CN210129116U - Be applied to autopilot car of garden scene - Google Patents
Be applied to autopilot car of garden scene Download PDFInfo
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- CN210129116U CN210129116U CN201921274071.5U CN201921274071U CN210129116U CN 210129116 U CN210129116 U CN 210129116U CN 201921274071 U CN201921274071 U CN 201921274071U CN 210129116 U CN210129116 U CN 210129116U
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Abstract
The utility model relates to an automatic driving vehicle applied to garden scenes, which comprises a vehicle body; the vehicle body comprises a chassis, an upper shell, an industrial personal computer, a GPS receiver, a manual interference control panel, a laser radar, a camera, a millimeter wave radar and a differential GPS antenna, wherein the vehicle chassis comprises a chassis bracket, a tire, a control box, a hub motor, a steer-by-wire mechanism and a brake-by-wire device; a wire control module, a motor driving module and a power supply module are arranged in the control box; the manual interference control panel is provided with a manual direction control knob, a manual speed control button and an emergency stop button. The utility model discloses an automatic driving vehicle applied to garden scenes, which realizes safe, accurate and efficient automatic driving of intelligent vehicles in the whole road section; improve manual driving, reduce the manual driving rate of utilization in garden by a wide margin.
Description
Technical Field
The utility model relates to an autopilot field especially relates to an autopilot car of being applied to garden scene.
Background
With the rapid development of computers and microelectronic technologies, the development of intelligent vehicle technologies is faster and faster, the intelligence degree is higher and higher, and the application range is greatly expanded.
Under the garden scene, traditional someone drives, has following several shortcomings: 1) the labor cost is high; 2) the quality of experience in parks is poor, depending on the driving level, mood of the driver; 3) for logistics handling, manual driving is inefficient because the driver needs to rest. Therefore, there is a need for an autonomous driving vehicle in a park scene, which improves manual driving, greatly reduces the utilization rate of manual driving in the park, and improves the riding safety, the carrying efficiency and the park science and technology sense of the park.
SUMMERY OF THE UTILITY MODEL
In order to solve the technical problem, the utility model provides an automatic driving vehicle applied to garden scenes, which realizes the safe, accurate and efficient automatic driving of intelligent vehicles in the whole road section; improve manual driving, reduce the manual driving rate of utilization in garden by a wide margin.
The utility model provides a technical scheme that its technical problem adopted is: an automatic driving vehicle applied to a park scene comprises a vehicle body; the vehicle body comprises a chassis, an upper shell, an industrial personal computer, a GPS receiver, an IMU and a manual interference control panel, wherein the upper shell is arranged on the chassis; the automobile chassis comprises a chassis support, tires symmetrically arranged on the left side and the right side of the front and back positions of the bottom support respectively, and a control box arranged on the top side of the chassis support and the back position; a wheel hub motor is arranged on the inner side of a wheel disc of a front tire, and a steer-by-wire mechanism for controlling steering and a brake-by-wire device for controlling a brake disc are arranged on a chassis bracket and positioned between the two front tires; a drive-by-wire module, a motor driving module for driving the hub motor and a power supply module for supplying power to the vehicle body are arranged in the control box; a manual direction control knob, a manual speed control button and an emergency stop button which are connected with the industrial personal computer through lines are arranged on the manual interference control panel; the motor driving module, the steer-by-wire mechanism and the brake-by-wire device are respectively connected with the drive-by-wire module through circuits; the laser radar, the camera, the millimeter wave radar, the GPS receiver, the line control module and the IMU are respectively connected with an industrial personal computer through lines.
The vehicle body is internally provided with a sitting seat, and the industrial personal computer, the GPS receiver and the IMU are all arranged on the back side of the sitting seat; the manual interference control panel is arranged on one side of the sitting seat.
The two seats are oppositely arranged on the front side and the rear side in the vehicle body.
And the manual interference control panel is also provided with a power module interface connected with the power module.
Laser radar installs on the facial make-up shell through the lift adjustment frame, and the lift adjustment frame is used for going up and down according to the practical application operating mode and adjusts laser radar's height.
The steer-by-wire mechanism adopts an Ackerman steering mechanism and provides steering power through a steering electronic hydraulic pump.
The brake-by-wire device comprises a brake electronic hydraulic pump and a brake disc arranged on the inner side surface of the wheel disc, and the brake electronic hydraulic pump is used for providing braking force for the brake disc and controlling the magnitude of friction braking force.
A hidden air bag damping spring suspension is arranged between a rotating shaft of the tire and the chassis support and used for reducing the influence of road conditions on a vehicle body.
And the hidden automobile lamp is arranged at the lower positions of the front end and the rear end of the upper housing.
The power supply module comprises a ternary lithium battery pack and a voltage stabilizing module.
The utility model has the advantages that: the utility model discloses an automatic driving car applied to garden scene, through the laser radar of roof installation, can carry out the space scanning to the garden environment that the radius is 100 meters, form the 3D image, provide perception, location basis for subsequent map matching; the park traffic signal lamp, pedestrians, animals and the like can be identified through the camera arranged in front of the vehicle; the GPS/IMU integrated navigation system installed on the automobile body can measure the real-time position and the real-time attitude of the automobile, and fuse the relative position data of the laser radar, so that the accurate positioning of the automobile under any working condition can be realized; through the millimeter wave radar of front end installation, can measure the position, the speed of the dynamic object within 150m scope in the front of the car, if: dynamic pedestrians, animals, automobiles and the like provide basis for path planning after sensing; the chassis of the automobile is accurately controlled by communicating an industrial personal computer with a line control system; the intelligent vehicle can be safely, accurately and efficiently driven automatically in the whole road section; improve manual driving, reduce the manual driving rate of utilization in garden by a wide margin.
Drawings
FIG. 1 is a schematic perspective view of an autonomous vehicle for use in a campus setting, according to an embodiment;
FIG. 2 is a perspective view of another embodiment of an autonomous vehicle for use in a campus setting;
FIG. 3 is a schematic perspective view of an embodiment of a chassis of an autonomous vehicle for use in a campus setting;
fig. 4 is a control diagram of an autonomous vehicle applied to a campus scenario according to an embodiment.
Detailed Description
In order to deepen the understanding of the present invention, the present invention will be described in further detail with reference to the accompanying drawings and embodiments, which are only used for explaining the present invention and are not limited to the protection scope of the present invention.
Examples
The embodiment provides an automatic driving vehicle applied to a park scene, which comprises a vehicle body; the vehicle body comprises a chassis 2, an upper mounting shell 1 arranged on the chassis 2, an industrial personal computer 17, a GPS receiver 18 and a manual interference control panel; the automobile chassis 2 comprises a chassis support 11, tires 8 symmetrically arranged on the left side and the right side of the front and the back of the bottom support 11 respectively, and a control box 15 arranged on the top side and the back of the chassis support 11; a hub motor 10 is arranged on the inner side of a wheel disc 9 of a front tire 8, and a steer-by-wire mechanism 13 for controlling steering and a brake-by-wire device 14 for controlling a brake disc are arranged on a chassis bracket 11 at a position between two front tires; a drive-by-wire module, a motor driving module for driving the in-wheel motor 10 and a power supply module for supplying power to the automobile equipment are arranged in the control box 15; a manual direction control knob 19, a manual speed control button 20 and an emergency stop button 21 which are connected with the industrial personal computer through lines are arranged on the manual interference control panel; the motor driving module, the steer-by-wire mechanism 13 and the brake-by-wire device 14 are respectively connected with the drive-by-wire module through circuits; the laser radar 3, the camera 4, the millimeter wave radar 5, the GPS receiver 18 and the IMU are respectively connected with an industrial personal computer 17 through lines; and the hidden automobile lamp 7 is arranged at the lower positions of the front end and the rear end of the upper housing shell 1.
In the autopilot of being applied to garden scene of this embodiment, camera 4 passes through the sucking disc to be fixed on windshield, and difference GPS antenna 6 also passes through the sucking disc to be fixed on the facial make-up shell.
In the automatic driving vehicle applied to the park scene, the differential GPS antenna, the GPS receiver and the IMU form a GPS/IMU integrated navigation system.
In the automatic driving vehicle applied to the park scene, the drive-by-wire module, the motor driving module, the drive-by-wire steering mechanism, the drive-by-wire brake device and the hub motor form a drive-by-wire system
The automatic driving vehicle applied to the garden scene adopts a VLP-16 laser radar, a K3-U camera, an ARS-408-21 millimeter wave radar, a Huazhong P3 combined navigation system and a Nuvo-6108GC industrial personal computer; the data output end of the VLP-16 laser radar, the K3-U camera, the ARS-408-21 millimeter wave radar and the Huazhong P3 combined navigation system is connected to a Nuvo-6108GC industrial personal computer, algorithms such as sensing, positioning, navigation, tracking and the like are integrated in the industrial personal computer, the received data of the laser radar, the camera, the millimeter wave radar and the combined navigation system are analyzed and processed, after the algorithm processing is finished, an instruction is sent to a linear control system, and automatic steering, braking and speed control are carried out on the automatically-driven automobile.
In the automatic driving vehicle applied to a garden scene, the vehicle body is internally provided with two sitting seats 16, and the two sitting seats 16 are oppositely arranged at the front side and the rear side in the vehicle body; the industrial personal computer 17 and the GPS receiver 18 are both arranged on the back side of the back seat 16; the manual interference control panel is provided on one side of the rear seating seat 16; the manual interference control panel is also provided with a power module interface 22 connected with the power module, and the manual control of the rotating speed, the steering and the braking of the tire can be realized through the manual interference control panel.
A be applied to autopilot car of garden scene of this embodiment, laser radar 3 installs on facial make-up shell 1 through lift adjustment frame 23, and lift adjustment frame 23 is used for going up and down according to the practical application operating mode and adjusts laser radar 3's height.
According to the automatic driving vehicle applied to the garden scene, the steer-by-wire mechanism 13 adopts an ackermann steering mechanism, and steering power is provided through a steering electronic hydraulic pump.
According to the automatic driving vehicle applied to the garden scene, the brake-by-wire device 14 comprises an electronic hydraulic brake pump and a brake disc 24 arranged on the inner measuring surface of the wheel disc 9, and the electronic hydraulic brake pump is used for providing braking force for the brake disc 24 and controlling the magnitude of friction braking force.
The utility model provides a be applied to autopilot of garden scene of this embodiment is provided with hidden gasbag damping spring suspension 12 between the pivot of tire 8 and chassis support 11 for alleviate the influence of road conditions to the automobile body.
According to the automatic driving vehicle applied to the garden scene, the power supply module comprises a ternary lithium battery pack and a voltage stabilizing module; the output port voltage comprises 24V/20A, 12V/1A, 12V/0.5A, 12V/3A and the like.
The drive-by-wire module applied to the automatic driving vehicle in the park scene supports one path of CAN bus.
The millimeter wave radar applied to the automatic driving vehicle in the garden scene has the measuring course angle range of 120 degrees and the measuring distance of 100m, and the measuring objects are pedestrians, animals, automobiles and the like in the garden.
According to the automatic driving vehicle applied to the garden scene, the laser radar installed on the roof can be used for spatially scanning a garden environment with the radius of 100 meters to form a 3D image, and a perception and positioning basis is provided for subsequent map matching; the park traffic signal lamp, pedestrians, animals and the like can be identified through the camera arranged in front of the vehicle; the GPS/IMU integrated navigation system installed on the automobile body can measure the real-time position and the real-time attitude of the automobile, and fuse the relative position data of the laser radar, so that the accurate positioning of the automobile under any working condition can be realized; through the millimeter wave radar of front end installation, can measure the position, the speed of the dynamic object within 150m scope in the front of the car, if: dynamic pedestrians, animals, automobiles and the like provide basis for path planning after sensing; the chassis of the automobile is accurately controlled by communicating an industrial personal computer with a line control system; the intelligent vehicle can be safely, accurately and efficiently driven automatically in the whole road section; improve manual driving, reduce the manual driving rate of utilization in garden by a wide margin.
The above-mentioned embodiments should not limit the present invention in any way, and all the technical solutions obtained by adopting equivalent replacement or equivalent conversion fall within the protection scope of the present invention.
Claims (10)
1. The utility model provides an automatic driving car for garden scene which characterized in that: comprises a vehicle body; the vehicle body comprises a chassis, an upper shell, an industrial personal computer, a GPS receiver, an IMU and a manual interference control panel, wherein the upper shell is arranged on the chassis; the chassis comprises a chassis support, tires symmetrically arranged on the left side and the right side of the front and back positions of the bottom support respectively, and a control box arranged on the top side of the chassis support and the back position; a wheel hub motor is arranged on the inner side of a wheel disc of a front tire, and a steer-by-wire mechanism for controlling steering and a brake-by-wire device for controlling a brake disc are arranged on a chassis bracket and positioned between the two front tires; a drive-by-wire module, a motor driving module for driving the hub motor and a power supply module for supplying power to the vehicle body are arranged in the control box; a manual direction control knob, a manual speed control button and an emergency stop button which are connected with the industrial personal computer through lines are arranged on the manual interference control panel; the motor driving module, the steer-by-wire mechanism and the brake-by-wire device are respectively connected with the drive-by-wire module through circuits; the laser radar, the camera, the millimeter wave radar, the GPS receiver, the line control module and the IMU are respectively connected with an industrial personal computer through lines.
2. An autonomous vehicle as claimed in claim 1, applied to a park environment, characterized in that: the vehicle body is internally provided with a sitting seat, and the industrial personal computer, the GPS receiver and the IMU are all arranged on the back side of the sitting seat; the manual interference control panel is arranged on one side of the sitting seat.
3. An autonomous vehicle as claimed in claim 2, characterized in that: the two seats are oppositely arranged on the front side and the rear side in the vehicle body.
4. An autonomous vehicle as claimed in claim 1 or 2, characterized in that: and the manual interference control panel is also provided with a power module interface connected with the power module.
5. An autonomous vehicle as claimed in claim 1, applied to a park environment, characterized in that: laser radar installs on the facial make-up shell through the lift adjustment frame, and the lift adjustment frame is used for going up and down according to the practical application operating mode and adjusts laser radar's height.
6. An autonomous vehicle as claimed in claim 1, applied to a park environment, characterized in that: the steer-by-wire mechanism adopts an Ackerman steering mechanism and provides steering power through a steering electronic hydraulic pump.
7. An autonomous vehicle as claimed in claim 1, applied to a park environment, characterized in that: the brake-by-wire device comprises a brake electronic hydraulic pump and a brake disc arranged on the inner side surface of the wheel disc, and the brake electronic hydraulic pump is used for providing braking force for the brake disc and controlling the magnitude of friction braking force.
8. An autonomous vehicle as claimed in claim 1, applied to a park environment, characterized in that: a hidden air bag damping spring suspension is arranged between a rotating shaft of the tire and the chassis support and used for reducing the influence of road conditions on a vehicle body.
9. An autonomous vehicle as claimed in claim 1, applied to a park environment, characterized in that: and the hidden automobile lamp is arranged at the lower positions of the front end and the rear end of the upper housing.
10. An autonomous vehicle as claimed in claim 1, applied to a park environment, characterized in that: the power supply module comprises a ternary lithium battery pack and a voltage stabilizing module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921274071.5U CN210129116U (en) | 2019-08-07 | 2019-08-07 | Be applied to autopilot car of garden scene |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921274071.5U CN210129116U (en) | 2019-08-07 | 2019-08-07 | Be applied to autopilot car of garden scene |
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| Publication Number | Publication Date |
|---|---|
| CN210129116U true CN210129116U (en) | 2020-03-06 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201921274071.5U Active CN210129116U (en) | 2019-08-07 | 2019-08-07 | Be applied to autopilot car of garden scene |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111439213A (en) * | 2020-04-30 | 2020-07-24 | 吉林大学 | Vehicle body, bonding and coating structure for automatic driving rain and snow prevention and heat preservation |
| CN111717124A (en) * | 2020-06-05 | 2020-09-29 | 北京超星未来科技有限公司 | Angle adjusting device of adjustable laser radar angle |
| CN111964673A (en) * | 2020-08-25 | 2020-11-20 | 一汽解放汽车有限公司 | Unmanned vehicle positioning system |
| CN112307594A (en) * | 2020-09-22 | 2021-02-02 | 中国汽车技术研究中心有限公司 | Road data acquisition and simulation scene establishment integrated system and method |
| CN113504548A (en) * | 2021-07-08 | 2021-10-15 | 陕西黑松环保科技有限公司 | Vehicle-mounted laser radar system |
-
2019
- 2019-08-07 CN CN201921274071.5U patent/CN210129116U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111439213A (en) * | 2020-04-30 | 2020-07-24 | 吉林大学 | Vehicle body, bonding and coating structure for automatic driving rain and snow prevention and heat preservation |
| CN111717124A (en) * | 2020-06-05 | 2020-09-29 | 北京超星未来科技有限公司 | Angle adjusting device of adjustable laser radar angle |
| CN111717124B (en) * | 2020-06-05 | 2021-11-23 | 北京超星未来科技有限公司 | Angle adjusting device of adjustable laser radar angle |
| CN111964673A (en) * | 2020-08-25 | 2020-11-20 | 一汽解放汽车有限公司 | Unmanned vehicle positioning system |
| CN112307594A (en) * | 2020-09-22 | 2021-02-02 | 中国汽车技术研究中心有限公司 | Road data acquisition and simulation scene establishment integrated system and method |
| CN112307594B (en) * | 2020-09-22 | 2023-03-28 | 中国汽车技术研究中心有限公司 | Road data acquisition and simulation scene establishment integrated system and method |
| CN113504548A (en) * | 2021-07-08 | 2021-10-15 | 陕西黑松环保科技有限公司 | Vehicle-mounted laser radar system |
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