the acceleration and angular speed signal detected according to Inertial Measurement Unit judge the transport condition of electric vehicle, to the sensing that tests the speed
The rotation direction and velocity of rotation of device detection are monitored record, while controlling signal to stepper motor in predetermined angle by output
A variety of travelings action including advance, retrogressing, acceleration and the deceleration of rotation and electric machine controller in degree is controlled, to realize
Automatic ride control of the electric vehicle under the special scenes such as airport, market, amusement park, such as can be automatic by pedestrian by electric vehicle
Default destination is sent to, or according to driving path before by electric vehicle backtracking, because without manual operation, one
Determine to promote the trip freedom of people in degree and uses needs.
Further, the main control module uses Botong's BCM2835 processors.
Further, the laser radar sensor is using the awake TFmini miniature laser radar modules in north.
Further, the Inertial Measurement Unit uses 6 axis motion process component of MPU6050 conformabilities.
Further, the tachogenerator uses Omron E6B2-CWZ6C Incremental Photoelectric Rotary Encoders.
Description of the drawings
Fig. 1 is the principle schematic of electric vehicle automatic ride control system provided by the utility model.
In figure, 1, main control module；2, camera；3, stepper motor；4, laser radar sensor；5, Inertial Measurement Unit；
6, tachogenerator；7, electric machine controller.
Specific implementation mode
In order to make the technical means, creative features, achievement of purpose, and effectiveness of the utility model be easy to understand, under
Face combines and is specifically illustrating, and the utility model is expanded on further.
In the description of the present invention, it should be understood that term " longitudinal direction ", " radial direction ", " length ", " width ", " thickness
The side of the instructions such as degree ", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside"
Position or position relationship are to be based on the orientation or positional relationship shown in the drawings, and are merely for convenience of description the utility model and simplification is retouched
It states, does not indicate or imply the indicated device or element must have a particular orientation, with specific azimuth configuration and operation,
Therefore it should not be understood as limiting the present invention.In the description of the present invention, unless otherwise indicated, " multiple " contain
Justice is two or more.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " is pacified
Dress ", " connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integrally
Connection；It can be mechanical connection, can also be electrical connection；Can be directly connected, can also indirectly connected through an intermediary,
It can be the connection inside two elements.For the ordinary skill in the art, it can understand above-mentioned art with concrete condition
The concrete meaning of language in the present invention.
Shown in please referring to Fig.1, the utility model provides a kind of electric vehicle automatic ride control system, including main control module 1
And be electrically connected with main control module 1 camera 2, stepper motor 3, laser radar sensor 4, Inertial Measurement Unit 5, test the speed sensing
Device 6 and electric machine controller 7；The camera 2 is suitable for the image information of front and back in acquisition electric vehicle driving process in real time, even if
The front-end and back-end of electric vehicle are separately positioned on two cameras, for acquire electric vehicle in the process of moving field of front vision and
The image information of back visibibility, the stepper motor 3 is suitable for driving laser radar sensor rotation in predetermined angular, i.e., described
Laser radar sensor 4 is fixedly connected on stepper motor 3, and the laser radar sensor 4 is suitable for the rotation in stepper motor 3
Drive vehicle front barrier in lower real time scan electric vehicle driving process, and measure between vehicle and barrier it is opposite away from
From the Inertial Measurement Unit 5 is suitable for the acceleration and angular speed in detection electric vehicle driving process in real time, the sensing that tests the speed
Device 6 is suitable for the rotation direction and velocity of rotation of driving motor in detection electric vehicle driving process in real time, and the electric machine controller 7 is suitable
It is controlled in the action of a variety of travelings such as the advance of driving motor, retrogressing, acceleration, deceleration, the main control module 1 is suitable for packet
The image information for including the acquisition of camera 2 is stored to record the driving path of electric vehicle, so as to electric vehicle by backtracking or
Next time uses when driving, and the range information that the main control module 1 is suitable for being exported according to laser radar sensor 4, which compares the distance, is
No to be less than default safe distance value, when the distance is less than default safe distance value, main control module 1 stops letter to electric machine controller 7
Number, electric machine controller 7 controls driving motor and stops operating, otherwise being then considered as when the distance is more than default safe distance value does not have
Barrier, trolley keep current running state constant, the acceleration that the main control module 1 is suitable for detecting Inertial Measurement Unit 5
It is handled with angular velocity signal, to judge that whether the current transport condition of electric vehicle, transport condition include electric vehicle upper
Slope, descending or horizontal traveling, whether electric vehicle tilts and angle of inclination, if turning, if if turning angle of turn be
How much, the main control module 1 is handled suitable for the rotation direction and velocity of rotation detected to tachogenerator 6, to judge electricity
Whether the current travel speed of motor-car is normal, and the main control module 1 is suitable for exporting two paths of signals to 3 driver of stepper motor, point
It is not stepping pulse signal CP and direction level signal DIR, to control rotation of the stepper motor 3 in predetermined angular,
The main control module 1 is further adapted for exporting pwm control signal to electric machine controller 7, to control driving electricity by electric machine controller 7
Machine such as is advanced, is retreated, being accelerated, being slowed down at the actions.
Compared with prior art, electric vehicle automatic ride control system provided by the utility model, passes through main control module pair
The image information of camera acquisition is stored to record the driving path of electric vehicle, according to laser radar sensor output away from
Compare whether be less than default safe distance value with a distance from this from information, driving motor is controlled when less than default safe distance value and is stopped
Rotation, the acceleration and angular speed signal detected according to Inertial Measurement Unit judge the transport condition of electric vehicle, to the sensing that tests the speed
The rotation direction and velocity of rotation of device detection are monitored record, while controlling signal to stepper motor in predetermined angle by output
A variety of travelings action including advance, retrogressing, acceleration and the deceleration of rotation and electric machine controller in degree is controlled, to realize
Automatic ride control of the electric vehicle under the special scenes such as airport, market, amusement park, such as can be automatic by pedestrian by electric vehicle
Default destination is sent to, or according to driving path before by electric vehicle backtracking, because without manual operation, one
Determine to promote the trip freedom of people in degree and uses needs.
As specific embodiment, for the main control module 1 using Botong's BCM2835 processors, which is Broadcom
The microcomputer main control chip based on ARM of company's exploitation, is a kind of full HD multimedia application processor of low cost, can be used for
In advanced movement and Embedded Application, the multimedia performance application with highest level, and possess abundant interface, it can access mouse
The commonly used equipments such as mark, display, keyboard, the real-time processing especially for vision signal is preferable, disclosure satisfy that answering for the application
With needs.
As specific embodiment, the model OV7670 cameras of TELESKY companies production can be used in the camera 2,
It is possible thereby to meet the image information collecting in electric vehicle driving process.
As specific embodiment, the model 42BYGH34 steppings of TELESKY companies production can be used in the stepper motor 3
Motor, stepper motor is the opened loop control motor that electric impulse signal is changed into angular displacement or displacement of the lines, in this application, described
Main control module 1 can export two paths of signals after initializing to stepper motor driver, be specifically stepping pulse signal CP and side respectively
To level signal DIR, wherein CP pulse numbers determine that stepper motor rotation angle, direction level signal DIR determine stepping electricity
The direction of rotation of machine, for example, this signal be high level when, stepper motor rotates clockwise, be negative level when, the stepper motor inverse time
Needle rotates, and after stepper motor driver receives signal, meeting Driving Stepping Motor 3 rotates in predetermined angular.
As specific embodiment, the laser radar sensor 4 uses the awake TFmini miniature laser radar modules in north,
TFmini is to be fixedly connected on stepping based on TOF (Time of Flight) i.e. time-of-flight, laser radar sensor 4
On motor 3, under being driven in the rotation of stepper motor 3, laser radar sensor 4 can be made to be scanned in predetermined angular, to survey
Measure the relative distance between barrier in vehicle and predetermined angular.Specifically, laser radar sensor be using laser technology into
The sensor that row measures first emits laser pulse, receiving sensor not disconnecting when work by laser emitting diode alignment target
Receive reflected laser, according to transmitting and the time difference received calculate between electric vehicle and front obstacle it is opposite away from
From.In the process of moving, emission sensor can periodically send out near infrared light modulating wave to electric vehicle, and modulating wave encounters object
It can be reflected after body, receiving sensor obtains the flight time by measuring the round-trip phase difference of modulating wave, can be calculated using the flight time
Go out relative distance=(flight time × light velocity)/2 between laser radar sensor and measured target.Laser radar sensor 4
It is connect by serial ports with main control module 1, laser radar sensor 4 directly exports range information to main control module 1.
As specific embodiment, the Inertial Measurement Unit 5 uses 6 axis motion process component of MPU6050 conformabilities, wherein
3 axle acceleration sensors and 3 axis angular rate sensors are contained, acceleration transducer is to experience acceleration and be converted into can be used
The sensor of output signal；Angular-rate sensor is can to measure angular acceleration, and the result of measurement is converted to available simulation
Or the sensor of digital signal.It is current that the Inertial Measurement Unit 5 can detect electric vehicle in real time in electric vehicle operational process
3-axis acceleration and three axis angular rates, and send the acceleration signal detected and angular velocity signal to main control module 1, it is described
Main control module 1 judges the transport condition of electric vehicle according to the acceleration signal and angular velocity signal that send.
As specific embodiment, the tachogenerator 6 uses Omron E6B2-CWZ6C increment photoelectric rotary codings
Device, Incremental Photoelectric Rotary Encoder be it is a kind of by opto-electronic conversion by the geometry of machinery displacement increment on electric vehicle output shaft turn
Change the sensor of pulse or digital quantity into.Tachogenerator 6 is installed together with driving motor, the output end of tachogenerator
It is connect with main control module 1, it is thus possible in real time send the rotation direction of two driving motors of electric vehicle and velocity of rotation to
Main control module 1.
As specific embodiment, the electric machine controller 7 uses the model of PG Drives Technology companies production
For S70 controllers, electric machine controller be by active come control driving motor according to the direction of setting, speed, angle and
The integrated circuit that response time works.Electric vehicle main control module 1 by give electric machine controller 7 export pwm control signal, from
And it controls driving motor and the travelings action such as is advanced, retreated, accelerated, slowed down.
Finally illustrate, above example is merely intended for describing the technical solutions of the present application, but not for limiting the present application, although ginseng
The utility model is described in detail according to preferred embodiment, it will be understood by those of ordinary skill in the art that, it can be to this
The technical solution of utility model is modified or replaced equivalently, without departing from the objective and model of technical solutions of the utility model
It encloses, should all cover in the right of the utility model.
Claims (5)
1. a kind of electric vehicle automatic ride control system, which is characterized in that be electrically connected including main control module and with main control module
Camera, stepper motor, laser radar sensor, Inertial Measurement Unit, tachogenerator and electric machine controller；The camera
Suitable for acquiring the image information of front and back in electric vehicle driving process in real time, the stepper motor is suitable for driving in predetermined angular
Laser radar sensor rotates, and the laser radar sensor is suitable for vehicle front obstacle in real time scan electric vehicle driving process
Object simultaneously measures the relative distance between vehicle and barrier, and the Inertial Measurement Unit is suitable for detection electric vehicle in real time and runs over
Acceleration and angular speed in journey, the tachogenerator are suitable for the rotation of driving motor in detection electric vehicle driving process in real time
Direction and velocity of rotation, the electric machine controller are suitable for controlling a variety of travelings action of driving motor, the master control mould
Block is suitable for examining range information, the Inertial Measurement Unit of the image information, laser radar sensor output that acquire including camera
Much information including the rotation direction and velocity of rotation of acceleration and angular speed signal and the tachogenerator detection of survey carries out
Processing, and stepper motor and electric machine controller are controlled.
2. electric vehicle automatic ride control system according to claim 1, which is characterized in that the main control module is using rich
Logical BCM2835 processors.
3. electric vehicle automatic ride control system according to claim 1, which is characterized in that the laser radar sensor
Using the awake TFmini miniature laser radar modules in north.
4. electric vehicle automatic ride control system according to claim 1, which is characterized in that the Inertial Measurement Unit is adopted
With 6 axis motion process component of MPU6050 conformabilities.
5. electric vehicle automatic ride control system according to claim 1, which is characterized in that the tachogenerator uses
Omron E6B2-CWZ6C Incremental Photoelectric Rotary Encoders.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820357698.6U CN207984614U (en) | 2018-03-16 | 2018-03-16 | A kind of electric vehicle automatic ride control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820357698.6U CN207984614U (en) | 2018-03-16 | 2018-03-16 | A kind of electric vehicle automatic ride control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207984614U true CN207984614U (en) | 2018-10-19 |
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ID=63828139
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820357698.6U Expired - Fee Related CN207984614U (en) | 2018-03-16 | 2018-03-16 | A kind of electric vehicle automatic ride control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207984614U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110879392A (en) * | 2019-11-29 | 2020-03-13 | 安徽江淮汽车集团股份有限公司 | Host-free radar ranging alarm method, device, circuit and storage medium |
| CN114103659A (en) * | 2021-12-09 | 2022-03-01 | 合众新能源汽车有限公司 | Energy consumption optimization method and control system for electric automobile |
-
2018
- 2018-03-16 CN CN201820357698.6U patent/CN207984614U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110879392A (en) * | 2019-11-29 | 2020-03-13 | 安徽江淮汽车集团股份有限公司 | Host-free radar ranging alarm method, device, circuit and storage medium |
| CN110879392B (en) * | 2019-11-29 | 2022-04-22 | 安徽江淮汽车集团股份有限公司 | Host-free radar ranging alarm method, device, circuit and storage medium |
| CN114103659A (en) * | 2021-12-09 | 2022-03-01 | 合众新能源汽车有限公司 | Energy consumption optimization method and control system for electric automobile |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20181019 Termination date: 20200316 |
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| CF01 | Termination of patent right due to non-payment of annual fee |