CN209928281U

CN209928281U - Automatic pilot

Info

Publication number: CN209928281U
Application number: CN201921238135.6U
Authority: CN
Inventors: 张亮; 鄢胜超; 周家龙; 夏凡
Original assignee: Shenzhen Smart Mapping Tech Co Ltd
Current assignee: Shenzhen Smart Mapping Tech Co Ltd
Priority date: 2019-08-02
Filing date: 2019-08-02
Publication date: 2020-01-10
Anticipated expiration: 2029-08-02

Abstract

The embodiment of the utility model discloses autopilot, including GNSS module, IMU module, lidar, camera, FPGA module, time reference module, inertial navigation unit, dead reckoning unit and treater, wherein, the camera includes external trigger camera and two mesh cameras, and FPGA module and GNSS module, IMU module, lidar, external trigger camera, time reference module, inertial navigation unit, dead reckoning unit electricity are connected, and the treater is connected with GNSS module, two mesh cameras, external trigger camera, lidar electricity. The embodiment of the utility model provides a carry out data processing and fusion to each sensor through adopting the FPGA module, then real-time transmission carries out autopilot's decision-making and control to the treater, has solved sensor data and has been difficult to fuse, the sensor function is independent, be difficult to realize the problem of high accuracy location under the arbitrary scene, and then has promoted unmanned security, reliability and available line.

Description

Automatic pilot

Technical Field

The utility model relates to an unmanned technical field especially relates to an automatic pilot.

Background

The automatic pilot is the brain of the unmanned vehicle, and all actions of the unmanned vehicle are controlled and completed by the automatic pilot. The automatic pilot receives and processes various data collected by the sensor to form control instructions of the vehicle, including steering wheel angle, accelerator opening, brake and the like. In the existing unmanned system, a differential global satellite navigation positioning system is often adopted in the aspect of vehicle self positioning; in the aspect of measuring and controlling the attitude of the vehicle, a high-precision inertial measurement unit is adopted; in the aspects of sensing other environmental targets and detecting obstacles, laser radars, cameras, millimeter wave radars and the like are adopted. The data are sent to the processing unit through various interfaces such as network ports, serial ports, CAN and the like. The reliability of the autopilot depends to a great extent on the accuracy of the data fusion, the accuracy of the vehicle positioning and attitude determination and the accuracy of the perception.

The current unmanned systems have several disadvantages that affect the safety, reliability and availability of unmanned vehicles:

(1) the time references of various different sensors are not uniform, and the data fusion of the sensors is difficult to effectively carry out;

(2) the functions of various sensors are independent, and effective complementation is not formed;

(3) because GNSS signals are easy to interfere, high-precision positioning of the vehicle in any scene is difficult to realize.

SUMMERY OF THE UTILITY MODEL

The embodiment of the utility model provides a technical problem that will solve provides an automatic pilot to make security, reliability and the available line that promotes unmanned driving.

In order to solve the technical problem, the embodiment of the utility model provides an automatic pilot is provided, be applied to among the unmanned vehicle driving system, including the GNSS module, the IMU module, lidar, the camera, the FPGA module, the time reference module, inertial navigation unit, dead reckoning unit and treater, wherein, the camera includes external trigger camera and two mesh cameras, FPGA module and GNSS module, the IMU module, lidar, external trigger camera, the time reference module, inertial navigation unit, dead reckoning unit electricity is connected, treater and GNSS module, two mesh cameras, external trigger camera, lidar electricity is connected.

Further, the system also comprises a mileage meter electrically connected with the FPGA module.

Further, a gigabit network interface is included that is electrically connected to the processor.

Further, the USB interface device further comprises a USB3.0 interface electrically connected with the processor.

Further, the FPGA module is electrically connected with the FPGA module.

Further, the TF card module is electrically connected with the processor.

Further, the system also comprises an MSATA interface electrically connected with the processor.

Further, the HDMI interface electrically connected with the processor is further included.

The embodiment of the utility model provides an automatic pilot, including the GNSS module, the IMU module, laser radar, the camera, the FPGA module, the time reference module, inertial navigation unit, dead reckoning unit and treater, carry out data processing and fusion to each sensor through adopting the FPGA module, then real-time transmission carries out autopilot's decision-making and control to the treater, solved sensor data and be difficult to fuse, the sensor function is independent, be difficult to realize the problem of high accuracy location under the arbitrary scene, and then unmanned security, reliability and available row have been promoted.

Drawings

Fig. 1 is a schematic structural diagram of an autopilot according to an embodiment of the present invention.

Fig. 2 is a circuit diagram of a portion of the time reference module and the FPGA module according to an embodiment of the present invention.

Fig. 3 is a circuit diagram of a power module according to an embodiment of the present invention.

Fig. 4 is another circuit diagram of a part of the FPGA module according to an embodiment of the present invention.

Fig. 5 is a circuit diagram of the USB3.0 interface according to an embodiment of the present invention.

Fig. 6 is a circuit diagram of a GNSS module and an inertial navigation unit according to an embodiment of the present invention.

Fig. 7 is a circuit diagram of a camera and an IMU module according to an embodiment of the present invention.

Fig. 8 is a circuit diagram of a processor according to an embodiment of the invention.

Fig. 9 is a circuit diagram of an encoder according to an embodiment of the present invention.

Fig. 10 is a schematic block diagram of an autopilot according to an embodiment of the invention.

Detailed Description

It should be noted that, in the present application, the embodiments and features of the embodiments may be combined with each other without conflict, and the present invention is further described in detail with reference to the accompanying drawings and specific embodiments.

In the embodiment of the present invention, if there is directional indication (such as upper, lower, left, right, front, and rear … …) only for explaining the relative position relationship between the components and the motion situation under a certain posture (as shown in the drawing), if the certain posture is changed, the directional indication is changed accordingly.

In addition, the descriptions of the first, second, etc. in the present invention are for descriptive purposes only and are not to be construed as indicating or implying any relative importance or implicit indication of the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature.

Referring to fig. 1 to 10, an autopilot according to an embodiment of the present invention mainly includes a GNSS module, an IMU module, a lidar, a camera, an FPGA module, a time reference module, an inertial navigation unit, a dead reckoning unit, and a processor.

The automatic pilot is applied to the unmanned vehicle driving system and is used for controlling the corner, the accelerator, the brake and other systems of the unmanned vehicle. The camera includes an outer trigger camera and a binocular camera. The FPGA module is electrically connected with the GNSS module, the IMU module (adopting an ADIS16490 chip), the laser radar (adopting a 16-wire laser radar), the external trigger camera, the time reference module, the inertial navigation unit and the dead reckoning unit. Preferably, the camera is a CCD camera. The inertial navigation unit is preferably a high precision MEMS inertial navigation. The processor is electrically connected with the GNSS module, the binocular camera, the external trigger camera and the laser radar, and adopts an Invitta intelligent platform TX 2-bit core processor.

Each sensor data of the embodiment of the utility model is firstly sent to an FPGA module, and accurate time labels can be marked for each type of sensor data in the FPGA module by utilizing the characteristics of low delay and high concurrency of the FPGA module, thereby realizing microsecond-level time synchronization; after the time synchronization of the sensors is completed, data of a GNSS module, an IMU module, a laser radar, a camera and a odometer are fused in the FPGA module, and then coordinates of the vehicle are output, so that high-precision vehicle positioning under any scene is realized; in addition, laser radar and camera data are fused in the FPGA module, so that point cloud data output by the laser radar has color information, and image data has depth information, and the accuracy of target classification and extraction is enhanced.

After the sensor data of the embodiment of the utility model is synchronously processed by the FPGA module, all data have accurate time labels, which lays a foundation for the data fusion of heterogeneous multi-sensors and improves the precision and reliability of the data fusion; the embodiment of the utility model provides an utilize multi-sensor data fusion to realize the high accuracy coordinate measurement of vehicle under the complicated scene, improved unmanned reliability; the embodiment of the utility model provides an fuse the image data of laser radar and camera for the information volume of data promotes greatly, is favorable to promoting environment target detection and categorised accuracy, robustness and reliability.

As an embodiment, the autopilot further includes a odometer electrically connected to the FPGA module.

As one embodiment, the autopilot further includes a gigabit interface electrically connected to the processor.

As an embodiment, the autopilot further includes a USB3.0 interface electrically connected to the processor.

As an embodiment, the autopilot further includes an encoder electrically connected to the FPGA module.

As an embodiment, the autopilot further includes a TF card module electrically connected to the processor.

As one embodiment, the autopilot further includes an MSATA interface electrically connected to the processor. The MSATA interface is used for externally connecting an MSATA hard disk.

As one embodiment, the autopilot further includes an HDMI interface electrically connected to the processor.

As one embodiment, the autopilot further includes a power module electrically connected to the processor.

The utility model discloses each peripheral hardware interface is used for expanding the function of autopilot.

The embodiment of the utility model provides a theory of operation does: the automatic pilot is electrified and started, and the system of the automatic pilot is timed through the GNSS module or the time reference module; the FPGA module sends NAMA and PPS signals to the laser radar, sends synchronous trigger signals to the external trigger camera, and receives sensor data such as an inertial navigation unit, an encoder, the laser radar and the camera; the FPGA module processes and fuses data and then transmits the data to the processor in real time; the processor completes data fusion, makes decision and control of automatic driving, and finally realizes high-precision positioning and accurate automatic control of unmanned driving.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides an autopilot, be applied to among the unmanned vehicle driving system, a serial communication port, including the GNSS module, the IMU module, lidar, the camera, the FPGA module, the time reference module, inertial navigation unit, dead reckoning unit and treater, wherein, the camera includes external trigger camera and binocular camera, the FPGA module is connected with the GNSS module, the IMU module, lidar, external trigger camera, the time reference module, inertial navigation unit, dead reckoning unit electricity, the treater is connected with the GNSS module, binocular camera, external trigger camera, lidar electricity.

2. The autopilot of claim 1 further comprising an odometer electrically connected to the FPGA module.

3. The autopilot of claim 1 further comprising a gigabit interface electrically connected to the processor.

4. The autopilot of claim 1 further comprising a USB3.0 interface electrically connected to the processor.

5. The autopilot of claim 1 further comprising an encoder electrically connected to the FPGA module.

6. The autopilot of claim 1 further comprising a TF card module electrically connected to the processor.

7. The autopilot of claim 1 further comprising an MSATA interface electrically connected to the processor.

8. The autopilot of claim 1 further comprising an HDMI interface electrically connected to the processor.