CN209265269U - Close garden automatic driving vehicle control system - Google Patents
Close garden automatic driving vehicle control system Download PDFInfo
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- CN209265269U CN209265269U CN201920225442.4U CN201920225442U CN209265269U CN 209265269 U CN209265269 U CN 209265269U CN 201920225442 U CN201920225442 U CN 201920225442U CN 209265269 U CN209265269 U CN 209265269U
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- vehicle
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Abstract
The closing garden automatic driving vehicle control system of the utility model, including differential GPS base station, path acquisition device, hand-held device, wheel angle sensing device and controller of vehicle, path acquisition device, controller of vehicle obtain the location information of itself by receiving the signal of differential GPS base station；Path acquisition device acquires routing information by coming up in closing road in park uplink, operator sets the driving path of vehicle by hand-held device, for wheel angle sensing device for acquiring steering angle, controller of vehicle controls the automatic running of vehicle according to the steering angle of acquisition, driving path.The vehicle control system and method for the utility model, controller of vehicle combines the vehicle location coordinate obtained, driving path, through Vehicular turn driver control vehicle according to the route of planning in closing garden, practicable control system is provided for the automatic Pilot of vehicle, beneficial effect is significant, is suitable for the application of popularization.
Description
Technical field
The utility model relates to a kind of automatic driving vehicle control systems, more specifically, more particularly to a kind of closing garden
Area's automatic driving vehicle control system.
Background technique
Nowadays, it is seen everywhere along with the successful news of unmanned drive test such as Google, Uber and tesla, it is more and more
Internet enterprises march unmanned field, and announce many achievements.Two kinds of trend are presented in the pattern of unmanned development,
Orthodox car company is more likely to gradual automation, and is for the scientific & technical corporation of representative with tesla, Google, Baidu etc.
Enter fully automated unmanned, the color with formula of overturning with artificial intelligence.The target that they develop in a short time also respectively has side
Weight, traditional vehicle enterprise steps up driving experience in a manner of progressive automatic Pilot, and science and technology company directly crosses with nobody
It drives substitution tradition completely to drive, even if unmanned technology is very mature now, 99% reliability can be reached, still
That remaining 1% ' unreliable ', it is possible to cause extremely serious peril.How surrounding scene, prediction meaning are accurately perceived
Outer arriving understands human behavior, realizes a series of problems, such as people-overall height quality interaction, these require to pass through under true environment
Countless tests are crossed, are possible to obtain answer.Therefore, in a short time, being perhaps difficult to realize businessman, discribed those are tempting
Prospect.Compared to the manned automatic Pilot of high speed, the low speed loading under special scenes is unmanned, and concept can really be gone at present by being only
Change, realize the incision direction of large-scale commercial applications landing.
Summary of the invention
The utility model in order to overcome the shortcomings of the above technical problems, provides a kind of automatic driving vehicle control of closing garden
System processed.
The closing garden automatic driving vehicle control system of the utility model, it is characterised in that: including differential GPS base station,
Path acquisition device, hand-held device, wheel angle sensing device and controller of vehicle, differential GPS base station are set to envelope
It closes in garden, wheel angle sensing device, controller of vehicle are all set on vehicle to be controlled, path acquisition device and hand
Operating device wireless communication is held, hand-held device, wheel angle sensing device and controller of vehicle wirelessly communicate；Path
Acquisition device, controller of vehicle obtain the location information of itself by receiving the signal of differential GPS base station；Path acquisition
Device acquires routing information by coming up in closing road in park uplink, and the routing information of acquisition is sent to hand-held dress
It sets；Operator sets the driving path of vehicle by hand-held device, and the driving path of setting is sent to vehicle control
Device processed；Wheel angle sensing device is set on vehicle, for acquiring the steering angle of vehicle, and by the vehicle steering angle of acquisition
It is sent to controller of vehicle；Controller of vehicle controls the automatic running of vehicle according to the steering angle of acquisition, driving path.
The closing garden automatic driving vehicle control system of the utility model, shown path acquisition device is by trolley and sets
The control circuit composition being placed on trolley, control circuit by the first microcontroller and the first coupled locating module,
First 2.4G communication module and the first power module composition, the first locating module are connected with the first positioning antenna, the first microcontroller
Device obtains the position data that differential GPS base station is sent through the first locating module, to realize the positioning to path acquisition device；First
Microcontroller is through the first 2.4G communication module and hand-held device wireless communication, so that the routing information of acquisition is transmitted to hand
Hold operating device.
The closing garden automatic driving vehicle control system of the utility model, the hand-held device is by the second microcontroller
Device and coupled touching display screen, the 2nd 2.4G communication module and second power supply module composition, operator is through touch-control
Display screen input control information, to plan the driving path of vehicle；Second microcontroller is through the 2nd 2.4G communication module and path
Acquisition device and controller of vehicle communicate, to obtain the routing information of closing garden respectively and upload the driving path of vehicle
Information.
The closing garden automatic driving vehicle control system of the utility model, the wheel angle sensing device are micro- by third
Controller and coupled potentiometer and the 3rd 2.4G communication module form, and are provided with wheel steering on wheel steering system
Angle synchronizer, potentiometer are set on steering angle of wheel synchronizer；Third microcontroller through the 3rd 2.4G communication module with
Controller of vehicle wireless communication, so that the vehicle steering angle of acquisition to be uploaded in controller of vehicle.
The closing garden automatic driving vehicle control system of the utility model, the controller of vehicle is by the 4th microcontroller
Device and the second coupled locating module, Vehicular turn driver, avoiding obstacles by supersonic wave module and the 4th 2.4G communication module
Composition, the second locating module are connected with the second positioning antenna, and the second microcontroller obtains differential GPS base station through the second locating module
Signal, to obtain the location information of vehicle；4th microcontroller is communicated through the 4th 2.4G communication module with hand-held device
Letter is communicated through the 4th 2.4G communication module with wheel angle sensing device with obtaining the vehicle running path of setting, to obtain
The steering angle of vehicle.
The closing garden automatic driving vehicle control system of the utility model, the third microcontroller use model
The data processor of STM32F103RBT6 chip, potentiometer use the potentiometer of model WDD35D.
The closing garden automatic driving vehicle control system of the utility model, the differential GPS base station use in sea up to surveying
The U-Base Differential positioning base station of instrument company is drawn, the first locating module and the second locating module are all made of Sky2 position receiver
Machine, the first positioning antenna and the second positioning antenna are all made of four-arm spiral antenna.
The beneficial effects of the utility model are: the closing garden automatic driving vehicle control system of the utility model, path
Acquisition device obtains the location information of itself by differential GPS base station, so as to close garden in travel during acquisition and
Routing information is cooked up, and routing information is uploaded to hand-held device；Vehicle can be cooked up by hand-held device
Run routing information, and the path cooked up is uploaded to controller of vehicle, controller of vehicle is sensed by wheel angle
Device obtains the steering angle of vehicle, and combines the vehicle location coordinate obtained, driving path, through Vehicular turn driver control vehicle
Closing garden according to planning route, provide practicable control system for the automatic Pilot of vehicle, have
Beneficial significant effect is suitable for the application of popularization.
Detailed description of the invention
Fig. 1 is the schematic diagram of the closing garden automatic driving vehicle control system of the utility model；
Fig. 2 is the circuit diagram of path acquisition device in the utility model；
Fig. 3 is the circuit diagram of hand-held device in the utility model；
Fig. 4 is the circuit diagram of wheel angle sensing device in the utility model；
Fig. 5 is the circuit diagram of controller of vehicle in the utility model.
In figure: 1 differential GPS base station, 2 path acquisition devices, 3 hand-held devices, 4 wheel angle sensing devices, 5 vehicles
Control device；6 first microcontrollers, 7 first positioning antennas, 8 first locating modules, 9 the oneth 2.4G communication modules, 10 first electricity
Source module；11 second microcontrollers, 12 the 2nd 2.4G communication modules, 13 touching display screens, 14 second power supply modules；15 thirds are micro-
Controller, 16 steering angle of wheel synchronizers, 17 potentiometers, 18 the 3rd 2.4G communication modules；19 the 4th microcontrollers, 20 second
Position antenna, 21 second locating modules, 22 Vehicular turn drivers, 23 avoiding obstacles by supersonic wave modules, 24 the 4th 2.4G communication modules.
Specific embodiment
The utility model is described in further detail with embodiment with reference to the accompanying drawing.
As shown in Figure 1, the schematic diagram of the closing garden automatic driving vehicle control system of the utility model is given, by
Differential GPS base station 1, path acquisition device 2, hand-held device 3, controller of vehicle 5 and 4 groups of wheel angle sensing device
At differential GPS base station 1 is set in closing garden, and coverage area is up to periphery 2km, and sea is public up to instrument of surveying and mapping in use
In the case where the U-Base Differential positioning base station of department, positioning accuracy is up to 1cm；In the case where closing the biggish situation of garden area,
It can arrange multiple differential GPS base stations 1.Shown in path acquisition device 2 be used for closing garden in road information be acquired,
Path acquisition device 2 should be set on carrier easy to remove, such as use trolley.Path acquisition device 2 and hand-held fill
3 wireless communications are set, operator plans the driving path of vehicle, hand-held device 3 and wheel angle through hand-held operating device 3
Sensing device 4 is wirelessly communicated with controller of vehicle 5, so as to will the driving path that plan and acquisition vehicle steering angle transmission
Into controller of vehicle 5.
As shown in Fig. 2, the circuit diagram of path acquisition device in the utility model is given, path acquisition device 2
Control circuit is led to by the first microcontroller 6 and the first coupled locating module 8, the first power module 10 and the first 2.4G
Believe that module 9 forms, the first microcontroller 6 has the function of that acquisition, operation and control export, and the first locating module 8 is connected with the
One positioning antenna 7, the first microcontroller 6 obtains the position data that differential GPS base station 1 is sent through the first locating module 8, and calculates
The location information of itself out.Path acquisition device 2 on closing road in park during travelling, by obtaining itself position
Information can fit the routing information in garden.First microcontroller 6 is through the first 2.4G communication module 9 and hand-held device 3
Communication, so that the routing information of acquisition to be uploaded in hand-held device 3.
As shown in figure 3, the circuit diagram of hand-held device in the utility model is given, by the second microcontroller
11 and coupled touching display screen 13, second power supply module 14 and the 2nd 2.4G communication module 12 composition, the second micro-control
Device 11 processed has the function of that signal acquisition, data operation and control output, touching display screen 13 are applied not only to information and show, operates
Personnel can also input the routing information of planning by touching display screen 13.Second microcontroller 11 is through the 2nd 2.4G communication module 12
It is wirelessly communicated with path acquisition device 2, the routing information planned so as to RX path acquisition device 2；Mould is communicated through the 2nd 2.4G
Block 12 is communicated with controller of vehicle 5, so that the vehicle running path of planning to be uploaded in controller of vehicle 5.
As shown in figure 4, the circuit diagram of wheel angle sensing device in the utility model is given, by third micro-control
Device 15 and potentiometer connected to it 17 processed and the 3rd 2.4G communication module 18 form, and are provided with wheel in the steering system of vehicle
Steering angle synchronizer 16, potentiometer 17 are set on the output end of steering angle of wheel synchronizer 16, and used for vehicles turn
It is measured to angle.Third microcontroller 15 is wirelessly communicated through the 3rd 2.4G communication module 18 with controller of vehicle 5, so as to
The vehicle steering angle of acquisition is sent in controller of vehicle 5.
As shown in figure 5, the circuit diagram of controller of vehicle in the utility model is given, by the 4th microcontroller
19 and the second coupled locating module 21, Vehicular turn driver 22, avoiding obstacles by supersonic wave module 23 and the 4th 2.4G it is logical
Believe that module 24 forms, the 4th microcontroller 19 has the function of signal acquisition, data operation and control output, the second locating module
21 are connected with the second positioning antenna 20, and the 4th microcontroller 19 receives the data of differential GPS base station 1 through the second locating module 21,
To realize the positioning to vehicle.4th microcontroller 19 is communicated through the 4th 2.4G communication module 24 with hand-held device 3, to connect
The vehicle running path that hand-held device 3 is sent is received, is communicated through the 4th 2.4G communication module 24 with wheel angle sensing device 4
Letter, to receive the vehicle steering angle of the upload of wheel angle sensing device 4.4th microcontroller 19 is by receiving avoiding obstacles by supersonic wave mould
The signal that block 23 exports, the function of Lai Shixian avoiding barrier, Vehicular turn driver 22 come side by way of controlling vehicle
To.
Wherein, third microcontroller 15 uses the data processor of model STM32F103RBT6 chip, and potentiometer 17 is adopted
With the potentiometer of model WDD35D.The U-Base Differential positioning base of Hai Da instrument of surveying and mapping company in the use of differential GPS base station 1
It stands, the first locating module 8 and the second locating module 21 are all made of Sky2 location receiver, the first positioning antenna 7 and the second positioning
Antenna 20 is all made of four-arm spiral antenna.
Claims (7)
1. a kind of closing garden automatic driving vehicle control system, it is characterised in that: acquired including differential GPS base station (1), path
Device (2), hand-held device (3), wheel angle sensing device (4) and controller of vehicle (5), the setting of differential GPS base station
In in closing garden, wheel angle sensing device, controller of vehicle are all set on vehicle to be controlled, path acquisition device
With hand-held device wireless communication, hand-held device, wheel angle sensing device and controller of vehicle are wirelessly communicated；
Path acquisition device, controller of vehicle obtain the location information of itself by receiving the signal of differential GPS base station；Path
Acquisition device acquires routing information by coming up in closing road in park uplink, and the routing information of acquisition is sent to hand-held behaviour
Make device；Operator sets the driving path of vehicle by hand-held device, and the driving path of setting is sent to vehicle
Control device；Wheel angle sensing device is set on vehicle, is turned for acquiring the steering angle of vehicle, and by the vehicle of acquisition
Controller of vehicle is sent to angle；Controller of vehicle controls the automatic of vehicle according to the steering angle of acquisition, driving path
Traveling.
2. closing garden according to claim 1 automatic driving vehicle control system, it is characterised in that: shown path acquisition
Device (2) is made of trolley and the control circuit being set on trolley, and control circuit is by the first microcontroller (6) Ji Yuqi
The first locating module (8), the first 2.4G communication module (9) and the first power module (10) composition being connected, the first positioning mould
Block is connected with the first positioning antenna (7), and the first microcontroller obtains the position that differential GPS base station (1) is sent through the first locating module
Data are set, to realize the positioning to path acquisition device；First microcontroller is filled through the first 2.4G communication module and hand-held
(3) wireless communication is set, so that the routing information of acquisition is transmitted to hand-held device (3).
3. closing garden according to claim 1 or 2 automatic driving vehicle control system, it is characterised in that: described hand-held
Operating device (3) is by the second microcontroller (11) and coupled touching display screen (13), the 2nd 2.4G communication module
(12) it is formed with second power supply module (14), operator is through touching display screen input control information, to plan the traveling of vehicle
Path；Second microcontroller is communicated through the 2nd 2.4G communication module and path acquisition device (2) and controller of vehicle (5),
To obtain the routing information of closing garden respectively and upload the run routing information of vehicle.
4. closing garden according to claim 1 or 2 automatic driving vehicle control system, it is characterised in that: the wheel
Angle sensing equipment (4) is by third microcontroller (15) and coupled potentiometer (17) and the 3rd 2.4G communication module
(18) it forms, is provided with steering angle of wheel synchronizer (16) on wheel steering system, potentiometer is set to steering angle of wheel
On synchronizer；Third microcontroller is wirelessly communicated through the 3rd 2.4G communication module and controller of vehicle (5), so as to what will be acquired
Vehicle steering angle is uploaded in controller of vehicle.
5. closing garden according to claim 2 automatic driving vehicle control system, it is characterised in that: the vehicle control
Device (5) is by the 4th microcontroller (19) and coupled the second locating module (21), Vehicular turn driver (22), super
Sound wave obstacle avoidance module (23) and the 4th 2.4G communication module (24) composition, the second locating module are connected with the second positioning antenna
(20), the second microcontroller obtains the signal of differential GPS base station (1) through the second locating module, to obtain the location information of vehicle；
4th microcontroller is communicated through the 4th 2.4G communication module and hand-held device (3), to obtain the vehicle driving road of setting
Diameter is communicated through the 4th 2.4G communication module and wheel angle sensing device (4), to obtain the steering angle of vehicle.
6. closing garden according to claim 4 automatic driving vehicle control system, it is characterised in that: the third micro-control
Device (15) processed uses the data processor of model STM32F103RBT6 chip, and potentiometer (17) is using model WDD35D's
Potentiometer.
7. closing garden according to claim 5 automatic driving vehicle control system, it is characterised in that: the differential GPS
The U-Base Differential positioning base station of Hai Da instrument of surveying and mapping company, the first locating module (8) and the second positioning mould in the use of base station (1)
Block (21) is all made of Sky2 location receiver, and the first positioning antenna (7) and the second positioning antenna (20) are all made of four arm spiral days
Line.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920225442.4U CN209265269U (en) | 2019-02-22 | 2019-02-22 | Close garden automatic driving vehicle control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920225442.4U CN209265269U (en) | 2019-02-22 | 2019-02-22 | Close garden automatic driving vehicle control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209265269U true CN209265269U (en) | 2019-08-16 |
Family
ID=67585324
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920225442.4U Expired - Fee Related CN209265269U (en) | 2019-02-22 | 2019-02-22 | Close garden automatic driving vehicle control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209265269U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109656257A (en) * | 2019-02-22 | 2019-04-19 | 山东交通学院 | Close garden automatic driving vehicle control system and method |
-
2019
- 2019-02-22 CN CN201920225442.4U patent/CN209265269U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109656257A (en) * | 2019-02-22 | 2019-04-19 | 山东交通学院 | Close garden automatic driving vehicle control system and method |
| CN109656257B (en) * | 2019-02-22 | 2024-01-05 | 山东交通学院 | Unmanned vehicle control system and method for closed park |
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Legal Events
| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190816 Termination date: 20200222 |