CN209690736U - A kind of unmanned net controller based on built-in Linux - Google Patents

Abstract

The utility model provides a kind of unmanned net controller based on built-in Linux, and master chip includes microprocessor MPU, micro-control unit MCU and 4G mould group LTE Modem；Peripheral hardware includes acceleration transducer, gyroscope, locating module, V2X module, WiFi and bluetooth module, hardware security module.Microcontroller MPU is connect with V2X chip, for receiving processing pilotless automobile ambient enviroment perception information；Micro-control unit MCU is used to acquire the acceleration signal of the location information of vehicle, status information and automobile；4G mould group LTE Modem realizes real-time interconnection for vehicle, connects server platform, and establish hot spot.The advantages that the utility model is greatly improved pilotless automobile driving safety, is worked well with test run by the unmanned net controller based on built-in Linux, and system stability is reliable, easy to use.

Description

A kind of unmanned net controller based on built-in Linux

Technical field

The utility model belongs to controller technology field, more particularly, to a kind of based on the unmanned of built-in Linux Net controller.

Background technique

Unmanned net controller is the important component for realizing pilotless automobile.Google, the U.S. is as most First develop the company of unmanned technology, the full-automatic driving automobile developed can be realized automatic start and travel and parking.Paddy Song autonomous driving vehicle project is reassembled as the proprietary company of an entitled Waymo.Waymo on November 7th, 2017 externally announce, The pilotless automobile for not being equipped with safety driver will be tested.It is expected that pilotless automobile test activity will be in 2019 Accelerate, Waymo in 2019 may will dispose more complete pilotless automobiles on highway.In addition to orthodox car industry is made the country prosperous The research and development of pilotless automobile are had begun with Internet enterprises such as Googles and are had been achieved for except fairly good achievement, apple Fruit, Uber etc. have also tilted the scope of business to pilotless automobile.Currently, enterprises and the state such as domestic Baidu, Chang'an The pilotless automobile of the military universities and colleges such as anti-University of Science and Technology, military traffic institute walks the forefront researched and developed at home.Such as Chang'an vapour Vehicle, which realizes pilotless automobile, goes up north all the way from Chongqing and reaches the country, Pekinese pilotless automobile and drive over a long distance record. Baidu's automobile has equally carried out first pilotless automobile in the experiment of Beijing road in Beijing and has achieved success, and 2018 Year success volume production the first in the world money pilotless automobile A Bailong.And arrive the year two thousand twenty, automatic driving vehicle be expected to Beijing to worship Realize road test in the lofty speed road of prolonging of gift.The fast-developing nothing of the relevant technologies will be provided suspected of unpiloted future to be had by force The technical support of power, certain following day, when pilotless automobile is universal, many existing social systems will will receive strong rush It hits, for example people no longer need driving license and insure this hard and fast rule.With popularizing for information technology, pilotless automobile will It can be connected with mobile communication technology, pilotless automobile can be kept in touch at any time by mobile communication.If it is it is electronic nobody Driving, perhaps from State Grid Corporation of China purchase electric car be also no longer it is out of reach, oil expense will be replaced by the electricity charge, add Petrol station will be also removed.Taxi on road does not need " taxi driver brother " yet, this occupation of taxi driver will disappear gradually It loses.Unpiloted appearance has brought us unlimited fine longing.

Summary of the invention

In view of this, the utility model is directed to a kind of unmanned net controller based on built-in Linux, with By unmanned net controller, realize the remotely position to the control of pilotless automobile and remote inquiry vehicle and Status information.

In order to achieve the above objectives, the technical solution of the utility model is achieved in that

A kind of unmanned net controller based on built-in Linux, microprocessor MPU, micro-control unit MCU, with And 4G mould group LTE Modem；

The microprocessor MPU connects V2X chip, for receiving processing pilotless automobile ambient enviroment perception information；

The micro-control unit MCU is used to acquire the acceleration signal of the location information of vehicle, status information and automobile, It is responsible for the communication with vehicle；

The 4G mould group LTE Modem realizes real-time interconnection for vehicle, connects server platform, and establish hot spot；

The microprocessor MPU is carried out by hardware encryption chip and micro-control unit MCU and 4G mould group LTE Modem Data communication.

Further, the microprocessor MPU uses iMX 6Quad series microprocessor.

Further, the micro-control unit MCU and 4G mould group LTE Modem be communicate through a serial port.

Further, the micro-control unit MCU is realized total to gyroscope, acceleration transducer, locating module and CAN The connection and management of wire module.

Further, the also external LPDDR3 and EMMC of the microprocessor MPU realizes big data storage and processing.

Further, the MPU is connect with V2X chip by USB.

Further, the 4G mould group LTE Modem also passes through SDIO interface connection WIFI/BT.

It further, further include Power Management Unit PMU, for powering for each unit.

Further, the hardware encryption chip model SMEC98SP.

Compared with the existing technology, a kind of unmanned net joint control system based on built-in Linux described in the utility model Device has the advantage that

The present invention can pass through network and client by the unmanned net controller based on built-in Linux, user Program is held to check remote vehicle status data, remotely control automobile, the available surrounding blind area environment letter of pilotless automobile Breath, greatly improves pilotless automobile driving safety, works well with test run, and system stability is reliable, uses The advantages that simple and convenient.

Detailed description of the invention

The attached drawing for constituting a part of the utility model is used to provide a further understanding of the present invention, this is practical new The illustrative embodiments and their description of type are not constituteed improper limits to the present invention for explaining the utility model.In In attached drawing:

Fig. 1 shows for a kind of unmanned net controller based on built-in Linux described in the utility model embodiment It is intended to；

Fig. 2 is the circuit diagram of IMX6 described in the utility model embodiment；

Fig. 3 is the circuit diagram of locating module described in the utility model embodiment；

Fig. 4 is the circuit diagram of CAN bus module described in the utility model embodiment；

Fig. 5 is the circuit diagram of gyroscope chip described in the utility model embodiment；

Fig. 6 is LTEmodem circuit diagram described in the utility model embodiment；

Fig. 7 is V2X wire receiver circuit diagram described in the utility model embodiment；

Fig. 8 is the circuit diagram of MCU described in the utility model embodiment.

Specific embodiment

It should be noted that in the absence of conflict, the feature in the embodiments of the present invention and embodiment can To be combined with each other.

In the description of the present invention, it should be understood that term " center ", " longitudinal direction ", " transverse direction ", "upper", "lower", The orientation or positional relationship of the instructions such as "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside" is It is based on the orientation or positional relationship shown in the drawings, is merely for convenience of describing the present invention and simplifying the description, rather than indicate Or imply that signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore cannot understand For limitations of the present invention.In addition, term " first ", " second " etc. are used for description purposes only, and should not be understood as indicating Or it implies relative importance or implicitly indicates the quantity of indicated technical characteristic." first ", " second " etc. are defined as a result, Feature can explicitly or implicitly include one or more of the features.It is in the description of the present invention, unless another It is described, the meaning of " plurality " 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, be also possible to be electrically connected；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, on being understood by concrete condition State the concrete meaning of term in the present invention.

The utility model will be described in detail below with reference to the accompanying drawings and embodiments.

As shown in Figure 1, the present invention is a kind of unmanned net controller based on built-in Linux, it mainly include micro- Processor MPU (IMX6), micro-control unit MCU (S32K144) and 4G mould group LTE Modem (ec20r2p0)；Microprocessor MPU mainly undertakes reception processing pilotless automobile ambient enviroment perception information to connect with V2X chip；Micro-control unit MCU is mainly responsible for substantially logical with vehicle to acquire the location information of vehicle, status information and the acceleration signal of automobile Letter；4G mould group LTE Modem mainly makes vehicle realize real-time interconnection, connects server platform, and establish hot spot for car Personnel use；Wherein, micro-control unit MCU is realized to gyroscope, acceleration transducer, locating module and CAN bus module Connection and management, 4G mould group LTE Modem realizes connection and management to WiFi, bluetooth and 4G network, microprocessor MPU Outside external V2X module, plug-in LPDDR3 and EMMC, realizes big data storage and processing.

The microprocessor MPU uses iMX 6Quad series microprocessor；

The micro-control unit MCU and 4G mould group LTE Modem are communicate through a serial port；

The microprocessor MPU passes through hardware encryption chip SMEC98SP and micro-control unit MCU and 4G mould group LTE Modem carries out data communication.

It is illustrated in figure 2 the circuit diagram of the IMX6 of microprocessor MPU.

It is illustrated in figure 3 the circuit diagram of locating module, using the chip of maxm8q01a model.

It is illustrated in figure 4 the circuit diagram of CAN bus module.

It is illustrated in figure 5 the circuit diagram of gyroscope chip.

It is illustrated in figure 6 the circuit diagram of LTEmodem.

It is illustrated in figure 7 V2X wire receiver circuit diagram.

It is illustrated in figure 8 MCU circuit diagram, the model s32k144pln100 of use, wherein the connection of MCU_DTR pin The UART1_RXD of MPU；The GPIO1 of the WAKEUP4G connection ec20r2p0 of MCU makes as the external wake signal of LTE module It obtains MCU and wakes up LTE module；GNSS_3V3_EN pin is supplied by the power supply that storage battery conversion chip controls positioning chip ATGM336H It answers；The EN pin of MCU_CAN1/CAN2/CAN3_EN pin connection CAN transceiver；MCU_GYRO_INT1 connection gyroscope INT1 pin, data pass through I2C_SDA1 input and output；V2X chip receives environmental data by UART1_RXD pin, then sharp It is connect with USB interface with MPU.

Unmanned net controller based on built-in Linux may be implemented the real-time interconnection of vehicle, and unmanned vehicle can be with Other vehicle traveling informations of important traffic intersection are obtained by means of unmanned controller, and then influence unmanned control strategy, Prevent traffic accident；When there is traffic accident, unmanned vehicle can be set out alarm by acceleration transducer and gyroscope, micro- The status information for the vehicle CAN bus that micro-control unit MCU is obtained, GNSS location information can be passed through network by processor MPU It is sent to server platform, can be rescued in time and subsequent crash analysis；In order to facilitate passenger, interior user Ke Tong The Wi-Fi hotspot for crossing 4G mould group LTE Modem foundation is surfed the Internet in the car；Hardware encryption chip can prevent information leakage, accelerate Processor processing speed.Unmanned net controller based on built-in Linux, to the perception of unmanned vehicle, decision, control with And safety has very big value.

The above is only the preferred embodiment of the utility model only, is not intended to limit the utility model, all at this Within the spirit and principle of utility model, any modification, equivalent replacement, improvement and so on should be included in the utility model Protection scope within.

Claims (8)

1. a kind of unmanned net controller based on built-in Linux, it is characterised in that: including microprocessor MPU, micro-control Unit MCU and 4G mould group LTE Modem processed；

The microprocessor MPU connects V2X chip, for receiving processing pilotless automobile ambient enviroment perception information；

The micro-control unit MCU is used to acquire the acceleration signal of the location information of vehicle, status information and automobile, is responsible for With the communication of vehicle；The micro-control unit MCU is realized to gyroscope, acceleration transducer, locating module and CAN bus mould The connection and management of block；

The 4G mould group LTE Modem realizes real-time interconnection for vehicle, connects server platform, and establish hot spot；

The microprocessor MPU carries out data by hardware encryption chip and micro-control unit MCU and 4G mould group LTE Modem Communication.

2. a kind of unmanned net controller based on built-in Linux according to claim 1, it is characterised in that: The microprocessor MPU uses iMX 6Quad series microprocessor.

3. a kind of unmanned net controller based on built-in Linux according to claim 1, it is characterised in that: The micro-control unit MCU and 4G mould group LTE Modem are communicate through a serial port.

4. a kind of unmanned net controller based on built-in Linux according to claim 1, it is characterised in that: The also external LPDDR3 and EMMC of the microprocessor MPU realizes big data storage and processing.

5. a kind of unmanned net controller based on built-in Linux according to claim 1, it is characterised in that: The MPU is connect with V2X chip by USB.

6. a kind of unmanned net controller based on built-in Linux according to claim 1, it is characterised in that: The 4G mould group LTE Modem also passes through SDIO interface connection WIFI/BT.

7. a kind of unmanned net controller based on built-in Linux according to claim 1-6, special Sign is: further including Power Management Unit PMU, for powering for each unit.

8. a kind of unmanned net controller based on built-in Linux according to claim 1, it is characterised in that: The hardware encryption chip model SMEC98SP.