CN210405369U - Automatic driving vehicle controller - Google Patents
Automatic driving vehicle controller Download PDFInfo
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- CN210405369U CN210405369U CN201920786357.5U CN201920786357U CN210405369U CN 210405369 U CN210405369 U CN 210405369U CN 201920786357 U CN201920786357 U CN 201920786357U CN 210405369 U CN210405369 U CN 210405369U
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Abstract
The utility model provides an automatic driving vehicle controller, which comprises a controller interface, a power supply module, a data receiving module, a CAN module, a calculation module and a network module; the controller interface comprises a plurality of standard interfaces, a direct current 12V power interface and a network interface, wherein the standard interfaces comprise two parallel vehicle CAN interfaces and a universal serial interface; the power supply module provides 5V direct current for the CAN module and the network module; the data receiving module is respectively used for acquiring the GPS data of the vehicle and the control command of the remote controller; the utility model discloses a controller CAN receive, resolve host computer control command and turn into control command CAN standard frame and issue the autopilot vehicle controller for the vehicle control layer.
Description
Technical Field
The utility model belongs to the technical field of driving safety, concretely relates to automatic drive vehicle controller.
Background
Current autonomous driving can be divided into three layers: environmental perception layer, decision planning layer and vehicle platform control layer, vehicle automatic driving controller plays the effect of connecting the decision planning layer as the concrete realization of vehicle platform control layer equally: on the one hand, the autonomous controller needs to complete longitudinal control and lateral control of the autonomous vehicle; on the other hand, the decision planning layer needs to read the vehicle state in real time by means of a CAN module in the automatic driving controller, and then calculates the control quantity of the vehicle at the next moment according to a corresponding algorithm. Some existing automatic driving control vehicles realize control over the vehicles by changing an original vehicle control circuit and combining lines for controlling an accelerator, a brake and a steering as a control interface of the vehicles directly or by additionally arranging a steering motor, a wire-pull brake steering engine and the like on an original structure of the vehicles directly, and the control method damages an original vehicle system and enables the vehicles to have certain potential danger; on the other hand, the vehicle refitted by the method can not reach the control precision of the original vehicle, and the danger in the automatic driving process is further increased. Secondly, the existing automatic driving controller is mostly integrated in an upper computer, and functions of a hardware platform are replaced by software codes, so that the system structure can be simplified, and the complexity of the system is reduced, but all the functions are integrated in the upper computer to bring certain risks, when the upper computer fails due to the problems of system stability and the like, no extra protective measures are provided to ensure that the automatic driving vehicle can perform actions such as emergency stop and the like, and loss can be caused to the vehicle and surrounding facilities.
Disclosure of Invention
Not enough to prior art exists, the utility model aims to provide an automatic drive vehicle controller solves and controls potential dangerous problem and control accuracy problem that the vehicle brought and all integrate the control risk problem that the host computer brought through changing original circuit of vehicle and mechanical structure.
In order to solve the technical problem, the utility model discloses a following technical scheme realizes:
an automatic driving vehicle controller comprises a data receiving module, a CAN module, a network module and a computing module;
the data receiving module is used for receiving vehicle GPS data and remote controller control data;
the CAN module is used for extracting vehicle motion data from a vehicle drive-by-wire layer;
the network module is used for sending the extracted vehicle GPS data and the extracted motion data to the upper computer, and the upper computer receives the vehicle motion data and outputs a control command aiming at the vehicle motion data to be issued to the network module;
the network module is also used for receiving a control command sent by an upper computer and transmitting the control command to the computing module;
the calculation module analyzes a control command sent by the upper computer, performs speed fuzzy PID control calculation and corner double closed loop control calculation according to the current vehicle state, calculates the accelerator opening and the steering angle required by the current vehicle, converts the control command into a CAN standard frame format and sends the CAN standard frame format to the automatic driving vehicle.
The controller comprises a controller interface, a power supply module, a data receiving module, a CAN module, a computing module and a network module;
the controller interface comprises a plurality of standard interfaces, a direct current 12V power interface and a network interface, wherein the standard interfaces comprise two parallel vehicle CAN interfaces and a universal serial interface;
the power supply module provides 5V direct current for the CAN module and the network module;
the data receiving module is respectively used for acquiring the GPS data of the vehicle and the control command of the remote controller;
the CAN module comprises two CAN interfaces connected in parallel and is used for acquiring vehicle data; the CAN module extracts vehicle motion data, the vehicle motion data are communicated with the upper computer of the calculation module to obtain a control command calculated by the upper computer, the calculation module analyzes the control command sent by the upper computer, speed fuzzy PID control calculation and corner double closed loop control calculation are carried out according to the current vehicle state, the throttle opening and the steering angle required by the current vehicle are calculated, and the control command is converted into a CAN standard frame format and sent to the automatic driving vehicle.
Further, the controller interface further comprises a remote controller interface RC for remotely controlling the vehicle to perform emergency stop action when the upper computer loses control function.
Further, vehicle running state information is extracted through the CAN module, the CAN module is communicated with the upper computer of the calculation module, the vehicle running state information is extracted through a vehicle CAN bus and uploaded to the upper computer, and the upper computer calculates a control command according to the state of the vehicle.
Further, the power supply module comprises a voltage stabilizing module and a voltage conversion module, the voltage stabilizing module provides 5V direct current for the network module and the CAN module, and the voltage conversion module is LM1117 and provides 3.3V direct current for a circuit connected with the voltage conversion module.
Furthermore, the power supply module is also provided with an anti-reverse connection circuit and a status indicator lamp.
Further, the data receiving module comprises an RS232_ RM module and an RS232_ SC module, the RS232_ SC module is used for receiving data collected by the GPS sensor of the vehicle, the RS232_ RM module is used for receiving control data of the remote controller, and the RS232_ RM module and the RS232_ SC module are respectively connected with the universal serial interface of the computing module;
and the RS232_ RM module is connected with a remote controller receiver by adopting a universal serial port interface RS232 and is used for manually inputting a control command to the automatic driving controller by using a remote controller outside the automobile.
Further, the network module adopts a W5500 network interface to connect the upper computer and the automatic driving vehicle controller in a wired network mode.
Further, the calculation module is provided with a main control chip STM32RCT6, and a longitudinal control algorithm and a double closed-loop transverse control algorithm which are combined by speed fuzzy control and PID control are integrated in the main control chip.
Furthermore, the CAN module adopts a special CAN transceiver chip to build a CAN communication module circuit.
Furthermore, the CAN module is connected with GPIO pins of the computing module, the computing module extracts vehicle information through the CAN module and sends a control command to a vehicle, and the network module is connected with the GPIO pins of the computing module and used for data exchange between the upper computer and the computing module.
Compared with the prior art, the utility model, following technological effect has:
the utility model discloses a controller, (1) through net gape and host computer communication, acquires the control command that the host computer calculated. (2) And analyzing a control command sent by the upper computer, carrying out speed fuzzy PID control calculation and corner double closed-loop control calculation by combining the current vehicle state, calculating the accelerator opening and the steering angle required by the current vehicle, converting the control command into a CAN standard frame format, and sending the CAN standard frame format to the automatic driving vehicle. (3) The running state of the vehicle CAN be extracted through the vehicle CAN bus and uploaded to the upper computer, and the upper computer calculates more accurate control instructions by combining the state of the vehicle. (4) The remote control device is provided with a remote controller device interface, and can remotely control the vehicle to perform emergency stop action when the upper computer loses control.
The utility model discloses a controller can realize controlling the autopilot vehicle safer, accurately under the condition of not destroying original circuit of vehicle and mechanical structure.
Drawings
Fig. 1 is a front view of an automatic drive controller.
FIG. 2 is a flow chart of controller module composition and signals for an automated driving vehicle.
FIG. 3 is a schematic diagram of an autonomous vehicle controller circuit.
The following detailed description of the present invention will be made with reference to the accompanying drawings.
Detailed Description
The following embodiments of the present invention are given, and it should be noted that the present invention is not limited to the following embodiments, and all the equivalent transformations made on the basis of the technical solution of the present application all fall into the protection scope of the present invention. The present invention particularly describes the functions and functions of the components, and the interrelations between the components, such as the connection relationship and the condition of signal (information) processing and transmission by each module, and the trend of the acted signal (information). The embodiments are described in such full, clear, to enable one of ordinary skill in the art to understand/implement the present patent without the need for inventive effort. And to explain why the objects of the present invention can be achieved by the above-described technical solutions. The object of the invention is also achieved by providing further alternatives. The substitution here may be of a partial structure, a device, a module, or may be of an overall technical solution.
The vehicle motion data mentioned in the present invention includes information such as vehicle position information, acceleration, and speed, but is not limited to these information.
Example 1:
the present embodiment provides a front view of an autonomous vehicle controller interface as shown in fig. 1, which includes 4 DB9 standard interfaces, 1 dc 12V power interface and a W5500 network interface. The 4 DB9 standard interfaces include: 2 vehicle CAN interfaces, a male and a female, the two are in parallel connection; a universal serial interface RS232 interface and a remote control interface RC. The controller main body is made of aluminum alloy sections and fastened by screws, and is reasonable in structure and strong in protection capability on internal circuits.
The system is shown in fig. 2 and comprises an LM2596 module, an LM1117 module, an STM32RCT6 calculation module, a W5500 network module, an RC module, an RS232 module and a TJA1050CAN module.
Further, the LM2596 module is built by high efficiency step-down voltage stabilization chip LM2596 and peripheral circuit, and the 5V direct current that produces is used for supplying power for CAN module, W5500 network module. The module is also provided with an anti-reverse connection circuit and a state indicator lamp, has a reverse connection protection function, and can effectively protect the automatic driving controller and indicate the working state of each module of the controller.
Further, the LM1117 module consists of an efficient voltage reduction and stabilization chip LM1117 and a peripheral circuit, and the module can generate 3.3V stable direct current to supply power for the processing chip and the peripheral circuit.
Furthermore, the calculation module of the STM32RCT6 adopts an STM32RCT6 chip as a calculation chip of the autopilot controller, and the calculation chip and peripheral circuits form a calculation module which is responsible for data processing and calculation of control instructions. The main control chip of the automatic driving controller is integrated with a longitudinal control algorithm and a double closed-loop transverse control algorithm which are combined by speed fuzzy control and PID control, and the smoothness and the comfort degree of the running of a vehicle can be improved. The speed fuzzy PID control calculation and the turning angle double closed loop control calculation belong to algorithms known in the field, and the accelerator opening and the steering angle value required by the current vehicle can be obtained only by bringing in parameters of the corresponding vehicle during specific calculation.
Furthermore, the W5500 module is connected with the upper computer and the automatic driving controller through a W5500 network interface in a wired network mode and used for exchanging data with the upper computer, and the network module is stable in transmission and high in transmission speed.
Further, the RS232 module adopts an RS232 universal serial interface and is used for receiving the data of the GPS sensor of the vehicle.
Further, the RC module is connected with a remote controller receiver through a universal serial port interface RS232 and used for manually inputting a control command to the automatic driving controller through a remote controller outside a vehicle, when the upper computer is abnormal due to system faults or codes, the current control command or a state without control command issuing can be continuously issued, the automatic driving vehicle is quite dangerous, and the vehicle can be controlled through the remote controller to be emergently braked at the moment, so that the danger is avoided.
Further, the CAN module adopts a special CAN transceiver chip TJA1050 to build a CAN communication module circuit, supports can2.0a and can2.0b standards, and CAN be directly connected to an existing vehicle CAN network. The automatic driving vehicle controller is provided with two CAN interfaces which are a male connector and a female connector respectively and are connected in parallel, and CAN monitor one CAN when the other CAN works.
Further, the LM2596 module provides 5V direct current for the W5500 network module and the TJA1050CAN module.
Further, the LM1117 module provides 3.3V direct current for the RS232 module, the RC module and the STM32RCT6 calculation module.
Further, the RC module is connected with the STM32RCT6 calculation module through a standard universal serial port line (DB9 interface) and provides remote controller control data for the calculation module; and the RS232 universal serial port module is connected with the STM32RCT6 calculation module and is used for receiving the data of the GPS sensor of the vehicle.
Further, the TJA1050CAN module is connected with a GPIO pin of the STM32RCT6 calculation module, and the calculation module extracts vehicle information and sends a control command to the vehicle through the CAN module.
Further, the W5500 network module is connected with GPIO pins of the STM32RCT6 calculation module and used for data exchange between the upper computer and the calculation module.
The schematic diagram of the system circuit is shown in fig. 3.
Further, 1 is a circuit diagram of a 12V to 5V buck-regulator module, and the module corresponding to fig. 2 is an LM2596 module, which converts +12V to +5V and supplies power to an LM1117 module, a W5500 network module, and a TJA1050CAN module. +12V passes through the reverse-connection-prevention circuit protection diode D1, a voltage division resistor R23 and a light-emitting diode DL4, and the light-emitting diode DL4 is used for indicating the circuit state; the voltage-reducing and voltage-stabilizing chip LM2596 enters the voltage-reducing and voltage-stabilizing chip LM2596 through the electrolytic capacitor C21, a pin 1 (IN pin) of the LM2596 is connected with the cathode of the diode D1, a pin 2 (OUT pin) of the LM2596 is connected with the cathode of the diode D2 and the inductor L1, a pin 3 (GND pin) of the LM2596 is connected with GND, a pin 4 (FB pin) of the LM2596 is connected with the other end of the inductor L1 and the anode of the electrolytic capacitor C22, a pin 5 (ON/OFF pin) of the LM2596 is connected with GND, the capacitor C22 and the inductor L1 form a filter circuit, and +5V noise can.
Further, 2 is a circuit diagram of a main control chip STM32RCT6, which corresponds to the STM32RCT6 computing module in fig. 2, the chip is packaged by LQFP48, and pins of the chip used are: VBAT, PA4, PA5, PA6, PA7, PA8, PA11, PA12, PB10, PB11, PC4, PC10, PC11, PC14, PC15, PD0, PD1, VSSA, VDDA, VDD1, VDD2, VDD3, VDD4, VSS1, VSS2, VSS3, VSS 4. The VBAT is connected with a battery (the circuit is connected with a 3.3V button battery), a 32.768KHZ crystal oscillator Y2 is connected between the PC14 and the PC15, two ends of the crystal oscillator Y2 are respectively connected with the ceramic capacitors C50 and C51, the other ends of the C50 and C51 are grounded, an 8MHZ crystal oscillator Y1 is connected between the PD0 and the PD1, two ends of the crystal oscillator Y1 are respectively connected with the ceramic capacitors C48 and C49, the other ends of the C48 and C49 are grounded, and VDD1, VDD2, VDD3 and VDD4 are all connected with a +3.3V power supply; VSS1, VSS2, VSS3 and VSS4 are all connected with GND; VSS ground, two capacitors 104, C41 and C42 are connected in parallel between VSSA and VDDA, which is connected to the +3.3V supply through a10 ohm resistor R51. Wherein, PA4 is connected with SCS pin W5500_ SCS of W5500 network module, PA5 is connected with SCK pin W5500_ SCK of W5500 network module, PA6 is connected with SCS pin W5500_ MISO of W5500 network module, PA7 is connected with MOSI pin W5500_ MOSI of W5500 network module, PA8 is connected with INT pin W5500_ INT of W5500 network module, PA11 is connected with transmitting pin CAN _ TX of TJA1050CAN module, PA12 is connected with receiving pin CAN _ RX of TJA1050CAN module, PB10 is connected with transmitting pin USART3_ TX of universal serial interface 3, 737PB 3 is connected with receiving pin USART3_ RX of universal serial interface 3, PC4 is connected with pin W5500_ RST of W5500 network module, PC10 is connected with transmitting pin RT4_ TX of universal serial interface 4, and PC11 is connected with receiving pin RST 4 RST _ RX of USART 4. The remaining pins of STM32RCT6 are in a floating state.
Further, the 3V to 3.3V buck-regulator module is a 5V to 3.3V buck-regulator module, and corresponding to the LM1117 module IN fig. 2, the 5V dc first passes through a filter circuit formed by connecting an electrolytic capacitor C13 and a ceramic capacitor C11 IN parallel, where the positive electrode of C13 is connected to +5V, the negative electrode of C13 is connected to GND, C11 is connected between +5V and GND, and then enters the LM1117 buck-regulator chip, pin 1 (IN pin) of LM1117 is connected to the positive electrode of capacitor C13, pin 2 (OUT pin) of LM1117 is connected to the positive electrode of electrolytic capacitor C14, pin 3 (GND pin) of LM1117 is connected to GND, the negative electrode of electrolytic capacitor C14 is connected to GND, ceramic capacitor C12 is connected between +3.3V and GND after conversion, voltage dividing resistor R25 and light emitting diode DL1 are connected IN series between +3.3V and GND, and the positive electrode of DL1 is connected to resistor R25 and the negative electrode of DL1 are. The converted +3.3V supplies power for the RS232_ FC module, the RS232_ SC module, the RS232_ RC module, the RS232_ RM module and the STM32RCT6 calculation module.
Further, 4 is a CAN module circuit, corresponding to the TJA1050CAN module in fig. 2, the circuit is composed of a TJA1050 transceiver chip and its surrounding circuits, which is powered by 5V dc generated in1, 3 pins (VCC pin) of the TJA1050 chip are connected to +5V, 2 pins (GND pin) are connected to GND, a ceramic capacitor C3 is connected between 3 pins and 2 pins, 1 pin (TXD pin) is connected to PA11 pin of STM32RCT6 chip, 4 pins (RXD pin) are connected to PA12 pin of STM32RCT6 chip, 5 pins (VREF pin) are floating, 6 pins (CAN _ L pin) are connected to DB 9J _ CAN1 and 5 th pin of DB 9J _ CAN2, which are isolated from GND by ceramic capacitor C2, 7 pins (CAN _ H pin) are connected to DB 9J _ 1 and DB9, resistance value of 1 st CAN pin, 1 CAN 827345 is isolated from GND by ceramic capacitor C2, 7 pins (CAN _ H pin) is connected to GND terminal 120, and resistance value of ceramic capacitor 1 is connected to GND terminal, the CAN _ H pin and the CAN _ L pin respectively output CAN _ H and CAN _ L information, J _ CAN1 is a DB9 connector male head, J _ CAN2 is a DB9 connector female head, and 8 pins (S pins) are connected with GND.
Further, 5 is a W5500 network interface module circuit, corresponding to the W5500 network module in fig. 2. The network module circuit consists of a W5500 network chip, an HR911105A RJ45 connector and a peripheral circuit, wherein pins used by the W5500 chip are as follows: the foot-worn foot-worn foot-worn foot-2 (foot-worn foot-3 foot-worn foot-laid foot-worn foot, Pin 44 (pin PMODE 1), pin 45 (pin PMODE 0). The 1 pin (TXN pin) of the W5500 chip is connected with the 2 pins of an HR911105A RJ45 connector, the 2 pins (TXP pin) of the W5500 chip is connected with the 1 pin of an HR911105A RJ45 connector, the 5 pins (RXN pin) and the 6 pins (RXP pin) of the W5500 chip are respectively connected with one ends of ceramic capacitors C38 and C39, the other end RD + of the ceramic capacitor C38 is connected with the 3 pins of an HR911105A RJ45 connector, the other end RD-of the ceramic capacitor C39 is connected with the 6 pins of an HR911105A RJ45 connector, one end of a resistor R49 is connected with the 6 pins (RXP pin) of the W5500 chip, the other end is connected with the 5 pins RCT of an HR911105A RJ45 connector, one end of the resistor R50 is connected with the 5 pins (RXN pin) of the W5500 chip, the other end is connected with the 5 pins T of an HR 45 RXT pin, the RCT pin is directly connected with a ceramic capacitor C40, the 10 pins (EXRES 686 pin) of the W5500 chip is connected with a GND chip through a ceramic capacitor W5502 pin 8653 and a GND chip (GND 845 pin) which is, a pin 23 (RSVD pin) of the W5500 chip is connected with GND through a resistor R42, a pin 25 (LINKLED pin) of the W5500 chip is connected with a pin 10 of an HR911105A RJ45 connector, a pin 27 (ACTLED pin) of the W5500 chip is connected with a pin 11 of an HR911105A RJ45 connector, a pin 28 (VDD pin) of the W5500 chip is connected with +3.3V and one end of a ceramic capacitor C32, the other end of the ceramic capacitor C32 is connected with GND, a pin 29 (GND pin) of the W5500 chip is connected with GND and one end of the ceramic capacitor C33, and the other end of the ceramic capacitor C33 is connected with + 3.3V; a pin 30 (XI/CLKIN pin) of the W5500 chip is connected with one end of a ceramic capacitor C35 and one end of a resistor R43, a pin 31 (XO pin) of the W5500 chip is connected with one end of a ceramic capacitor C34 and the other end of a resistor R43, and the other ends of the ceramic capacitor C34 and the ceramic capacitor C35 are grounded; the 32 pins (SCSn pins) of the W5500 chip are connected with +3.3V through a resistor R40; the 36 pin (RSTn pin) of the W5500 chip is connected with +3.3V through a resistor R39; the 37 pin (RSVD pin) of the W5500 chip is connected with +3.3V through a resistor R38; a pin 38 (RSVD pin) of the W5500 chip is connected with GND through a resistor R38; a pin 39 (RSVD pin) of the W5500 chip is connected with GND through a resistor R39; a pin 40 (RSVD pin) of the W5500 chip is connected with GND through a resistor R40; a pin 41 (RSVD pin) of the W5500 chip is connected with GND through a resistor R41; a pin 42 (RSVD pin) of the W5500 chip is connected with GND through a resistor R42; pin 43 (RMODE2 pin) of the W5500 chip is connected with +3.3V through a resistor R32; the pin 44 (RMODE1 pin) of the W5500 chip is connected with +3.3V through a resistor R31; the 45 pin (RMODE0 pin) of the W5500 chip is connected with +3.3V through a resistor R30; the 3 rd pin (AGND pin), the 9 th pin (AGDD pin), the 14 th pin (AGDD pin) and the 19 th pin (AGND pin) of the W5500 network chip are connected with GND; the 4 th pin (AVDD pin), the 8 th pin (AVDD pin), the 11 th pin (AVDD pin), the 15 th pin (AVDD pin), the 17 th pin (AVDD pin) and the 21 st pin (AVDD pin) of the W5500 network chip are connected with + 3.3V; the connection between the W5500 network chip and the HR911105A RJ45 plug is as follows: the 35 th pin INTn of the W5500 chip is connected with the PA7 pin of the STM32RCT6 chip, and the 34 th pin MISO of the W5500 chip is connected with
The PA6 pin of the STM32RCT6 chip, the 33 th pin SCLK of the W5500 chip is connected with the PA5 pin of the STM32RCT6 chip, and the 37 th pin RSVD of the W5500 chip is connected with the PC4 pin of the STM32RCT6 chip. The rest pins of the W5500 network module are suspended.
Further, 6 is an RC circuit, and this circuit is used for receiving the serial data of remote controller receiver, connects universal serial interface 3 on the STM32RCT6 chip, comprises serial transceiver chip SP3232 and DB9 serial ports, and the pin that the SP3232 chip used is: the foot comprises a1 foot (C1+), a 2 foot (V +), a 3 foot (C1-), a4 foot (C2+), a5 foot (C2-), a6 foot (V-), a11 foot (DIN1), a12 foot (ROUT1), a 13 foot (RIN1), a 14 foot (ROUT1), a 15 foot (GND) and a 16 foot (VCC). A pin 1 (C1+) and a pin 3 (C1-) are respectively connected with two ends of a ceramic capacitor C16, a pin 4 (C2+) and a pin 5 (C2-) are respectively connected with two ends of a ceramic capacitor C19, a pin 2 (V +) is grounded through a ceramic capacitor C17, a pin 6 (V-) is grounded through a ceramic capacitor C18, a pin 15 (GND pin) is connected with GND, a pin 16 (VCC) is connected with GND through a ceramic capacitor C20, and a pin 11 DIN1 is connected with a PB10 pin on an STM32RCT6 chip and used for writing data into the SP3232 chip by the STM32RCT6 chip; the 12 th pin DOUT1 is connected with a PB11 pin on an STM32RCT6 chip and used for receiving SO3232 data by the STM32RCT6 chip, and the rest pins of the SP3232 chip are suspended; the 2 nd pin of the DB9 interface is connected with the 14 th pin DOUT1 of the SP3232 chip and is used for the SP3232 chip to send data to the serial port; the 3 rd pin of the DB9 interface is connected with the 13 th pin RIN1 of the SP3232 chip and is used for the SP3232 chip to receive serial port data; the 5 th pin of the DB9 interface is connected to common ground, with its pin of DB9 floating.
Further, 7 is an RS232 serial port circuit, which is used for receiving the GPS data of the vehicle, connecting with a universal serial port 5 on an STM32RCT6 chip, and is composed of serial ports of a serial port transceiver chip SP3232 and a DB9, where pins used by the SP3232 chip are: the foot comprises a1 foot (C1+), a 2 foot (V +), a 3 foot (C1-), a4 foot (C2+), a5 foot (C2-), a6 foot (V-), a11 foot (DIN1), a12 foot (ROUT1), a 13 foot (RIN1), a 14 foot (ROUT1), a 15 foot (GND) and a 16 foot (VCC). A pin 1 (C1+) and a pin 3 (C1-) are respectively connected with two ends of a ceramic capacitor C16, a pin 4 (C2+) and a pin 5 (C2-) are respectively connected with two ends of a ceramic capacitor C19, a pin 2 (V +) is grounded through a ceramic capacitor C17, a pin 6 (V-) is grounded through a ceramic capacitor C18, a pin 15 (GND pin) is connected with GND, a pin 16 (VCC) is connected with GND through a ceramic capacitor C20, and a pin 11 DIN1 is connected with a PC12 pin on an STM32RCT6 chip and used for writing data into the SP3232 chip by the STM32RCT6 chip; the 12 th pin DOUT1 is connected with a PD2 pin on an STM32RCT6 chip and is used for receiving SP3232 data by the STM32RCT6 chip; the rest pins of the SP3232 chip are suspended; the 2 nd pin of the DB9 interface is connected with the 14 th pin DOUT1 of the SP3232 chip and is used for the SP3232 chip to send data to the serial port; the 3 rd pin of the DB9 interface is connected with the 13 th pin RIN1 of the SP3232 chip and is used for the SP3232 chip to receive serial port data; the 5 th pin of the DB9 interface is connected to common ground, with the remaining pins of DB9 floating.
The utility model discloses a controller CAN receive, analyze upper computer control command and turn into control command CAN standard frame and issue the autopilot vehicle controller for the vehicle control layer.
Claims (10)
1. An autonomous vehicle controller, comprising a data receiving module, a CAN module, a network module and a computing module;
the data receiving module is used for receiving vehicle GPS data and a remote controller control command;
the CAN module is used for extracting vehicle motion data from a vehicle drive-by-wire layer;
the network module is used for sending vehicle GPS data and vehicle motion data to the upper computer, and the upper computer receives the vehicle motion data and outputs a control command aiming at the vehicle motion data to be sent to the network module;
the network module is also used for receiving a control command sent by an upper computer and transmitting the control command to the computing module;
the calculation module analyzes a control command sent by the upper computer, performs speed fuzzy PID control calculation and corner double closed loop control calculation according to the current vehicle state, calculates the accelerator opening and the steering angle required by the current vehicle, converts the control command into a CAN standard frame format and sends the CAN standard frame format to the automatic driving vehicle.
2. The autonomous-capable vehicle controller of claim 1, comprising a plurality of controller interfaces, the controller interfaces comprising a plurality of standard interfaces, a dc 12V power interface, and a network interface, the standard interfaces comprising two parallel vehicle CAN interfaces, a universal serial interface.
3. The autonomous-capable vehicle controller of claim 1, further comprising a remote-controller interface RC for remotely controlling the vehicle to make an emergency stop when the upper computer loses control, wherein the data receiving module is respectively used for acquiring motion data of the vehicle and a control command of the remote controller.
4. The controller of claim 3, wherein the data receiving module comprises an RS232_ RM module and an RS232 universal serial port module, the RS232 universal serial port module is used for receiving data collected by the GPS sensor of the vehicle, the RS232_ RM module is used for receiving a control command of the remote controller, and the RS232_ RM module and the RS232 universal serial port module are respectively connected with the computing module;
and the RS232_ RM module is simultaneously connected with a remote controller receiver and is used for manually inputting a control command to the automatic driving controller by using a remote controller outside the automobile.
5. The autonomous-capable vehicle controller of claim 1, further comprising a power module that provides 5V dc power to the CAN module and the network module.
6. The autonomous-capable vehicle controller of claim 5, wherein the power supply module comprises a voltage regulation module and a voltage conversion module, the voltage regulation module provides 5V DC power for the network module and the CAN module, and the voltage conversion module uses an LM1117 chip to provide 3.3V DC power for a connection circuit thereof.
7. The autonomous-capable vehicle controller of claim 5, wherein the power module is further designed with an anti-reverse circuit and a status indicator light.
8. The autonomous-capable vehicle controller of claim 1, wherein the network module connects the host computer and the autonomous-capable vehicle fleet controller via a wired network using a W5500 network interface.
9. The autonomous-vehicle controller of claim 1, wherein the computing module carries a main control chip STM32RCT6, and a longitudinal control algorithm of speed fuzzy control and PID control and a double-closed-loop transverse control algorithm are integrated in the main control chip;
the circuit of the main control chip STM32RCT6 comprises VBAT, the VBAT is connected with a battery, a 32.768KHZ crystal oscillator Y2 is connected between a PC14 and a PC15, two ends of the crystal oscillator Y2 are respectively connected with ceramic capacitors C50 and C51, and the other ends of the C50 and the C51 are grounded;
an 8MHZ crystal oscillator Y1 is connected between the PD0 and the PD1, two ends of the crystal oscillator Y1 are respectively connected with the other ends of the ceramic capacitors C48 and C49, and the other ends of the ceramic capacitors C48 and C49 are connected with the ground in common; two capacitors C41 and C42 are connected in parallel between VSSA and VDDA, VDDA is connected to the +3.3V supply through a10 ohm resistor R51, and VSS is grounded.
10. The autonomous-capable vehicle controller of claim 1, wherein the CAN module builds a CAN communication module circuit using a dedicated CAN transceiver chip;
the CAN module is connected with the GPIO pin of the computing module, the computing module extracts the self state information of the vehicle through the CAN module and sends a control command to the vehicle, and the network module is connected with the GPIO pin of the computing module and used for data exchange between the upper computer and the computing module.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113031626A (en) * | 2020-05-15 | 2021-06-25 | 东风柳州汽车有限公司 | Safety authentication method, device and equipment based on automatic driving and storage medium |
| CN114513220A (en) * | 2021-12-31 | 2022-05-17 | 上海易咖智车科技有限公司 | Communication switching device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113031626A (en) * | 2020-05-15 | 2021-06-25 | 东风柳州汽车有限公司 | Safety authentication method, device and equipment based on automatic driving and storage medium |
| CN114513220A (en) * | 2021-12-31 | 2022-05-17 | 上海易咖智车科技有限公司 | Communication switching device |
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