CN214267753U

CN214267753U - Remote driving system

Info

Publication number: CN214267753U
Application number: CN202023299095.1U
Authority: CN
Inventors: 吴晓东; 王锐松; 许敏; 袁志远; 徐宏昌; 王森
Original assignee: Hunan Minhang Automobile Technology Co ltd
Current assignee: Hunan Minhang Automobile Technology Co ltd
Priority date: 2020-12-30
Filing date: 2020-12-30
Publication date: 2021-09-24
Anticipated expiration: 2030-12-30

Abstract

The utility model discloses a remote driving system, which comprises a remote driving cabin, wherein the driving cabin comprises a steering mechanism, a road sensing motor and a first sensor; the road sensing motor is mechanically connected with the steering mechanism; the first sensor is connected with the steering mechanism and used for acquiring the corner information and the rotating speed information of the steering mechanism; the system comprises an automobile and a control module, wherein the automobile comprises a vehicle information acquisition module and an automobile end controller, the vehicle information acquisition module is connected with the automobile end controller, and the vehicle information acquisition module is used for acquiring vehicle information; and the electronic control unit is respectively connected with the road sensing motor, the first sensor and the vehicle end controller. The utility model discloses a set up the road feel motor in long-range cockpit, for steering mechanism simulation road feel torque, improve long-range driving's authenticity.

Description

Remote driving system

Technical Field

The utility model relates to a long-range driving field, concretely relates to long-range driving system.

Background

The application of the remote driving system in production and life is more and more extensive, but the current remote driving still stays in the stages of analog simulation and image transmission, and the influence of road feel feedback through a steering wheel on the remote driving of a driver is not considered.

The utility model discloses a utility model with publication number CN210454716U discloses a 5G remote driving system, including remote cockpit, remote driving device, 5G communication module, control information transceiver and built-in attitude sensor's environmental information collection system. The vehicle control system collects vehicle environment information and vehicle posture information of a vehicle to be controlled, and exchanges data with a remote control cabin by using the 5G communication module, so that the influence of delayed communication is reduced, and safe driving control of the vehicle is realized. In the patent, only vehicle environment information and vehicle attitude information are considered, and the influence of road feel feedback on remote driving of a driver is not considered, so that the trueness degree of remote driving simulation is low.

SUMMERY OF THE UTILITY MODEL

In order to improve the authenticity of remote driving simulation, the utility model provides a remote driving system, its concrete technical scheme as follows:

a remote driving system comprises

The remote control system comprises a remote control cabin, a control system and a control system, wherein the control cabin comprises a steering mechanism, a road sensing motor and a first sensor; the road sensing motor is mechanically connected with the steering mechanism; the first sensor is connected with the steering mechanism and used for acquiring the corner information and the rotating speed information of the steering mechanism;

the system comprises an automobile and a control module, wherein the automobile comprises a vehicle information acquisition module and an automobile end controller, the vehicle information acquisition module is connected with the automobile end controller, and the vehicle information acquisition module is used for acquiring vehicle information; and

and the electronic control unit is respectively connected with the road sensing motor, the first sensor and the vehicle end controller.

Furthermore, the automobile also comprises a video module arranged on the automobile body, and the video module is connected with the automobile end controller; the remote control cabin further comprises a display module arranged in front of a driver, and the display module is connected with the vehicle-end controller.

Further, the video module comprises a first camera device and a second camera device; the first camera device is arranged on the inner side of the front windshield and used for acquiring picture information in front of the vehicle; the second camera device is arranged on the inner side of the rear windshield and used for acquiring the picture information behind the vehicle.

Further, the display module comprises a first display and a second display; the first display displays the picture information acquired by the first camera device; the second display displays the picture information acquired by the second camera.

Further, the steering mechanism comprises a steering wheel, a steering shaft, a coupling and a fixing plate; one end of the steering shaft is fixedly connected with the steering wheel, and the other end of the steering shaft is in transmission connection with the coupler; the coupling is in transmission connection with the first sensor; the steering mechanism is characterized in that a fixing block is fixedly connected to the fixing plate, a through hole is formed in the fixing block, and the steering shaft penetrates through the through hole and is rotatably connected with the fixing block.

Further, the first sensor is an encoder.

Furthermore, a first bevel gear is fixedly connected to the steering shaft, a second bevel gear is mounted on an output shaft of the road sensing motor, and the first bevel gear is in transmission connection with the second bevel gear.

Furthermore, a sliding groove is formed in the fixing plate, the length direction of the sliding groove is perpendicular to the axial direction of the steering shaft, and a rack capable of moving along the length direction of the sliding groove is arranged in the sliding groove; the steering shaft is fixedly connected with a spur gear, and the spur gear is in transmission connection with the rack.

Further, the vehicle information includes vehicle speed information, engine speed information, vehicle front wheel steering angle information, and gear information.

Furthermore, the remote cockpit also comprises a second sensor for acquiring the travel of an accelerator pedal and a third sensor for acquiring the travel of a brake pedal, and the second sensor and the third sensor are respectively connected with the electronic control unit.

Has the advantages that: 1. the utility model discloses a long-range driving system gathers vehicle information and steering mechanism's corner information and rotational speed information, and electronic control unit is according to the corresponding road feel torque of information control road feel motor output that gathers, makes the driver can obtain more real road feel and experience.

2. The utility model discloses a long-range driving system, through installing in the inboard first camera device of front windshield and the inboard second camera device of back windshield and acquire the picture information in vehicle the place ahead and the picture system at vehicle rear respectively, make the driver can in time know the environmental information around the vehicle, guarantee driver safe driving.

3. The utility model discloses a long-range driving system makes way feel motor and steering spindle pass through first bevel gear and second bevel gear transmission and connects for thereby the encoder can rotate along with the steering spindle is synchronous with steering spindle coaxial arrangement, improves the authenticity of the corner information and the rotational speed information that acquire.

4. The utility model discloses a long-range driving system, through set up the spout on the fixed plate, set up the rack of being connected with steering spindle upper spur gear transmission in the spout, the steering spindle removes in the spout at pivoted in-process drive rack, thereby the turned angle of removal restriction steering spindle through the both ends restriction rack of spout, guarantees with the cooperation of way sense motor to rotate the in-process and provides way sense feedback to the driver, avoids steering spindle turned angle too big simultaneously.

Drawings

FIG. 1 is a schematic diagram of a remote driving system of the present invention;

FIG. 2 is a schematic diagram of the information transmission of the remote driving system of the present invention;

fig. 3 is a schematic structural diagram of the cockpit of the present invention.

Reference numerals: 1-a steering wheel; 2-a steering shaft; 3, fixing a plate; 4-an encoder; 5, fixing blocks; 6-through holes; 7-a first bevel gear; 8-a second bevel gear; 9-road sensing motor; 10-spur gears; 11-a chute; 12-rack.

Detailed Description

In order to make those skilled in the art better understand the technical solutions in the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention; the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance; furthermore, unless expressly stated or limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, as they may be fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Examples

As shown in FIG. 1, the present embodiment provides a remote driving system, comprising

The remote control cockpit comprises a steering mechanism, a road sensing motor 9 and a first sensor; the road sensing motor 9 is mechanically connected with the steering mechanism; the first sensor is connected with the steering mechanism and used for acquiring the corner information and the rotating speed information of the steering mechanism;

and the electronic control unit is respectively connected with the road sensing motor 9, the first sensor and the vehicle end controller.

In this embodiment, when a driver operates the steering mechanism in the remote cockpit, the first sensor is used for collecting the corner information and the rotation speed information of the steering mechanism, and the rotation speed information and the corner information are sent to the electronic control unit in the form of a CAN signal, the electronic control unit converts the signals into a numerical signal and sends the numerical signal to the vehicle-end controller, and the vehicle-end controller analyzes the numerical signal into the CAN information again and sends the CAN information to the vehicle-end CAN bus connected with the vehicle-end controller, so that the completeness of a remote driving control link is realized. In this embodiment, the electronic control unit is connected with the vehicle-end controller through the upper computer, and the electronic control unit sends the numerical signal to the upper computer and then sends the numerical signal to the vehicle-end controller. In this embodiment, the upper computer and the vehicle-end controller are respectively connected with a cloud service, and store and transmit information through a cloud server.

In the present embodiment, the electronic Control unit is abbreviated as ecu (electronic Control unit).

In the embodiment, the vehicle-end controller acquires vehicle information and transmits the vehicle information to the electronic control unit, wherein the vehicle information comprises vehicle speed information, engine rotating speed information, vehicle front wheel steering angle information and gear information; the means for collecting the vehicle information is conventional technical means, and is not described in detail in this embodiment. After the electronic control unit acquires the vehicle information, the corner information and the rotating speed information of the steering mechanism, the road sensing motor 9 is controlled to output road sensing torque to the steering mechanism, and steering aligning torque due to the fact that a driver controls the vehicle to steer under a real road is simulated, so that the driver can obtain more real driving experience.

As shown in fig. 2, in this embodiment, the automobile further includes a video module installed on the automobile body, and the video module is connected with the automobile-end controller; the remote control cabin further comprises a display module arranged in front of a driver, and the display module is connected with the vehicle-end controller. The video module comprises a first camera device and a second camera device; the first camera device is arranged on the inner side of the front windshield and used for acquiring picture information in front of the vehicle; the second camera device is arranged on the inner side of the rear windshield and used for acquiring the picture information behind the vehicle. The display module comprises a first display and a second display; the first display displays the picture information acquired by the first camera device; the second display displays the picture information acquired by the second camera.

In this embodiment, a first camera device is installed on the inner side of a front windshield, image information in front of a vehicle is acquired through the first camera device, a second camera device is installed on the inner side of a rear windshield, image information behind the vehicle is acquired through the second camera device, the image information acquired by the first camera device and the second camera device is transmitted to a vehicle end controller, the image information is transmitted to an upper computer through a cloud server, and the image information is uploaded to a display module through the upper computer. The first display is used for displaying the picture information shot by the first camera device, and the second display is used for displaying the picture information shot by the second camera device, so that a driver can know the environmental information around the vehicle in time, and the safe driving of the driver is ensured. In order to enable the information to be transmitted in real time, 5G communication is adopted between the cloud server and the upper computer and between the cloud server and the vehicle-end server.

In this embodiment, the remote cockpit further includes a second sensor for acquiring a travel of an accelerator pedal and a third sensor for acquiring a travel of a brake pedal, and the second sensor and the third sensor are respectively connected to the electronic control unit. The road feel torque output by the road feel motor 9 is adjusted by combining the travel monitoring of an accelerator pedal and a brake pedal, so that the authenticity of remote driving simulation is further enhanced.

As shown in fig. 3, in the present embodiment, the steering mechanism includes a steering wheel 1, a steering shaft 2, a coupling, and a fixing plate 3; one end of the steering shaft 2 is fixedly connected with the steering wheel 1, and the other end of the steering shaft is in transmission connection with the coupler; the coupling is in transmission connection with the first sensor; the fixed plate 3 is fixedly connected with a fixed block 5, the fixed block 5 is provided with a through hole 6, and the steering shaft 2 penetrates through the through hole 6 and is rotatably connected with the fixed block 5. A first bevel gear 7 is fixedly connected to the steering shaft 2, a second bevel gear 8 is mounted on an output shaft of the road sensing motor 9, and the first bevel gear 7 is in transmission connection with the second bevel gear 8; the encoder 4 is coaxial with the steering shaft 2. In this embodiment, the road-sensing motor 9 is mounted on the fixing plate 3, and the road-sensing motor 9 outputs the road-sensing torque to the steering shaft 2 through the cooperation of the first bevel gear 7 and the second bevel gear 8, and meanwhile, the encoder 4 can be coaxially arranged with the steering shaft 2, so that the authenticity of the angle information and the rotating speed information collected by the encoder 4 is improved.

In this embodiment, the fixed plate 3 is provided with a chute 11, a length direction of the chute 11 is perpendicular to an axial direction of the steering shaft 2, and a rack 12 capable of moving along the length direction of the chute 11 is arranged in the chute 11; the steering shaft 2 is fixedly connected with a spur gear 10, and the spur gear 10 is in transmission connection with a rack 12. Through set up spout 11 on fixed plate 3, set up in spout 11 with steering spindle 2 go up rack 12 that spur gear 10 transmission is connected, steering spindle 2 drives rack 12 and removes in spout 11 at the pivoted in-process, thereby the removal of both ends restriction rack 12 through spout 11 restricts steering spindle 2's turned angle, with the cooperation of way sense motor 9 guarantee to rotate the in-process and provide the way sense feedback to the driver, avoid steering spindle 2 turned angle too big simultaneously.

The foregoing is a more detailed description of the present invention, taken in conjunction with the specific preferred embodiments thereof, and it is not intended that the invention be limited to the specific embodiments shown and described. To the technical field of the utility model belongs to the prerequisite without departing from the utility model discloses the utility model, can also make a plurality of equal substitution or obvious variant, and performance or usage are the same moreover, all should regard as belonging to within the scope of protection of the utility model.

Claims

1. A remote driving system is characterized by comprising

A remote cockpit comprising a steering mechanism, a road sensing motor (9) and a first sensor; the road sensing motor (9) is mechanically connected with the steering mechanism; the first sensor is connected with the steering mechanism and used for acquiring the corner information and the rotating speed information of the steering mechanism;

and the electronic control unit is respectively connected with the road sensing motor (9), the first sensor and the vehicle end controller.

2. The remote driving system of claim 1, wherein the vehicle further comprises a video module mounted on the vehicle body, the video module being connected to the vehicle-end controller; the remote control cabin further comprises a display module arranged in front of a driver, and the display module is connected with the vehicle-end controller.

3. The remote driving system of claim 2, wherein the video module comprises a first camera and a second camera; the first camera device is arranged on the inner side of the front windshield and used for acquiring picture information in front of the vehicle; the second camera device is arranged on the inner side of the rear windshield and used for acquiring the picture information behind the vehicle.

4. The remote driving system of claim 3, wherein the display module comprises a first display and a second display; the first display displays the picture information acquired by the first camera device; the second display displays the picture information acquired by the second camera.

5. A remote driving system according to claim 1, wherein the steering mechanism comprises a steering wheel (1), a steering shaft (2), a coupling and a fixing plate (3); one end of the steering shaft (2) is fixedly connected with the steering wheel (1), and the other end of the steering shaft is in transmission connection with the coupler; the coupling is in transmission connection with the first sensor; fixedly connected with fixed block (5) on fixed plate (3), through-hole (6) have been seted up on fixed block (5), steering spindle (2) pass through-hole (6) and rotationally be connected with fixed block (5).

6. A remote driving system according to claim 5, wherein said first sensor is an encoder (4).

7. The remote driving system according to claim 6, wherein a first bevel gear (7) is fixedly connected to the steering shaft (2), a second bevel gear (8) is mounted on an output shaft of the road sensing motor (9), and the first bevel gear (7) is in transmission connection with the second bevel gear (8); the encoder (4) is coaxial with the steering shaft (2).

8. The remote driving system according to claim 5, wherein a sliding groove (11) is formed in the fixing plate (3), the length direction of the sliding groove (11) is perpendicular to the axial direction of the steering shaft (2), and a rack (12) capable of moving along the length direction of the sliding groove (11) is arranged in the sliding groove (11); the steering shaft (2) is fixedly connected with a spur gear (10), and the spur gear (10) is in transmission connection with a rack (12).

9. The remote driving system of claim 1, wherein the vehicle information comprises vehicle speed information, engine speed information, vehicle front wheel steering angle information, and gear information.

10. The remote driving system of claim 1, wherein the remote driving cabin further comprises a second sensor for acquiring the travel of an accelerator pedal and a third sensor for acquiring the travel of a brake pedal, and the second sensor and the third sensor are respectively connected with the electronic control unit.