CN210377154U - Automatic driving system - Google Patents
Automatic driving system Download PDFInfo
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- CN210377154U CN210377154U CN201921091578.7U CN201921091578U CN210377154U CN 210377154 U CN210377154 U CN 210377154U CN 201921091578 U CN201921091578 U CN 201921091578U CN 210377154 U CN210377154 U CN 210377154U
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Abstract
The utility model discloses an automatic driving system relates to the communication field to solve the complicated problem of current system architecture. An autonomous driving system for use with off-road vehicles, comprising: the intelligent control antenna, the electric control steering wheel and the vehicle bus interface; the intelligent control antenna includes: the system comprises a first high-precision global navigation satellite system GNSS antenna, a high-precision positioning/orientation board card, an inertial measurement unit IMU and a central processing unit; the first high-precision GNSS antenna is connected with the high-precision positioning/orientation board card, the high-precision positioning/orientation board card is connected with the central processing unit, the IMU is connected with the central processing unit, and the central processing unit is respectively connected with the electric control steering wheel and the vehicle bus interface. The utility model provides a technical scheme can use at the operation in-process of non-road vehicle.
Description
Technical Field
The utility model relates to the field of communications, concretely relates to automatic driving system.
Background
In the prior art, the agricultural operation process is generally completed by a driver manually driving agricultural equipment (such as a seeder, a harvester, a tractor and the like). The driver needs to be familiar with the field operation path and accurately drive according to the operation path, so that the operation can be smoothly completed. The whole driving process has extremely high operation requirements on the driver, and the operation process of the agricultural machinery equipment is completed by the manual driving of the driver, so that the land utilization rate and the operation efficiency are greatly influenced by the operation proficiency of the driver.
In order to solve the above problems, the prior art provides an automatic driving System, which comprises a Global Navigation Satellite System (GNSS) antenna, an Electronic Control Unit (ECU) controller, a hydraulic proportional valve and a steering angle sensor, which are installed on an agricultural equipment; and a Real-time kinematic (RTK) base station disposed at a remote end and communicating with the ECU controller via an air link.
The GNSS antenna receives positioning data of the agricultural machinery equipment and sends the positioning data to the ECU controller; the RTK base station sends GNSS differential correction data to the ECU controller; the steering angle sensor receives wheel steering information of the agricultural machinery equipment and sends the wheel steering information to the ECU controller; the ECU controller generates high-precision positioning data according to the positioning data and the GNSS differential correction data, determines the running attitude of the agricultural equipment according to the wheel steering information, generates an automatic driving control instruction according to the high-precision positioning data, the running attitude of the agricultural equipment and preset navigation path information, and sends the automatic driving control instruction to the hydraulic proportional valve; the hydraulic proportional valve adjusts the left/right suction proportion of the electromagnetic collar according to the automatic driving control instruction so as to control the driving direction of the agricultural machinery equipment and finish the automatic driving of the agricultural machinery equipment.
In the process of implementing the present invention, the inventor finds that the autopilot system provided by the prior art has a complex structure, and not only needs to install a hardware device on the agricultural machinery equipment, but also needs to set an RTK base station at a far end; because the RTK base station and the ECU controller are communicated through an air link, signals are greatly influenced by environmental obstacles and are extremely easy to be shielded, and the operation quality and the operation efficiency of automatic driving are influenced; in addition, the installation of the steering angle sensor is limited by the vehicle type, and the shapes and the installation positions of the steering angle sensors of different vehicle types are different, so that the problem of complex system structure is further caused.
SUMMERY OF THE UTILITY MODEL
In order to solve the problem, the embodiment of the utility model provides an automatic driving system, simple structure easily realizes.
The embodiment of the utility model provides an automatic driving system is applied to on the non-road vehicle, include: the intelligent control antenna, the electric control steering wheel and the vehicle bus interface;
the smart control antenna includes: the system comprises a first high-precision global navigation satellite system GNSS antenna, a high-precision positioning/orientation board card, an inertial measurement unit IMU and a central processing unit;
the first high-precision GNSS antenna is connected with the high-precision positioning/orientation board card, the high-precision positioning/orientation board card is connected with the central processing unit, the IMU is connected with the central processing unit, and the central processing unit is respectively connected with the electric control steering wheel and the vehicle bus interface.
Optionally, the automatic driving system further comprises: the second high-precision GNSS antenna is connected with the high-precision positioning/orientation board card;
the first high-precision GNSS antenna is arranged at the rear end of the roof at a position along an axis of the non-road vehicle, and the second high-precision GNSS antenna is arranged at the front end of the roof at a position along the axis of the non-road vehicle.
Optionally, the automatic driving system further comprises: and the environment sensing unit is connected with the central processing unit.
Optionally, the automatic driving system further comprises: a display coupled to the central processing unit.
Optionally, the smart control antenna further includes: a wireless communication unit;
the connection between the display and the central processing unit is specifically as follows:
the display is connected with the central processing unit through the wireless communication unit.
The utility model provides an automatic driving system, the intelligent control antenna, automatically controlled steering wheel and vehicle bus interface all set up on non-road vehicle, make entire system simple structure, the problem that prior art need set up the RTK basic station at the distal end and cause the system architecture complicacy is solved, and because all parts all set up on non-road vehicle, communication distance is short between each part, the influence of having avoided long distance communication to receive barrier in the environment easily leads to the problem that communication quality is not good, and, because adopt automatically controlled steering wheel and vehicle bus interface to carry out autopilot control to the vehicle, it needs to set up the steering angle sensor and controls to have solved prior art, the steering angle sensor receives the motorcycle type restriction, install complicated problem, system architecture has further been simplified, easily installation and operation.
Drawings
Other features, objects and advantages of the present application will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, made with reference to the accompanying drawings in which:
fig. 1 is a schematic structural diagram of an automatic driving system according to a first embodiment of the present invention;
fig. 2 is a schematic structural diagram of an automatic driving system provided in the second embodiment of the present invention;
fig. 3 is a schematic structural diagram of an automatic driving system provided in the third embodiment of the present invention;
fig. 4 is a schematic structural diagram of an automatic driving system according to a fourth embodiment of the present invention.
Detailed Description
The present application will be described in further detail with reference to the following drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant invention and are not to be construed as limiting the invention. It should be noted that, for the convenience of description, only the parts related to the invention are shown in the drawings.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
Example one
As shown in fig. 1, an embodiment of the present invention provides an automatic driving system, which is applied to a non-road vehicle, including: the intelligent control system comprises an intelligent control antenna 1, an electric control steering wheel 2 and a vehicle bus interface 3;
the smart control antenna 1 includes: a first high-precision GNSS antenna 11, a high-precision positioning/orientation board 12, an Inertial Measurement Unit (IMU) 13, and a central processing unit 14;
the first high-precision GNSS antenna 11 is connected to the high-precision positioning/orientation board 12, the high-precision positioning/orientation board 12 is connected to the central processing unit 14, the IMU13 is connected to the central processing unit 14, and the central processing unit 14 is connected to the electronically controlled steering wheel 2 and the vehicle bus interface 3, respectively.
In this embodiment, the off-road vehicle may include: the present embodiment does not limit the specific type or model of the off-road vehicle, and the off-road vehicle may be any type of operation vehicle in the actual use process. For ease of understanding, the following examples refer to non-road vehicles as agricultural vehicles only, such as: tractors, rice planters, harvesters, road rollers, etc. are exemplified.
In the present embodiment, the first high-precision GNSS antenna 11 is configured to receive satellite time and position data broadcast by GNSS constellation satellites, and clock error and ionosphere correction data broadcast by geosynchronous satellites; the high-precision positioning/orientation board 12 is configured to generate first high-precision position/heading information according to satellite time and position data, clock error and ionosphere correction data received by the first high-precision GNSS antenna 11; the IMU13 is used for acquiring vehicle attitude information; the central processing unit 14 is configured to modify the first high-precision position/heading information according to the vehicle attitude information, generate second high-precision position/heading information, generate high-precision position/heading information of a vehicle control point according to the second high-precision position/heading information and a vehicle model parameter of a non-road vehicle input in advance and a vehicle motion model algorithm, generate an autopilot control instruction according to the high-precision position/heading information of the vehicle control point and a preset planned path, and send the autopilot control instruction to the electric control steering wheel 2 and the vehicle bus interface 3 respectively; the electric control steering wheel 2 and the vehicle bus interface 3 control the non-road vehicle to automatically drive according to the automatic driving control instruction.
Further, in this embodiment, the controlling the off-road vehicle to perform the automatic driving by the electronically controlled steering wheel 2 according to the automatic driving control command may specifically include: the electric control steering wheel 2 automatically rotates the direction according to the automatic driving control instruction to drive the hydraulic steering gear of the non-road vehicle to rotate, and the hydraulic steering gear rotates to control the hydraulic oil cylinder to move leftwards or rightwards, so that the aim of controlling the steering wheel of the non-road vehicle to turn leftwards or rightwards is fulfilled, and the automatic driving direction of the non-road vehicle is controlled.
Further, in this embodiment, the controlling the off-road vehicle to perform the automatic driving by the vehicle bus interface 3 according to the automatic driving control instruction may specifically include: the vehicle bus interface 3 controls the speed, start and stop of the non-road vehicle according to the automatic driving control instruction.
It should be noted that, in this embodiment, specific contents of the automatic driving control instruction are not limited, and in an actual use process, the specific contents of the automatic driving control instruction may be set according to a road condition requirement of automatic driving, an operation requirement of a non-road vehicle, and the like. For example: in this embodiment, the content of the automated driving control instruction interaction may include: vehicle speed, direction of travel, time of travel, and coded data for electronically controlled steering wheel angle and direction, among other things.
Further, in the present embodiment, the first high-precision GNSS antenna 11 is provided at a roof position of the off-road vehicle; the high precision positioning/orientation board 12, the IMU13 and the central processing unit 14 may be disposed within the body of the off-road vehicle.
It should be noted that, in this embodiment, the preset method for acquiring the planned path may be: the method comprises the steps that a driver drives an off-road vehicle manually, a first high-precision GNSS antenna 11 obtains information such as satellite position and time, clock error and ionosphere correction data in real time in the driving process, a high-precision positioning/orientation board 12 generates high-precision position/course information in real time according to the information such as the satellite position and time, the clock error and the ionosphere correction data, and all the high-precision position/course information obtained in the driving process is drawn into a planned path. Of course, the above method is only an example, and in the actual using process, the planned path may also be obtained by other methods, which is not described in detail herein.
The utility model provides an automatic driving system, the intelligent control antenna, automatically controlled steering wheel and vehicle bus interface all set up on non-road vehicle, make entire system simple structure, the problem that prior art need set up the RTK basic station at the distal end and cause the system architecture complicacy is solved, and because all parts all set up on non-road vehicle, communication distance is short between each part, the influence of having avoided long distance communication to receive barrier in the environment easily leads to the problem that communication quality is not good, and, because adopt automatically controlled steering wheel and vehicle bus interface to carry out autopilot control to the vehicle, it needs to set up the steering angle sensor and controls to have solved prior art, the steering angle sensor receives the motorcycle type restriction, install complicated problem, system architecture has further been simplified, easily installation and operation.
Example two
As shown in fig. 2, an embodiment of the present invention provides an automatic driving system, which is substantially the same as the embodiment shown in fig. 1, except that the system further includes: and the second high-precision GNSS antenna 4 is connected with the high-precision positioning/orientation board card 12, and the second high-precision GNSS antenna 4 is connected with the high-precision positioning/orientation board card 12.
In the embodiment, the second high-precision GNSS antenna 4 is also provided at the roof position of the off-road vehicle, and in order to maintain the difference in the angles of the received signals of the first high-precision GNSS antenna 11 and the second high-precision GNSS antenna 4, the first high-precision GNSS antenna 11 is provided at the rear end of the roof at a position along the axis of the off-road vehicle, and the second high-precision GNSS antenna 4 is provided at the front end of the roof at a position along the axis of the off-road vehicle. Of course, the above is merely an example, and in an actual use process, the first high-precision GNSS antenna 11 may also be disposed at a front end of a roof of the vehicle at a position along an axis of the non-road vehicle, and the second high-precision GNSS antenna 4 may also be disposed at a rear end of the roof at a position along the axis of the non-road vehicle, which is not described in detail herein.
In the present embodiment, the second high-precision GNSS antenna 4 is configured to receive satellite time and position data broadcast by the same GNSS constellation satellite as the first high-precision GNSS antenna 11, and clock error and ionosphere correction data broadcast by a geosynchronous satellite; then, at this time, the high-precision positioning/orientation board 12 may generate the first high-precision position/heading information according to the satellite time and position data, the clock offset, and the ionosphere correction data received by the first high-precision GNSS antenna 11, and the satellite time and position data, the clock offset, and the ionosphere correction data received by the second high-precision GNSS antenna 4.
According to the technical scheme, on the basis of achieving all the beneficial effects brought by the embodiment, due to the fact that the second high-precision GNSS antenna is added, the high-precision positioning/orientation board card can generate more accurate first high-precision position/course information according to signals received by the first high-precision GNSS antenna and the second high-precision GNSS antenna, positioning/orientation precision of the automatic driving process of the non-road vehicle is further improved, and smooth completion of the whole automatic driving process is further guaranteed.
EXAMPLE III
As shown in fig. 3, an embodiment of the present invention provides an automatic driving system, which is substantially the same as the embodiment shown in fig. 1, except that the system further includes: the environment sensing unit 5, the environment sensing unit 5 is connected with the central processing unit 14.
In this embodiment, the environment sensing unit 5 is configured to monitor an environment on an automatic driving route of a non-road vehicle, and acquire information of obstacles in the environment; at this time, the central processing unit 14 is further configured to generate an automatic driving control instruction according to the high-precision position/heading information of the vehicle control point and the preset planned path, in combination with the obstacle information acquired by the environment sensing unit 5.
It should be noted that, the specific type of the environment sensing unit 5 is not limited in this embodiment, and in an actual use process, the environment sensing unit 5 may be a camera, or may also be a sensor for sensing a surrounding object, and the like, which is not described in detail herein. The specific type of the environment sensing unit 5 can be selected according to factors such as the actual working object and the working environment.
According to the technical scheme provided by the embodiment, on the basis of achieving all the beneficial effects brought by the embodiment, the environment sensing unit capable of acquiring the obstacle information is additionally arranged, so that the central processing unit can be combined with the obstacle information when generating the automatic driving control instruction, the non-road vehicle can avoid the obstacle on the path in the automatic driving process, and the problem that the automatic driving cannot be normally completed when the obstacle exists on the automatic driving path in the prior art is solved. Owing to introduced the environmental perception unit, make the embodiment of the utility model provides an autopilot system can use in the operational environment who has the barrier, has reduced requirement and restriction to the operational environment, and adaptability is wider.
Example four
As shown in fig. 4, an embodiment of the present invention provides an automatic driving system, which is substantially the same as the embodiment shown in fig. 1, except that the system further includes: a display 6, wherein the display 6 is connected to the central processing unit 14.
Wherein the display 6 can be connected to the central processing unit 14 by means of wires. However, in order to simplify the wiring and further achieve the purpose of simplifying the structure of the automatic driving system, in the present embodiment, the display 6 may be connected to the central processing unit 14 through the wireless communication unit 15 provided inside the smart control antenna 1. It should be noted that, in this embodiment, the wireless communication unit 7 is not limited, and in an actual use process, the wireless communication unit 15 may be a bluetooth module, a WIFI module, or another module having a wireless communication function, which is not described herein again.
In the embodiment, the display 6 has an interface for human-computer interaction with the driver, and the display 6 can display information related to automatic driving, such as a driving path, driving parameters of the non-road vehicle during automatic driving, fault information and the like, to the driver; the display 6 may also receive control commands input by the driver during the automatic driving process, such as: stopping automated driving, a running period of automated driving, restarting automated driving, and the like, and sending the control instruction to the central processing unit 14 so that the central processing unit 14 can generate an automated driving control instruction in conjunction with the control instruction.
Further, in order to facilitate the operation of the driver, in the present embodiment, the display 6 is disposed in the cab, and may be specifically disposed at a position convenient for the driver to operate, such as: beside the steering wheel, etc.
Because the embodiment of the utility model provides an automatic driving system has display 6 for the planning route that sets up in advance also can be that the driver inputs through display 6 is manual.
The technical scheme that this embodiment provided, on reaching all beneficial effects that the embodiment brought, owing to increased the display that has and carry out human-computer interface with the driver for the driver can control whole autopilot process, makes the utility model provides an autopilot system is more humanized.
The above description is only a preferred embodiment of the application and is illustrative of the principles of the technology employed. It will be appreciated by a person skilled in the art that the scope of the invention as claimed in the present application is not limited to the embodiments with specific combinations of the above-mentioned features, but also covers other embodiments with any combination of the above-mentioned features or their equivalents without departing from the inventive concept. For example, the above features may be replaced with (but not limited to) features having similar functions disclosed in the present application.
Claims (5)
1. An autonomous driving system for use with off-road vehicles, comprising: the intelligent control antenna, the electric control steering wheel and the vehicle bus interface;
the smart control antenna includes: the system comprises a first high-precision global navigation satellite system GNSS antenna, a high-precision positioning/orientation board card, an inertial measurement unit IMU and a central processing unit;
the first high-precision GNSS antenna is connected with the high-precision positioning/orientation board card, the high-precision positioning/orientation board card is connected with the central processing unit, the IMU is connected with the central processing unit, and the central processing unit is respectively connected with the electric control steering wheel and the vehicle bus interface.
2. The system of claim 1, further comprising: the second high-precision GNSS antenna is connected with the high-precision positioning/orientation board card;
the first high-precision GNSS antenna is arranged at the rear end of the roof at a position along an axis of the non-road vehicle, and the second high-precision GNSS antenna is arranged at the front end of the roof at a position along the axis of the non-road vehicle.
3. The system of claim 1, further comprising: and the environment sensing unit is connected with the central processing unit.
4. The system according to any one of claims 1-3, further comprising: a display coupled to the central processing unit.
5. The system of claim 4, wherein the smart control antenna further comprises: a wireless communication unit;
the connection between the display and the central processing unit is specifically as follows:
the display is connected with the central processing unit through the wireless communication unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921091578.7U CN210377154U (en) | 2019-07-12 | 2019-07-12 | Automatic driving system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921091578.7U CN210377154U (en) | 2019-07-12 | 2019-07-12 | Automatic driving system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210377154U true CN210377154U (en) | 2020-04-21 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921091578.7U Active CN210377154U (en) | 2019-07-12 | 2019-07-12 | Automatic driving system |
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| CN (1) | CN210377154U (en) |
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- 2019-07-12 CN CN201921091578.7U patent/CN210377154U/en active Active
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