CN212433635U - Remote control and autonomous mode switching system for unmanned test vehicle - Google Patents
Remote control and autonomous mode switching system for unmanned test vehicle Download PDFInfo
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- CN212433635U CN212433635U CN202020997074.8U CN202020997074U CN212433635U CN 212433635 U CN212433635 U CN 212433635U CN 202020997074 U CN202020997074 U CN 202020997074U CN 212433635 U CN212433635 U CN 212433635U
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Abstract
The utility model discloses a remote control of unmanned test vehicle and autonomous mode switching system, including three major parts: the remote control module, the main control module and the execution module. The remote control module refers to a remote controller, and a panel of the remote controller is provided with a mode switch, a steering input knob, a speed control input knob, a brake input switch, a gear switch, a monitoring display screen and an NRF24L01 module capable of communicating with the main control part; the main control part module refers to a bottom layer controller of the unmanned vehicle and controls an actuating mechanism of the unmanned vehicle through an algorithm; the execution module refers to three execution mechanisms of the unmanned vehicle, namely an accelerator, a steering mechanism and a braking mechanism. The main control part controls the unmanned vehicle by controlling an accelerator steering engine, a steering engine and a brake steering engine. The safety of the test environment can be ensured, and a lot of convenience is provided for the test link.
Description
Technical Field
The utility model relates to an unmanned vehicle reforms transform experimental field, especially relates to an unmanned test car remote control and autonomous mode switching system.
Background
With the maturity of electronic technology and the continuous progress of artificial intelligence, unmanned driving of automobiles is being deeply researched and developed as a strategic item by many scientific research institutes, enterprises and colleges. Baidu and Google start earlier, and have certain advantages in the development process by means of the existing technologies such as high-precision maps and high GPS positioning. The Jingdong, Shunfeng and the like also establish own research and development departments of unmanned goods distribution vehicles, and make intelligent delivery of future express delivery. Colleges and universities such as college university, Qinghua university, Shanghai traffic university, Changan university, Wuhan university also have their own unmanned research and development team. Especially in 2016, changan university and education department, china mobile communication group company, and qinghua university signed a co-construction internet of vehicles education department, china mobile union laboratory, and completed the internet of vehicles of changan university and intelligent automobile test field occupying 28 ten thousand square meters in 17 years and 10 months to provide a development and test environment for professional unmanned vehicles, and research on unmanned directions is being vigorously conducted.
Currently, in the research of unmanned vehicles, most research units modify the existing vehicles, upgrade the existing vehicles in the aspects of steering systems, braking systems, speed control systems and the like, realize the perception of the environment by means of laser radars, millimeter wave radars, binocular cameras and the like, and realize the unmanned driving of the vehicles by a GPS positioning system. In the development and test of the unmanned vehicle, an independently designed wireless remote control and autonomous switching unmanned vehicle control system is needed, a sensor signal of the vehicle can be collected and transmitted back to a remote controller, and the unmanned vehicle control system has the functions of realizing emergency braking, remote control driving, entering an intelligent unmanned mode and the like of the vehicle through the remote controller. In the project research of the unmanned automobile, a set of mode switching system can ensure the safety of development and test environment to a great extent, brings convenience to the whole development and test link in many aspects, and has important significance in the process of developing and testing the unmanned automobile.
SUMMERY OF THE UTILITY MODEL
The utility model provides a technical problem provide an unmanned test vehicle remote control and autonomous mode switching system to solve the shortcoming in the above-mentioned background art.
The utility model provides a technical problem adopt following technical scheme to realize: a remote control and autonomous mode switching system for an unmanned test vehicle comprises three modules: the remote control module, the main control module and the execution module; the remote control module is a remote controller, and a panel of the remote controller is provided with a mode switch, a steering input knob, a speed control input knob, a brake input switch, a gear switch, a monitoring display screen and an NRF24L01 module capable of communicating with the main control part; the main control module refers to a bottom controller of the unmanned vehicle and controls an actuating mechanism of the unmanned vehicle through an algorithm; the execution module refers to three execution mechanisms of the unmanned vehicle, including an accelerator, a steering mechanism and a braking mechanism; the main control module controls the unmanned vehicle by controlling the accelerator mechanism, the steering mechanism and the braking mechanism.
Preferably, the main control module and the remote control module both use an NXP 32-bit singlechip MK60 as a core processor, wherein the main control module and the remote control module realize mutual transmission and mutual reception of information through an NRF24l01 module.
Further, the signals for mutual communication for mutual transmission and mutual reception of information through the NRF24l01 module include: the system comprises a vehicle speed control signal, a steering control signal, a braking control signal, a failure emergency braking signal and a remote control and autonomous switching signal.
Furthermore, the module of MK60 includes an ADC module, a GPIO module, an FTM module, and an SPI communication module.
The unmanned test vehicle is generally formed by modifying an automatic-gear vehicle, and a main control system needs to receive a vehicle speed signal, a steering signal and a braking signal in the driving process of the vehicle and complete the control of a speed control system, a steering system and a braking system. In the repacking in-process, accomplish the repacking in the aspect of machinery through 3 energetically steering engines, the extraction of the speed of a motor vehicle can be gathered through installation rotary encoder, transmits for major control system. The wireless remote control system comprises a mode switching part, a steering signal input acquisition part, a speed control signal input acquisition part, a brake signal input acquisition part, a monitoring display part and a virtual gear signal input acquisition part.
The utility model discloses a pair of unmanned test vehicle remote control and autonomous mode switched systems to 32 single-chip microcomputer MK60 of NXP are the core, develop the embedded control system of one set of wireless unmanned test vehicle, and the collection and the wireless passback of realization unmanned vehicle sensor signal that can be convenient to can realize the mode switch of unmanned test vehicle through wireless mode. In the development and test process, the safety of the test environment is ensured, great convenience is provided for the test link, and the method has important practical significance for the development of the unmanned driving direction.
Drawings
Fig. 1 is the utility model discloses an unmanned vehicle is from driving mode schematic diagram.
Fig. 2 is a frame diagram of the control system of the present invention.
Fig. 3 shows a mode switching process according to the present invention.
Fig. 4 is a schematic diagram of wireless signal communication according to the present invention.
Detailed Description
In order to make the utility model discloses realize unmanned test vehicle remote control and independently mode switch, combine specific diagram below, further explain the utility model discloses an embodiment.
Main control module system
The main control system has the functions of acquiring the sensor signals of the unmanned vehicle part and controlling three actuating mechanisms of the unmanned vehicle. The core processor of the master control system adopts an MK60DN512 chip of NXP, and the master control system has two working modes: the remote control mode and the autonomous mode can realize a switching function through mode selection on the remote controller, and then the control mode of the master control system is introduced in a specific mode.
1. Autonomous mode
Referring to fig. 1, an autonomous driving mode of the unmanned vehicle is schematically shown, a main control system first detects a mode command sent by a remote controller, and automatically switches to an autonomous mode when receiving the autonomous mode command. The main control system analyzes the GGA signal of the differential GPS according to the NMEA-0183 protocol to acquire the position and course angle information of the vehicle, converts the longitude and latitude information into space distance information, and uses a following pre-aiming control model to realize the track following function of the unmanned vehicle. And analyzing the UDP data packet of the laser radar to obtain three-dimensional point cloud of the surrounding environment of the vehicle or analyzing a binocular camera space depth map, modeling and identifying road edges, judging a travelable area and detecting obstacles on the road, and realizing the obstacle avoidance function of the unmanned automobile.
In the aspect of speed control, the FTM module of the K60 core controller outputs PWM waves to control the accelerator steering engine to realize the motion of the vehicle, a vehicle speed signal is collected by a rotary encoder arranged on the rear wheel of the vehicle and fed back to a main control board, a main control system adjusts the accelerator steering engine in a closed loop mode through PID (proportion integration differentiation), so that the vehicle is stabilized at a preset running speed, and the set running speed is reduced along with the increase of the turning angle of a steering wheel of the vehicle.
In the aspect of steering, the driving track of the unmanned vehicle is set by a system under the general condition, obstacle avoidance driving is completed according to a planned path, the automobile can be accurately positioned through a GPS in the driving process, driving deviation between the automobile and the preset track is analyzed in real time, and the core processor adjusts a steering engine through outputting PWM waves to enable the automobile to realize track following.
In the aspect of braking, in an autonomous state, a braking signal mainly depends on analysis results of a laser radar and a binocular camera, and after an obstacle is detected and distance information between the obstacle and a vehicle is obtained, a master control system controls a braking steering engine to perform corresponding braking action.
2. Remote control mode
And the master control system enters a remote control mode under the condition of receiving a remote control instruction. The main purpose of the remote control mode is to facilitate the development and testing of the autonomous mode. In the remote control mode, the main control system receives the speed control signal, the steering signal and the braking signal transmitted by the remote controller, and can realize the remote control of the unmanned test vehicle in a remote control mode. The remote control system and the master control system communicate through the enhanced NRF24l01, and the remote control distance can reach 1000 meters. Meanwhile, the remote control mode is also a preparation work for the autonomous mode, and the two modes are different in that one mode is driving according to an autonomous obstacle avoidance following mode, the other mode is wireless remote control movement according to human subjective intention, but the two modes both need to control three executing mechanisms to complete corresponding actions through a main control system. The three executing mechanisms are modified on the basis of the original automatic transmission automobile, so that the testing of the three executing mechanisms after modification is indispensable, and the preparation work before the autonomous mode can be performed by testing the three executing mechanisms in the remote control mode before the autonomous unmanned test is really performed.
Remote control module system
Referring to a frame diagram of a control system in fig. 2, a main function of the remote control system is to realize human signal input, including mode selection signals, steering input signals, speed control input signals, braking input signals and gear switching signals, collect and synchronously send the signals to a master control system, receive vehicle speed signals, fault signals and the like fed back by the master control system, and display parameters of each state in real time on a display module of the remote control system. The remote control system also adopts an MK60DN512 chip of NXP as a core processor, and is also provided with an NRF24l01 wireless communication module to realize mutual transmission and mutual receiving of signals with the main control system.
1. Mode selection
Referring to the mode switching flow of fig. 3, the switching between the two modes is controlled by a switch, and when the switch is on, the circuit provides a low level to controller MK60DN512, and when the switch is off, the circuit provides a high level. Detecting the level through one GPIO port of the controller, wherein when the high level is detected, a green light of the remote controller is on, the remote controller is in a remote control mode, and the remote controller sends a mode command 0 to the master control system; when the low level is detected, the red light of the remote controller is on, the remote controller is in an autonomous mode, and the remote controller sends a mode instruction 1 to the master control system. And setting a safety code in a control program, and forcibly converting the unmanned vehicle from the autonomous mode into the remote control mode when emergency braking occurs or a remote controller emergency stop button is pressed.
2. Steering input
The steering signal is realized by a potentiometer of a one-way rocker, the two ends of the potentiometer are connected with 3.3V voltage, the rocker can output 0 to 3.3V voltage when in different positions, and output 1.65V voltage when in the middle position. This voltage signal is acquired by the ADC module of the K60 processor, defining an 8-bit precision, resulting in a value of 0 to 255, 128 being the acquired value at its mid-position. Thus (127 to 0) can represent that the vehicle is controlled to turn left, (128 to 255) can represent that the vehicle is controlled to turn left, and the difference between the specific value and 128 can represent the amplitude of the steering of the vehicle. The remote controller synchronously transmits the AD steering signal value with the precision of 8 bits to the master control system through the NRF24l 01.
3. Speed control input
The input of the speed control signal is the same as the input of the steering signal, the speed control signal is also input through a potentiometer of a one-way rocker, the two ends of the speed control signal are also connected with 3.3V voltage, the voltage signal is acquired through the other AD channel of the K60 processor, the 8-bit precision is defined, the numerical value from 0 to 255 is obtained, and 128 is the acquisition value of the middle position of the speed control signal. Thus (127 to 0) may indicate that the vehicle is controlled to move forward, (128 to 255) may indicate that the vehicle is controlled to move backward, and the difference between the specified value and 128 may indicate the speed at which the vehicle is controlled to move. This 8-bit precision AD speed control signal value is synchronously transmitted to the master control system through NRF24l 01.
4. Brake input
The braking part comprises automatic braking in a remote control mode and triggering braking in an autonomous mode. The automatic braking signal comes from an AD speed control signal value (0 to 255), the braking steering engine works in a section of range (108 to 148) near a middle value 128, the braking force is inversely proportional to the difference value of a specific sampling value and 128, and when the speed control rocker is in the middle position, the braking steering engine achieves the maximum braking force. Trigger braking is under the autonomous mode, and skew orbit appears or keep away the barrier inefficacy in the vehicle, forces the vehicle to park and automatic switch to remote control safe mode through emergency braking button, and the trigger braking principle is the same with mode selection principle, and the GPIO function through K60 realizes the collection of high-low level, the utility model discloses well brake switch detects the low level down, defines for triggering the brake state.
5. Gear shifting
The arrangement of the gears is convenient for remote control of the test vehicle at different speed ratios, the test vehicle is switched by a three-position switch, one high level is conducted at each position of the switch, GPIOs of three channels of the core processor K60 are used for reading the switch quantity, and the three channels respectively detect the high levels and correspond to 1 gear, 2 gear and 3 gear. The gear signals are sent to the main control system through the NRF24l01, so that the accelerator steering engine is controlled in different degrees, and different remote control speed ratios are realized.
6. Monitoring display
In major control system and remote control system, respective and the variable that passes each other is more, in order to observe the state of each variable in real time directly perceivedly, the utility model discloses well adopt the ILI9431 LCD screen outside the mountain, all show through the LCD screen display with current speed, current steering wheel corner, current gear, current mode, current brake state, current remote controller and major control system's connected state, fault diagnosis code etc to in real time refresh each state parameter. And under the autonomous mode, detecting whether effective GPS signals and radar binocular signals are received, and sending safe state signals to the remote control system and displaying the state under the normal state.
Third, wireless backhaul and security design
Referring to fig. 4, a wireless signal communication diagram is shown, wherein wireless backhaul of signals is implemented by a variable synchronization method. The variable synchronization means that the master control system and the remote control system define the same variable and the same variable buffer area, when the signal needs to be transmitted and received, the signal synchronization is completed by transferring the variable value to the buffer area of the other party, reading the value of the buffer area and assigning the value to the variable.
One of the main purposes of remote control is to ensure the safety of the whole development and test environment, but emergency safety protection measures are necessary when the remote control system is abnormally disconnected with the main control system. The utility model discloses in, remote control system and major control system detect the signal that the other side sent respectively, define int variable duankai, when not receiving the signal, duankai + +; duankai is cleared when a signal is received. By running this sub-function in the main function, after debugging, when duankai >50000, the connection is determined to be interrupted, the main control system performs safety braking in case of disconnection, and the remote control system displays the disconnection state on the display.
The foregoing has described the principles and implementations of the present invention. The present invention is not limited by the above embodiments, and the description in the above embodiments and the description is only for illustrating the principle of the present invention, without departing from the spirit and scope of the present invention, the present invention can also have various changes and improvements, and these changes and improvements all fall into the scope of the claimed invention. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (4)
1. The utility model provides a remote control of unmanned test vehicle and autonomous mode switching system which characterized in that includes three big modules: the remote control module, the main control module and the execution module; the remote control module is a remote controller, and a panel of the remote controller is provided with a mode switch, a steering input knob, a speed control input knob, a brake input switch, a gear switch, a monitoring display screen and an NRF24L01 module capable of communicating with the main control part; the main control module refers to a bottom controller of the unmanned vehicle and controls an actuating mechanism of the unmanned vehicle through an algorithm; the execution module refers to three execution mechanisms of the unmanned vehicle, including an accelerator, a steering mechanism and a braking mechanism; the main control module controls the unmanned vehicle by controlling the accelerator mechanism, the steering mechanism and the braking mechanism.
2. The system for switching the remote control mode and the autonomous mode of the unmanned test vehicle as claimed in claim 1, wherein the main control module and the remote control module both use an NXP 32-bit single chip MK60 as a core processor, and the main control module and the remote control module realize mutual transmission and reception of information through an NRF24l01 module.
3. The system as claimed in claim 2, wherein the signals for mutual communication for mutual transmission and mutual reception of the information through the NRF24l01 module include: the system comprises a vehicle speed control signal, a steering control signal, a braking control signal, a failure emergency braking signal and a remote control and autonomous switching signal.
4. The system of claim 2, wherein the modules of MK60 include an ADC module, a GPIO module, an FTM module, and an SPI communication module.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113805583A (en) * | 2021-08-26 | 2021-12-17 | 徐工集团工程机械股份有限公司 | Multi-control system and control method and system of control mode unmanned platform |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113805583A (en) * | 2021-08-26 | 2021-12-17 | 徐工集团工程机械股份有限公司 | Multi-control system and control method and system of control mode unmanned platform |
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Granted publication date: 20210129 Termination date: 20210603 |