CN209690757U - Apply the chassis domain controller on automatic driving car - Google Patents
Apply the chassis domain controller on automatic driving car Download PDFInfo
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- CN209690757U CN209690757U CN201920750254.3U CN201920750254U CN209690757U CN 209690757 U CN209690757 U CN 209690757U CN 201920750254 U CN201920750254 U CN 201920750254U CN 209690757 U CN209690757 U CN 209690757U
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- interface
- domain controller
- automatic driving
- chassis domain
- microprocessor
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Abstract
The utility model provides the chassis domain controller on a kind of automatic driving car, including first interface device, second interface device and third interface arrangement；First interface device includes the Ethernet interface connecting with switch communication and the first aviation interface with the communication connection of multiple laser radars；Second interface device includes the GPS time service interface with the second aviation interface of multiple laser radars communication connection and with the communication connection of GPS time service device；Third interface arrangement includes microprocessor and the connector and receiver of remote-control sytem for being connected to microprocessor, and microprocessor is connect by connector with power supply, brake, throttle and wire-controlled apparatus with mechatronics, microprocessor is exchanged.The utility model passes through setting chassis domain controller, so that only chassis domain controller and various equipment need to be communicated to connect, it is not necessarily the communication being adapted between various equipment and increases various independent interface equipments, to simplify the connection of computing platform and onboard sensor and wire-controlled apparatus.
Description
Technical field
The utility model relates to automatic driving car field more particularly to a kind of chassis domain controls applied on automatic driving car
Device processed.
Background technique
It is unmanned to have become the hot spot studied both at home and abroad with the universal and development of artificial intelligence technology.It is unmanned
The application of vehicle will reduce the security risk of driver, alleviate traffic congestion status, while transportation cost can also be greatly reduced, and push
The high quality of industry develops.Pilotless automobile be vehicle-periphery is perceived using onboard sensor, and according to perception institute
Road, vehicle location and the obstacle information of acquisition, control the steering and speed of vehicle, thus enable the vehicle to safety, can
It is travelled on road by ground.
Automatic driving vehicle would generally be made of computing platform, a variety of onboard sensors and drive-by-wire chassis.By vehicle-mounted
Sensor obtain information data transmission arrive computing platform, computing platform extraction useful information simultaneously handled, computing platform is again
The execution order of needs is transferred to drive-by-wire chassis, is correctly travelled to control vehicle.It is vehicle-mounted on automatic driving car at present
The interface of sensor and drive-by-wire chassis is numerous, cannot connect directly in computing platform mostly.For example, drive-by-wire chassis and milli
What metre wave radar generally identified is CAN bus agreement, but computing platform usually not CAN bus communication interface, is generally passed through
It is attached using PCIE CAN card or Ethernet CAN card.Laser radar is usually aviation plug, needs to pass through hard disk
Box, which changes into Ethernet interface, could connect computing platform.Navigation equipment usually has a serial communication interface, computing platform due to
Miniature requirement would generally give up biggish serial communication interface.Therefore, it is each to realize that the communication between distinct device needs to increase
The independent interface equipment of kind, so that communication mode is inflexible, communication quality is poor and transmission speed is slow.
Utility model content
To solve the problems, such as that communication mode is inflexible between distinct device, communication quality is poor and transmission speed is slow, this
Utility model provides a kind of chassis domain controller applied on automatic driving car.
The utility model provides a kind of chassis domain controller applied on automatic driving car, including first interface device,
Second interface device and third interface arrangement；First interface device include the Ethernet interface being connect with switch communication and with
First aviation interface of multiple laser radar communication connections；Second interface device includes the with the communication connection of multiple laser radars
Two aviation interfaces and the GPS time service interface communicated to connect with GPS time service device；Third interface arrangement include microprocessor and
It is connected to the connector and receiver of remote-control sytem of microprocessor, microprocessor passes through connector with mechatronics, microprocessor is exchanged
It is connect with power supply, brake, throttle and wire-controlled apparatus.
Further, connector is MX34032NF2 connector.
Further, MX34032NF2 connector includes: power pins, brakes pin, throttle pin, at least three serially
Communication interface pin and at least three CAN bus communication interface pins.
Further, at least three serial communication interface pins include RS232 interface pin, RS485 interface pin and
RS422 interface pin.
Further, microprocessor is STM32F767VIT6 family chip.
Further, Ethernet interface is RJ-45 interface.
Further, the first aviation interface is M12 aviation interface.
Further, the second aviation interface is M12 aviation interface.
The beneficial effects of the utility model are:
The utility model is by setting chassis domain controller, so that only need to be by chassis domain controller and various equipment communication links
It connects, it is not necessary to which the communication to be adapted between various equipment increases various independent interface equipments, to simplify computing platform and vehicle
The connection of set sensor and wire-controlled apparatus, and the wiring of power supply and communication is simplified, in volume, cost, communication quality, control
It is all significantly improved in terms of stability processed.
Meanwhile by the way that chassis domain controller is arranged, GPS information can be passed through each needs and awarded by a GPS time service device
When laser radar, so that cost be greatly saved, reduce wiring difficulty.
Detailed description of the invention:
Fig. 1 is the hardware structural diagram of the utility model chassis domain controller；
Fig. 2 is the structural schematic diagram of the connector of one embodiment of the utility model；
Fig. 3 is the connection relationship diagram in kind of one embodiment of the utility model.
Specific embodiment:
It is described below and is served only for disclosing the utility model so that those skilled in the art can implement the utility model.With
Embodiment in lower description is only used as illustrating, it may occur to persons skilled in the art that other obvious deformations.It is retouched following
The basic principle of the utility model defined in stating can be applied to other embodiments, deformation scheme, improvement project, equivalent program
And other are without departing from other schemes of the spirit and scope of the utility model.
As shown in Figure 1, the utility model provides a kind of chassis domain controller 10 applied on automatic driving car 20, packet
It includes: first interface device 100, second interface device 200 and third interface arrangement 300.Wherein, first interface device 100,
Two interface arrangements 200 and third interface arrangement 300 are arranged parallel.
First interface device 100 includes Ethernet interface 101 and the first aviation interface 102, wherein Ethernet interface 101
It is communicated to connect with the Ethernet interface of interchanger 30, the first aviation interface 102 is connect with laser radar, interchanger 30 and industrial personal computer
40 connections.First interface device 100 is used for the communication connection of laser radar and industrial personal computer 40, thus the information that laser radar obtains
It is transmitted in industrial personal computer 40 and carries out calculation processing.In this present embodiment, laser radar include at least one 16 line laser radar and
At least one 32 line laser radar, Ethernet interface 101 are RJ-45 interface, and the first aviation interface 102 is M12 aviation interface, are handed over
30 model of changing planes grinds magnificent EKI-2728, and the model great mansion of industrial personal computer 40 is shone NUVO-6108GC.
Second interface device 200 includes GPS time service interface 201 and the second aviation interface 202, wherein GPS time service interface
201 connect with GPS time service device, and the second aviation interface 202 is connect with laser radar.Second interface device 200 is used for laser thunder
Up to the connection with GPS time service device, GPS time service device passes through GPS time service interface 201 and the second aviation interface 202 for GPS information
The laser radar for needing time service is passed through, so that having unified timestamp between laser radar.In this present embodiment,
Two aviation interfaces 202 are M12 aviation interface, the model GPS18X2VC of GPS time service device.By the way that second interface device is arranged
200, GPS information can be passed through each laser radar for needing time service by a GPS time service device, so that laser radar has system
One timestamp, without preparing GPS time service device respectively for each laser radar, so that cost be greatly saved, reduce cloth
Line difficulty.
Third interface arrangement 300 includes microprocessor 301, connector 302 and receiver of remote-control sytem 303, microprocessor 301
Be electrically connected with interchanger 30, interchanger 30 is connect with industrial personal computer 40, microprocessor 301 by connector 302 and power supply, brake,
Throttle and wire-controlled apparatus connection, microprocessor 301 are electrically connected with receiver of remote-control sytem 303.Third interface arrangement 300 is for stopping
Connection between vehicle, throttle and wire-controlled apparatus and industrial personal computer 40, so that the information of drive-by-wire chassis is by third interface arrangement 300
Industrial personal computer 40 is reached to be handled；The execution order of needs is transferred to drive-by-wire chassis by industrial personal computer 40, controls the correct row of vehicle
It sails.
In this present embodiment, microprocessor 301 uses STM32F767VIT6 family chip, is transmitted by connector 302
Information carries out information processing by STM32F767VIT6 family chip, and the information after handling is uploaded to industrial personal computer 40.Industrial personal computer 40
Execution order after processing is handled by STM32F767VIT6 family chip, is then transmitted to again by connector 302
Brake, throttle and wire-controlled apparatus.
In this present embodiment, connector 302 uses MX34032NF2 connector, and MX34032NF2 connector includes: power supply
Pin, braking pin, throttle pin, three serial communication interface pins and three CAN bus communication interface pins, wherein
Three serial communication interface pins include RS232 interface pin, RS485 interface pin and RS422 interface pin.Power pins
It is connect with specified 24V AC power source, supply voltage range is 12V-28V.Braking pin is connect with emergency stop control expansion switch,
It is responsible for the emergency stop control of vehicle.Throttle pin is connect with simulation Oil Switch, is responsible for simulation Throttle Opening Control.One of CAN is total
Line communication interface pin is connect with wire-controlled apparatus, another CAN bus communication interface pin is set with millimetre-wave radar and inertial navigation
Standby connection, third CAN bus communication interface pin is as reserved pin.RS232 interface pin, RS485 interface pin and
RS422 interface pin is as reserved pin.
In this present embodiment, 303 quantity of receiver of remote-control sytem is two, and two receivers of remote-control sytem 303 can receive and transmit system
Dynamic signal and release brake signal.One of 303 model Fu get Ba T8J of receiver of remote-control sytem, it then follows s.bus agreement, it is another
A 303 model of receiver of remote-control sytem, 100,000,100 spy E22-400T22S, it then follows Lora agreement.Two receivers of remote-control sytem 303 can be transferred through
Receive and transmit the emergency braking in the case of signal realization manual intervention.
The working principle of the chassis domain controller 10 of the utility model are as follows: multiple connect is configured with inside chassis domain controller 10
Jaws equipment, according to the difference of the sensor of automatic driving car 20 and wire-controlled apparatus, chassis domain controller 10 uses different turn
Connection interface, to realize the versatility of chassis domain controller 10.Collected data are passed through first interface device by laser radar
100 are transmitted to industrial personal computer 40, and industrial personal computer 40 handles the data received, and according to the control need of automatic Pilot vehicle itself
It asks and the execution order of needs is transferred to by third interface arrangement 300 by drive-by-wire chassis, correctly travelled to control vehicle.Together
When, GPS information is passed through the laser radar for needing time service by second interface device 200 by GPS time service device, so that swashing
There is unified timestamp between optical radar.
The utility model is by setting chassis domain controller 10, so that need to only lead to chassis domain controller 10 and various equipment
Letter connection, it is not necessary to which the communication to be adapted between various equipment increases various independent interface equipments, to simplify computing platform
With the connection of onboard sensor and wire-controlled apparatus, and the wiring of power supply and communication is simplified, in volume, cost, communication matter
It is all significantly improved in terms of amount, control stability.Meanwhile by the way that chassis domain controller 10, a GPS time service device is arranged
GPS information can be passed through to each laser radar for needing time service, so that cost be greatly saved, reduce wiring difficulty.
The above is only the preferred embodiment of the present invention, not thereby limits the patent protection of the utility model
Range, it is all with equivalent structure transformation made by the utility model specification and accompanying drawing content, directly or indirectly it is used in it
His relevant technical field similarly includes within the protection scope of the present utility model.
Claims (8)
1. a kind of chassis domain controller applied on automatic driving car characterized by comprising
First interface device, the first interface device include the Ethernet interface being connect with switch communication and with multiple laser
First aviation interface of radar communication connection；
Second interface device, the second interface device include the second aviation interface with the communication connection of the multiple laser radar
With the GPS time service interface communicated to connect with GPS time service device；
Third interface arrangement, the third interface arrangement include microprocessor and the connector for being connected to the microprocessor
And receiver of remote-control sytem, the microprocessor exchange mechatronics with described, the microprocessor by the connector and power supply,
Brake, throttle and wire-controlled apparatus connection；
Wherein, first interface device, second interface device and third interface arrangement are arranged parallel.
2. applying the chassis domain controller on automatic driving car as described in claim 1, which is characterized in that the connector is
MX34032NF2 connector.
3. applying the chassis domain controller on automatic driving car as claimed in claim 2, which is characterized in that described
MX34032NF2 connector include: power pins, braking pin, throttle pin, at least three serial communication interface pins and
At least three CAN bus communication interface pins.
4. applying the chassis domain controller on automatic driving car as claimed in claim 3, which is characterized in that described at least three
Serial communication interface pin includes RS232 interface pin, RS485 interface pin and RS422 interface pin.
5. applying the chassis domain controller on automatic driving car as described in claim 1, which is characterized in that the microprocessor
For STM32F767VIT6 family chip.
6. applying the chassis domain controller on automatic driving car as described in claim 1, which is characterized in that the Ethernet connects
Mouth is RJ-45 interface.
7. applying the chassis domain controller on automatic driving car as described in claim 1, which is characterized in that first aviation
Interface is M12 aviation interface.
8. applying the chassis domain controller on automatic driving car as described in claim 1, which is characterized in that second aviation
Interface is M12 aviation interface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920750254.3U CN209690757U (en) | 2019-05-23 | 2019-05-23 | Apply the chassis domain controller on automatic driving car |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920750254.3U CN209690757U (en) | 2019-05-23 | 2019-05-23 | Apply the chassis domain controller on automatic driving car |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209690757U true CN209690757U (en) | 2019-11-26 |
Family
ID=68609097
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920750254.3U Active CN209690757U (en) | 2019-05-23 | 2019-05-23 | Apply the chassis domain controller on automatic driving car |
Country Status (1)
| Country | Link |
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| CN (1) | CN209690757U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112995309A (en) * | 2021-02-08 | 2021-06-18 | 南京航空航天大学 | Internet-connected cloud-control intelligent line-control chassis control system and control method thereof |
-
2019
- 2019-05-23 CN CN201920750254.3U patent/CN209690757U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112995309A (en) * | 2021-02-08 | 2021-06-18 | 南京航空航天大学 | Internet-connected cloud-control intelligent line-control chassis control system and control method thereof |
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