CN208367539U - A kind of parallel control loop - Google Patents
A kind of parallel control loop Download PDFInfo
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- CN208367539U CN208367539U CN201820949083.2U CN201820949083U CN208367539U CN 208367539 U CN208367539 U CN 208367539U CN 201820949083 U CN201820949083 U CN 201820949083U CN 208367539 U CN208367539 U CN 208367539U
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Abstract
The utility model embodiment is related to a kind of parallel control loop, comprising: car body, processor, transmission node, sension unit, the first coffret, the second coffret, bottom actuator and server；Transmission node is connected with sension unit and processor respectively；Transmission node receives the vehicle status data that sension unit is sent, and vehicle status data is sent to processor；Processor is connected by the first coffret with server；Vehicle status data is sent to server by the first coffret by processor；Server receives the operational order of user's input, and is sent to processor by the first coffret, obtains operation data to processor parsing operational order；Transmission node receives the operation data that processor is sent, and carries out integration processing to operation data；Bottom actuator is connected by the second coffret with actuator node, the operation data after receiving the integration that transmission node is sent, and is worked according to the operation data after integration.
Description
Technical field
The utility model relates to automatic Pilot field more particularly to a kind of parallel control loops.
Background technique
It is few about the system driven in parallel at present, it is in theory stage mostly, drives initial idea in parallel and is formed in 20
The mid-90 in century formally proposes the concept driven in parallel in 2005, manual system is interacted with real system actual situation
Thought is applied to driving field, forms the parallel blank for driving theory instantly.
It is driven in general, mostly using wireless remote control technology to control nobody greatly the form that manual system is interacted with real system actual situation
Sail vehicle.Complicated remote control operation, real-time and stability with higher has may be implemented in the technology, but be generally limited with
Lower disadvantage: first, the wireless remote-control system of no interim data transmission, data transmission distance is short；There is interim data to transmit wireless
Remote control system, then it is at high cost to there is terminal, sets up the problems such as difficulty is big, and dedicated energy loss used in communicating thus compared with
It is high.Second, barrier penetration performance is poor, and it is big to penetrate signal decaying.Third, signal stabilization is poor, vulnerable to interference and attack, information
Easily leakage.4th, poor universality.5th, the small bulk information for causing to be difficult to monitor ambient enviroment generation of data volume, so that manipulation
Person can not complete more highly difficult operation to automatic driving vehicle.
Utility model content
The purpose of this utility model is in view of the drawbacks of the prior art, to provide a kind of parallel control loop, internet is believed
Number vehicle control signal is converted to, and sends vehicle status data in real time, has ensured safety and stabilization of the user in manipulation.This
The parallel control loop that embodiment provides transmits information by means of shared Internet technology, realizes low cost, high real-time and
The transmission of high data volume, also, unlimited widened remote range is exchanged for minimum delay by Internet technology, it can be used for propping up
It holds and is not easy to maintenance personnel and shows up or the Driving Scene of hazardous environment, conduct monitoring at all levels ambient enviroment is realized, so that maintenance personnel
Be perfectly safe, also largely guarantee driving environment around safety.
To achieve the goals above, the utility model embodiment provides a kind of parallel control loop, comprising: car body, place
Manage device, transmission node, sension unit, the first coffret, the second coffret, bottom actuator and server；
The processor, the transmission node, first coffret, second coffret and the bottom are held
Row device is placed in the car body；Wherein, the bottom actuator is placed in the bottom of the car body；The sension unit setting
Top and/or surrounding in the car body；
The transmission node is connected with the sension unit and the processor respectively；Described in the transmission node receives
The vehicle status data that sension unit is sent, and the vehicle status data is sent to the processor；
The processor is connected to the server by first coffret；The processor passes through described first
The vehicle status data is sent to the server by coffret；
The server receives the operational order that user inputs according to the vehicle status data, and passes by described first
Defeated interface is sent to the processor；The processor parses the operational order and obtains operation data；
The transmission node receives the operation data that the processor is sent, and integrates to the operation data
Processing；
The bottom actuator is connected by second coffret with the actuator node；The bottom actuator
Operation data after receiving the integration that the transmission node is sent, and worked according to the operation data after the integration.
Preferably, the transmission node includes processor node and actuator node；
The processor node is connected with the sension unit and the processor respectively, receives the sension unit hair
The vehicle status data sent, and the vehicle status data is sent to the processor；
The actuator node is connected with the processor and second coffret respectively, receives the processor hair
The operation data sent carries out integration processing to the operation data, and will be after integration by second coffret
Operation data is sent to the bottom actuator.
It is further preferred that the processor includes compression module；
The compression module is connected with the processor node and first coffret respectively, receives the processor
The vehicle status data that node is sent after compressing to the vehicle status data, will be pressed by first coffret
Vehicle status data after contracting is sent to the server；
It is further preferred that the processor further includes parsing module and encrypting module；
The parsing module is connected with first coffret and the encrypting module respectively；Receive first transmission
The operational order that interface is sent carries out dissection process to the operational order, obtains operation data and be sent to the encryption
Module；
The encrypting module is connected with the actuator node；It, will be described after the operation data is encrypted
Encrypted operation data is sent to the actuator node.
It is further preferred that the server includes package module；
After the package module is packaged processing to the vehicle status data, by first coffret by institute
Vehicle status data after stating encapsulation is sent to the encrypting module.
It is further preferred that the processor node also particularly useful for:
The processor node receives the vehicle status data that the sension unit is sent according to first time parameter；
It is when the processor node receives the vehicle status data that the sension unit is sent according to first time parameter
When empty, then a upper vehicle status data is sent to the processor by the processor node；
It is when the processor node receives the vehicle status data that the sension unit is sent according to the second time parameter
When empty, then the processor node sends braking instruction to the processor；
The braking instruction is sent to the bottom actuator by the processor；The bottom actuator is according to the system
Dynamic instruction works.
It is further preferred that the actuator node also particularly useful for:
The actuator node receives the operation data that the processor is sent according to third time parameter；
When the actuator node receives the operation data that the processor is sent according to third time parameter as sky
When, then a upper operation data is sent to second coffret by the actuator node；
When the actuator node receives the operation data that the processor is sent according to the 4th time parameter as sky
When, then the actuator node sends the braking instruction to the bottom actuator by second coffret；It is described
Bottom actuator works according to the braking instruction.
It is further preferred that the sension unit include GPS device, inertial navigation, laser radar, in millimetre-wave radar
It is one or more；
The vehicle-state sensing module includes thermometer, wheel speed meter, fuel-quantity transducer, remaining capacity sensor, battery
One of health status sensor, wear sensor, tyre pressure sensor are a variety of.
Internet signal is converted to vehicle control letter by a kind of parallel control loop provided by the embodiment of the utility model
Number, and vehicle status data is sent in real time, ensure safety and stabilization of the user in manipulation.It is provided in this embodiment to drive in parallel
It sails system and transmits information by means of shared Internet technology, realize inexpensive, the transmission of high real-time and high data volume, and
And unlimited widened remote range is exchanged for minimum delay by Internet technology, it can be used for supporting to be not easy to maintenance personnel
It shows up or the Driving Scene of hazardous environment, conduct monitoring at all levels ambient enviroment is realized, so that maintenance personnel's is perfectly safe, also very
Guarantee the safety around driving environment in big degree.
Detailed description of the invention
Fig. 1 is a kind of schematic diagram of parallel control loop provided by the embodiment of the utility model.
Specific embodiment
Below by drawings and examples, the technical solution of the utility model is described in further detail.
In order to better understand the course of work for the parallel control loop that the utility model is proposed, driven first to parallel
Concept be illustrated.
So-called parallel driving is exactly to combine automatic Pilot with drive simulating, in automatic driving mode and drive simulating mould
Safety, steady switching are carried out between formula, are just able to achieve parallel driving truly.Wherein, automatic driving mode can be managed
Solution is that automatic driving vehicle relies on artificial intelligence, vision calculating, radar, monitoring device and global positioning system cooperative cooperating, is allowed
Automatic driving vehicle can be under the operation of nobody class active, by the driving mode of required track automatic safe traveling.
Drive simulating mode can be understood as user by virtual driving equipment, in virtual driving environment, control automatic driving car
By required track traveling driving mode.
Parallel control loop provided by the embodiment of the utility model, drives for controlling nobody by network and Server remote
Vehicle is sailed, so that automatic driving vehicle switches between automatic driving mode and drive simulating mode, according to user demand and is tied
Close actual conditions work.
As shown in Figure 1, parallel control loop provided by the embodiment of the utility model includes, car body 1, sension unit 2, transmission
Node 3, processor 4, the first coffret 5, the second coffret 6, bottom actuator 7 and server 8.Wherein, car body 1 can be with
It is interpreted as the shell of automatic driving vehicle, transmission node 3, processor 4, the first coffret 5, the second coffret 6 and bottom
Actuator 7 is placed in car body 1.Sension unit 2 is set to top and/or the surrounding of car body 1.Bottom actuator 7 is placed in
The bottom of car body 1.
Below by the upload of data and to two aspects of feedback for uploading data, to parallel driving provided in this embodiment
System is illustrated.
First, it is originally that the parallel control loop of embodiment offer can be by automatic driving vehicle end in terms of data upload
Data be uploaded to server, allow virtual manipulation end to obtain the related data that vehicle end uploads from server, be used for
User remotely controls automatic driving vehicle by virtual manipulation end by related data.
Specifically, sension unit 2 is used to obtain the vehicle status data of automatic driving vehicle, it can be understood as by a variety of
The mode of sensor fusion carries out real-time monitoring to the driving environment of vehicle itself and surrounding, provides for the automatic Pilot of vehicle
The unit of detailed accurate data information.Sension unit 2 includes representing the vehicle ring of vehicle periphery driving environment for obtaining
The environmental perception module 21 of border video data, and the vehicle of the car status information of vehicle oneself state is represented for obtaining
State aware module 22.Vehicle environmental video data and car status information constitute vehicle status data.
Environmental perception module 21 includes but is not limited to multiple cameras, GPS device, inertial navigation, laser radar and millimeter
One of wave radar (not marking in figure) is a variety of.Wherein, camera is for detecting traffic lights, traffic sign, obstacle
Object information, vehicle, pedestrian and other sensors can not accurate discrimination object.The vehicle periphery that each photographic device is monitored
The direction of environment is different, and orientation representated by obtained vehicle environmental video data is also different, therefore the vehicle ring in each orientation
Border video data can all correspond to a camera position information.Vehicle environmental video data can thus be distinguished from specific
The photographic device in which orientation.GPS device is used to obtain the latitude and longitude information of car body, to position to car body.Inertia
Navigation estimates the athletic posture of vehicle according to the acceleration information of car body six-freedom degree and corrects location information.Swash
Optical radar is for detecting lane line edge, obstacle information, vehicle and pedestrian.Millimetre-wave radar is used for detection structure road
Vehicle.Vehicle-state sensing module 22 include but is not limited to thermometer, wheel speed meter, fuel-quantity transducer, remaining capacity sensor,
One of cell health state sensor, wear sensor, tyre pressure sensor (not marking in figure) are a variety of, so that perception is single
Member 2 can carry out real-time monitoring to the driving environment of vehicle itself and surrounding, obtain vehicle status data.
In some preferred embodiments, camera is four, is respectively arranged at four orientation all around of vehicle, this
The monitoring angle that four cameras are constituted is 360 °.
Transmission node 3 can be understood as the module with data-handling capacity and data transmission capabilities.Transmission node 3 includes
Processor node 31.Processor node 31 is connected with sension unit 2 and processor 4 respectively, receives the vehicle that sension unit 2 is sent
Status data, and vehicle status data is sent to processor 4.
In some preferred embodiments, since network is obstructed or other factors may cause processor node 31 and obtain
There may be Caton or hysteresis when taking vehicle status data, so that processor node 31 obtains not within one section of short time
To vehicle status data.Two kinds of situation processing should be divided at this time.First, processor node 31 is obtained according to first time parameter to be felt
Know the vehicle status data that unit 2 is sent, when the vehicle status data that processor node 31 is obtained according to first time parameter not
When for sky, represent that remote channel control is unimpeded, then processor node 31 sends current accessed vehicle status data
To processor 4.When processor node 31 is empty according to the vehicle status data that first time parameter obtains, long-range control is represented
Channel processed is not smooth, and there are hysteresis for the transmission of vehicle status data, then the default of processor node 31 sends a upper vehicle
Status data is to processor 4.Second, when processor node 31 is still according to the vehicle status data that the second time parameter obtains
When empty, represent that remote channel control is not smooth, the transmission of vehicle status data there are Caton phenomenon, then processor node 31 to
Processor 4 sends braking instruction, and braking instruction is sent to bottom actuator 7 again by processor 4, to 7 basis of bottom actuator
Braking instruction work.Time representated by second time parameter is greater than the time representated by first time parameter.This process can
To be interpreted as, if processor node 31 does not get vehicle status data within one section of short period, illustrate remotely to control
Channel is not smooth, then processor node 31, which can be defaulted, sends a upper vehicle status data.If processor node 31 at one section more
Still without vehicle status data is got in for a long time, then the urgent parking of vehicle is to ensure traffic safety.
Processor 4 includes compression module 41.Compression module 41 respectively with 5 phase of processor node 31 and the first coffret
Even, the vehicle status data that processor node 31 is sent is received, vehicle status data is compressed according to the position of camera
Afterwards, compressed vehicle status data is sent to by server 8 by the first coffret 5.It is sent by vehicle status data
To server, first the vehicle environmental video data in vehicle status data is compressed according to the position of camera, be by
It is required in the clarity of the video to different direction generally also different.This process is understood that as according to photographic device
Specific orientation selects it to transmit the frame per second of image resolution ratio, the process compressed according to frame per second to video image accordingly.It is logical
Often, the location information of camera is that the image resolution ratio of the vehicle environmental video data in " front " is higher than other vehicle environmentals view
Frequency evidence.First coffret can be understood as the communications technology interfaces such as 3G/4G/5G.
At this point, the vehicle status data as acquired in the sension unit 2 in automatic driving vehicle end has been uploaded to service
Device 8.User can obtain vehicle status data by manipulating virtual manipulation end from server 8, and according to vehicle status data
Automatic driving vehicle is remotely controlled by virtual manipulation end.When long-range control, user is empty by manipulation according to vehicle status data
Quasi- manipulation end is input operation instruction to server 8, and it is originally that embodiment mentions that server 8, which receives the operational order of user's input, at this time
The parallel control loop supplied enters the data feedback stage.
It is corresponding with above-mentioned first aspect, it is originally that the parallel control loop that embodiment provides may be used also in terms of data feedback
It is fed back with the operational order for inputting user into automatic driving vehicle end, so that the long-range behaviour of automatic driving vehicle relative users
Make.
Specifically, server 8 includes package module (not marking in figure).Package module carries out JSON to vehicle status data
After the encapsulation process of format, the vehicle status data after the encapsulation is sent to by processor by first coffret 5
4。
Processor 4 further includes parsing module 42 and encrypting module 43 in addition to including compression module 41.Parsing module 42 is distinguished
It is connected 43 with the first coffret 5 and encrypting module.Parsing module 42 receives the operational order that the first coffret 5 is sent, right
Operation, which executes, carries out dissection process, obtains operation data, and be sent to encrypting module 43.Encrypting module 43 and 3 phase of transmission node
Even, after operation is encrypted, encrypted operation data is sent to transmission node 3.
Transmission node 3 further includes actuator node 32 in addition to including processor node 31.Actuator node 32 respectively with add
Close module 43 is connected with the second coffret 6, receive encrypting module 43 send encrypted operation data, to operation data into
Row integration processing, and the operation data after integration is sent to by bottom actuator 7 by the second coffret 6.
Second coffret 6 can be understood as controller local area network (Controller Area Network, CAN) and connect
Mouthful.
Bottom actuator 7 can be understood as the single-chip microcontroller with processing function, for receiving and handling according to user
Operation data caused by remotely operating, and convert operation data to can be identified by mechanical hardware each in automatic driving vehicle end
Control parameter, to realize manipulation to automatic driving vehicle.
After bottom actuator 7 works according to operation data, sension unit 2 is still sent in real time to processor node 31
Vehicle status data, so that pseudo operation end still can be with real-time reception to vehicle status data, so that user is according to real-time
Vehicle status data remotely controlled.
In some preferred embodiments, also due to network is obstructed or other factors may cause actuator node 32
When obtaining operation data, there may be Caton or hysteresis, so that actuator node 32 obtains not within one section of short time
To operation data.Two kinds of situation processing should be equally divided at this time.First, actuator node 32 according to third time parameter acquisition at
The operation data that device 4 is sent is managed, when actuator node 32 is not sky according to the operation data that first time parameter obtains, is represented
Remote channel control is unimpeded, then current accessed operation data is sent to bottom actuator 7 by actuator node 32.When
When the operation data that actuator node 32 is obtained according to first time parameter is empty, it is not smooth to represent remote channel control, behaviour
Making the transmission of data, there are hysteresis, then the default of actuator node 32 sends a upper operation data to bottom actuator 7.The
Two, when actuator node 32 is still sky according to the operation data that the 4th time parameter obtains, represent remote channel control not
It is unimpeded, the transmission of operation data there are Caton phenomenon, then actuator node 32 to by the second coffret 6 to bottom actuator
7 send braking instruction, are worked to bottom actuator 7 according to braking instruction.Time representated by third time parameter is greater than the
Time representated by four time parameters.This process is not it is to be understood that if actuator node 32 has within one section of short period
Operation data is got, then illustrates that remote channel control is not smooth, then actuator node 32, which can be defaulted, sends a upper operand
According to.If actuator node 32 is still without operation data is got within one section of longer time, the urgent parking of vehicle is to ensure to go
Vehicle safety.
In another embodiment, processor node 31 and actuator node 32 can be integrated into a transmission node 3,
The time that data are transmitted between computer processes can be saved in this way.
It should be noted that the vehicle remote control of non-CAN interface equally may be implemented in the present embodiment, that is to say, that will hold
The carrier that the data of row device node are sent to bottom actuator can be any communications carrier, including but not limited to I2C bus,
USB, ultrasonic wave, laser, radio, even neutrino, gravitational wave, quantum entanglement etc. are developing or are not yet developing any
The communication technology.Equally, the communication of automatic driving vehicle end and server can be used any internet or internet of can be used for and become
The wireless communication technique of body and extension products and evolution product, that is to say, that if any communication technology be applied to internet or
Its variant, can be the carrier of automatic driving vehicle end and server communication, including but not limited to ultrasonic wave, laser, wirelessly
Electricity, even neutrino, gravitational wave, any communication technology that quantum entanglement etc. is developing or not yet developing.Automatic driving car
End can be any vehicle or vehicle variant and derivative, can be the vehicles or even military for any industry
The professional equipment in field moves or irremovable, is based on land, waters, sky, the equipment of space is contained in practical
Alternative the most in New Scheme.
Internet signal is converted to vehicle control letter by a kind of parallel control loop provided by the embodiment of the utility model
Number, and vehicle status data is sent in real time, ensure safety and stabilization of the user in manipulation.It is provided in this embodiment to drive in parallel
It sails system and transmits information by means of shared Internet technology, realize inexpensive, the transmission of high real-time and high data volume, and
And unlimited widened remote range is exchanged for minimum delay by Internet technology, it can be used for supporting to be not easy to maintenance personnel
It shows up or the Driving Scene of hazardous environment, conduct monitoring at all levels ambient enviroment is realized, so that maintenance personnel's is perfectly safe, also very
Guarantee the safety around driving environment in big degree.
Above-described specific embodiment, to the purpose of this utility model, technical scheme and beneficial effects carried out into
One step is described in detail, it should be understood that being not used to limit the foregoing is merely specific embodiment of the present utility model
Determine the protection scope of the utility model, within the spirit and principle of the utility model, any modification for being made equally is replaced
It changes, improve, should be included within the scope of protection of this utility model.
Claims (8)
1. a kind of parallel control loop, which is characterized in that the parallel control loop includes:
Car body, processor, transmission node, sension unit, the first coffret, the second coffret, bottom actuator and service
Device；
The processor, the transmission node, first coffret, second coffret and the bottom actuator
It is placed in the car body；Wherein, the bottom actuator is placed in the bottom of the car body；The sension unit is set to institute
State top and/or the surrounding of car body；
The transmission node is connected with the sension unit and the processor respectively；The transmission node receives the perception
The vehicle status data that unit is sent, and the vehicle status data is sent to the processor；
The processor is connected to the server by first coffret；The processor is transmitted by described first
The vehicle status data is sent to the server by interface；
The server receives the operational order that user inputs according to the vehicle status data, and is connect by first transmission
Mouth is sent to the processor；The processor parses the operational order and obtains operation data；
The transmission node receives the operation data that the processor is sent, and carries out at integration to the operation data
Reason；
The bottom actuator is connected by second coffret with the actuator node；The bottom actuator receives
Operation data after the integration that the transmission node is sent, and worked according to the operation data after the integration.
2. parallel control loop according to claim 1, which is characterized in that the transmission node include processor node and
Actuator node；
The processor node is connected with the sension unit and the processor respectively, receives what the sension unit was sent
Vehicle status data, and the vehicle status data is sent to the processor；
The actuator node is connected with the processor and second coffret respectively, receives what the processor was sent
The operation data carries out integration processing to the operation data, and by second coffret by the operation after integration
Data are sent to the bottom actuator.
3. parallel control loop according to claim 2, which is characterized in that the processor includes compression module；
The compression module is connected with the processor node and first coffret respectively, receives the processor node
The vehicle status data of transmission, after being compressed to the vehicle status data, after being compressed by first coffret
Vehicle status data be sent to the server.
4. parallel control loop according to claim 2, which is characterized in that the processor further includes parsing module and adds
Close module；
The parsing module is connected with first coffret and the encrypting module respectively；Receive first coffret
The operational order sent carries out dissection process to the operational order, obtains operation data and be sent to the encrypting module；
The encrypting module is connected with the actuator node；After the operation data is encrypted, by the encryption
Operation data afterwards is sent to the actuator node.
5. parallel control loop according to claim 4, which is characterized in that the server includes package module；
After the package module is packaged processing to the vehicle status data, by first coffret by the envelope
Vehicle status data after dress is sent to the encrypting module.
6. parallel control loop according to claim 2, which is characterized in that the processor node also particularly useful for:
The processor node receives the vehicle status data that the sension unit is sent according to first time parameter；
When the processor node according to first time parameter to receive the vehicle status data that the sension unit is sent be empty when,
Then a upper vehicle status data is sent to the processor by the processor node；
When the processor node according to the second time parameter to receive the vehicle status data that the sension unit is sent be empty when,
Then the processor node sends braking instruction to the processor；
The braking instruction is sent to the bottom actuator by the processor；The bottom actuator is according to the brake finger
Enable work.
7. parallel control loop according to claim 2, which is characterized in that the actuator node also particularly useful for:
The actuator node receives the operation data that the processor is sent according to third time parameter；
When the actuator node according to third time parameter to receive the operation data that the processor is sent be empty when, then
A upper operation data is sent to second coffret by the actuator node；
When the actuator node according to the 4th time parameter to receive the operation data that the processor is sent be empty when, then
The actuator node sends braking instruction to the bottom actuator by second coffret；The bottom actuator
It is worked according to the braking instruction.
8. parallel control loop according to claim 2, which is characterized in that the sension unit includes GPS device, inertia
One of navigation, laser radar, millimetre-wave radar are a variety of；
The vehicle-state sensing module includes thermometer, wheel speed meter, fuel-quantity transducer, remaining capacity sensor, battery health
One of state sensor, wear sensor, tyre pressure sensor are a variety of.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113189969A (en) * | 2021-05-08 | 2021-07-30 | 东风汽车集团股份有限公司 | Upper computer system for real-time monitoring and early warning of unmanned vehicle |
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| CN113189969A (en) * | 2021-05-08 | 2021-07-30 | 东风汽车集团股份有限公司 | Upper computer system for real-time monitoring and early warning of unmanned vehicle |
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Address after: B4-006, maker Plaza, 338 East Street, Huilongguan town, Changping District, Beijing 100096 Patentee after: Beijing Idriverplus Technology Co.,Ltd. Address before: B4-006, maker Plaza, 338 East Street, Huilongguan town, Changping District, Beijing 100096 Patentee before: Beijing Idriverplus Technology Co.,Ltd. |