CN215449914U - Automatic driving system - Google Patents

Abstract

The disclosure discloses an automatic driving system, and relates to the field of unmanned vehicles and unmanned driving. The automatic driving system includes: a chassis module for controlling movement of the movable device; the automatic driving module is connected with the chassis module and is suitable for driving the chassis module so as to control the movable device to carry out automatic driving; and the redundant control module is connected with the chassis module and is suitable for sending a remote control instruction to the chassis module so as to control the movable device to carry out remote driving. The automatic driving system has the functions of remote control and remote interaction.

Description

Automatic driving system

Technical Field

The utility model relates to the technical field of automatic driving, in particular to an automatic driving system.

Background

With the development of science and technology, unmanned vehicles (hereinafter referred to as unmanned vehicles) increasingly come into people's lives, and mainly rely on intelligent drivers in vehicles, mainly based on computer systems, to achieve unmanned targets, for example, sensing road environments through vehicle-mounted sensing systems, automatically planning driving routes and controlling unmanned vehicles to drive on the driving routes.

Under the tide of the internet of things man-machine interaction in the new era, besides the function of normal driving on a road, the unmanned vehicle also needs to finish autonomous communication interaction with a user, so that real unmanned operation is realized. However, the existing unmanned vehicle functions are still too simple, and the automatic driving of the unmanned vehicle often cannot meet various interaction requirements and unique requirements of different scenes.

It is therefore desirable to provide an improved unmanned system to further improve the functionality of the unmanned system.

SUMMERY OF THE UTILITY MODEL

In view of the above, it is an object of the present invention to provide an autonomous driving system to further improve the autonomous driving capability of the unmanned system.

According to an embodiment of the present disclosure, there is provided an automatic driving system including: a chassis module for controlling movement of the movable device; the automatic driving module is connected with the chassis module and transmits an automatic driving instruction to the chassis module so as to control the movable device to carry out automatic driving; and the redundancy control module is connected with the chassis module and transmits a remote control instruction to the chassis module so as to control the movable device to carry out remote driving.

Optionally, the method further includes: and the cloud scheduling management module is suitable for providing the remote control instruction for the redundancy control module according to remote control information.

Optionally, the method further includes: an interface module connected to the chassis module to receive status information of the chassis module; and the intelligent container module is connected to the interface module, is suitable for information interaction with a user to obtain user information, and transmits the user information to the interface module.

Optionally, the method further includes: the interaction module performs information interaction with the cloud scheduling management module to send an interaction instruction to the cloud scheduling management module, wherein the cloud scheduling management module sends a task instruction to the interface module according to the interaction instruction, and the interface module sends the task instruction to the automatic driving module and/or the intelligent container module.

Optionally, the cloud scheduling management module performs information interaction with the interface module to receive the state information and/or the user information.

Optionally, the cloud scheduling management module obtains a scheduling instruction according to the state information, and sends the scheduling instruction to the automatic driving module through the interface module; and/or the cloud scheduling management module obtains service feedback information according to the user information and sends the service feedback information to the intelligent container module through the interface module.

Optionally, the redundant control module includes: a sensor unit adapted to collect environmental information around the mobile device; and a black box recording unit adapted to store at least the environmental information.

Optionally, the redundant control module performs information interaction with the automatic driving module to acquire automatic driving information of the automatic driving module, the redundant control module is further adapted to acquire status information of the chassis module, and the redundant control module stores the automatic driving information and the status information in the black box recording unit.

Optionally, the method further includes: and the Internet of vehicles communication module is connected to the automatic driving module so as to perform information interaction with the automatic driving module.

Optionally, the internet of vehicles communication module sends external information around the mobile device to the automatic driving module, and the automatic driving module drives the chassis module according to the external information.

According to the automatic driving system provided by the utility model, the automatic driving of the movable device is realized by using the automatic driving module, and the remote control of the movable device is realized by using the redundancy control module, so that the remote control and remote interaction of the automatic driving system are realized, and the function of the unmanned driving system is improved.

Furthermore, the internet of vehicles communication module is adopted as a redundancy scheme of automatic driving, so that the stability of automatic driving can be ensured.

Furthermore, the automatic driving system has a multi-element structure, and the function of the automatic driving device can be improved. Specifically, the automatic driving system can realize interaction among the cloud end, the movable device and the user, can further realize human-vehicle interaction and human-cloud interaction at the near end and the remote end, and can realize vehicle-road cooperation, so that the function of the automatic driving device is improved.

Drawings

The above and other objects, features and advantages of the present invention will become more apparent from the following description of the embodiments of the present invention with reference to the accompanying drawings, in which:

FIG. 1 shows a block diagram of an autonomous driving system according to an embodiment of the utility model;

fig. 2 shows a schematic view of an autopilot device according to an embodiment of the utility model.

Detailed Description

The utility model will be described in more detail below with reference to the accompanying drawings. Like elements in the various figures are denoted by like reference numerals. For purposes of clarity, the various features in the drawings are not necessarily drawn to scale. Moreover, certain well-known elements may not be shown in the figures.

In the following description, numerous specific details of the utility model, such as structure, materials, dimensions, processing techniques and techniques of the devices are described in order to provide a more thorough understanding of the utility model. However, as will be understood by those skilled in the art, the present invention may be practiced without these specific details.

It should be understood that, in the embodiments of the present disclosure, a and B are connected/coupled, which means that a and B may be connected in series or in parallel, or a and B may pass through other devices, and the embodiments of the present disclosure do not limit this.

The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples.

Fig. 1 shows a block diagram of an autopilot system 100 according to an embodiment of the utility model. The automatic driving system 100 is, for example, configured in a mobile device such as a vehicle to realize automatic driving of the mobile device. The autopilot system 100 is integrated, for example, in a computing unit of the autopilot device that is relevant to autopilot.

As shown in fig. 1, the autopilot system 100 includes a chassis module 110, an autopilot module 120, and a redundant control module 160.

The chassis module 110 is used to control the movement of the mobile device. As an example, the chassis module 110 is for example a steer-by-wire chassis comprising steer-by-wire, brake-by-wire, shift-by-wire, throttle-by-wire, suspension-by-wire to drive the movable device for steering, braking, shifting, fuel control, damping, respectively. The specific internal structure of the chassis module 110 can be referred to a conventional chassis module and will not be described in detail herein.

The autopilot module 120 is coupled to the chassis module 110 for sending autopilot commands to the chassis module 110 for controlling the mobile device for autopilot. After the sensor in the mobile device recognizes the surrounding environment (e.g., a lane, a pedestrian, a vehicle, a road sign, etc.), the autopilot module 120 generates a corresponding electrical signal according to the recognition result of the sensor and transmits the electrical signal to the chassis module 110 to control steering, braking, gear shifting, fuel control, shock absorption, etc. of the mobile device. The automatic driving module 120 is integrated with an automatic driving algorithm, for example, a POMDP model (partial Observable Markov Decision Process). Optionally, the autopilot module 120 also receives status information sent by the chassis module 110, where the status information includes, for example, acceleration, deceleration, steering, etc. status of the chassis module 110.

In the disclosed embodiment, the autopilot system 100 further includes a redundant control module 130, the redundant control module 130 coupled to the chassis module 110 and adapted to send remote control commands to the chassis module 110 to control the mobile device for remote driving.

As one example, the redundancy control module 130 includes a sensor unit for collecting environmental information around the movable device and a black box recording unit for storing at least the environmental information. In this example, the redundancy control module 130 may be used for video return, remote control signaling issue, black box recording, and the like, for example, the sensor unit is a look-around camera, and the black box recording unit is used for storing information such as video of the look-around camera, status information of the chassis module 110, and an instruction of the autopilot module 120, so that the autopilot system 100 has a function of backtracking scene data. Meanwhile, the redundant control module 130 also provides a remote control function as a redundancy scheme for control.

Optionally, the redundancy control module 130 is further adapted to collect and store status information of the chassis module 110, and store the status information in the black box recording unit. Optionally, the redundant control module 130 performs information interaction with the autopilot module 120, for example, based on a wireless network, to collect autopilot information of the autopilot module 120, and store the autopilot information in the black box recording unit.

In the embodiment of the present disclosure, the automatic driving system 100 further includes a cloud scheduling management module 170, and the cloud scheduling management module 170 is responsible for cloud monitoring management, scheduling planning, data analysis, and the like. For example, the cloud scheduling management module 170 is adapted to provide remote control instructions to the redundant control module 130 to drive the chassis module 110 to drive the mobile device for remote driving. Optionally, the redundancy control module 130 uploads the collected environment information and the status information of the chassis module 110 to the cloud scheduling management module 170, so that the cloud scheduling management module 170 schedules and manages various types of information.

In this embodiment, the cloud scheduling management module 170 in the autopilot system 100 receives remote control information from a client terminal, such as a mobile phone, a tablet computer, a notebook computer, a desktop computer, a cockpit, etc., and the cloud scheduling management module 170 provides a remote control instruction to the redundancy control module 130 according to the remote control information.

As one example, the autopilot system 100 also includes an interface module 140 and an intelligent cargo box module 150 to facilitate information interaction between the autopilot system 100 and a user.

Specifically, the interface module 140 is coupled to the chassis module 110 to obtain status information of the chassis module 110, and the interface module 140 monitors the status of the intelligent cargo box module 150 to obtain user information.

The intelligent cargo box module 150 is connected to the interface module 140 and is adapted to interact with the user to obtain user information and to transmit the user information to the interface module 140. In the disclosed embodiment, the smart container module 150 is used for near-end human-vehicle interaction and/or human-cloud interaction, and the "near distance" refers to, for example, a communication range between the smart container module 150 and a user, which is often small, for example, in the communication range, the user is required to contact the smart container for human-vehicle interaction and/or human-cloud interaction, or the user is required to send, for example, voice commands, finger commands, and the like to the smart container for human-vehicle interaction and/or human-cloud interaction. The "human-vehicle interaction" refers to data interaction between a user and the mobile device, and the "human-cloud interaction" refers to data interaction between the user and the cloud scheduling management module 170. The intelligent cargo box module 150 is also used to control intelligent cargo boxes (see fig. 2), such as for goods sale, logistics distribution, security monitoring, etc., and the intelligent cargo box module 150 may implement business triggering for the intelligent cargo boxes, for example.

In this example, the cloud schedule management module 170 interacts with the interface module 140 over a wireless network to receive status information and/or user information. Optionally, the interface module 140 further performs information interaction with the automatic driving module 120, and the cloud scheduling management module 170 obtains a scheduling instruction according to the state information and sends the scheduling instruction to the automatic driving module 120 through the interface module 140; and/or the cloud scheduling management module 170 obtains the service feedback information according to the user information, and sends the service feedback information to the intelligent container module 150 via the interface module 140.

In this example, the cloud scheduling management module 170 takes the interface module 140 as a communication interface, and simultaneously returns the user information and the status information to the cloud scheduling management module 170, so that the cloud scheduling management module 170 is responsible for classification management; meanwhile, the service feedback and the vehicle dispatching command are also issued to the intelligent container module 150 and the automatic driving module 120 through the interface module 140 by the cloud dispatching management module 170, so that cloud-vehicle interaction is realized.

Optionally, the autopilot system 100 further includes an interaction module 180, where the interaction module 180 performs information interaction with the cloud scheduling management module 170 to send an interaction instruction to the cloud scheduling management module 170, and the cloud scheduling management module 170 sends a task instruction to the interface module 140 according to the interaction instruction, where the task instruction includes, for example, an instruction for controlling the smart container module 150 and/or an instruction for controlling the autopilot module 120. The interaction module 180 may be integrated into a software program and/or a hardware module of a mobile device such as a mobile phone, for example, and a user or a worker may send the instruction to the autopilot system 100 through the interaction module 180 in the mobile device, so as to implement remote human-vehicle interaction and/or human cloud interaction.

Optionally, the autopilot system 100 further includes a vehicle to electrical (V2X for short) communication module 160, where the vehicle to electrical communication module 160 is connected to the autopilot module 120 for information interaction with the autopilot module 120, so that information interaction between the mobile device and the external environment 161 can be realized, and the autopilot module 120 drives the chassis module 110 according to external information of the external environment 161. For example, the external information of the external environment 161 includes environment information, monitoring information of a road end, vehicle information around the mobile device, and the like, so that the internet of vehicles communication module 160 can realize data interaction among the cloud end, the road end, and the vehicle end, that is, vehicle-road cooperation can be realized.

As an exemplary illustration, the connection/communication manner of each module in the automatic driving system 100 is: the chassis module 110 is connected with the automatic driving module 120, the interface module 140 and the redundancy control module 130 by a CAN bus; the automatic driving module 120 is connected with the internet of vehicles communication module 160 through a COM interface; the interface module 140 and the intelligent container module 150 communicate with each other by using COM interface connection and/or Local Area Network (LAN); the automatic driving module 120, the interface module 140 and the redundancy control module 130 adopt local area network communication; the cloud scheduling management module 170 communicates with the interface module 140, the redundancy control module 130, and the interaction module 180 via a Wide Area Network (WAN).

The automatic driving system 100 provided by the embodiment of the present disclosure may be applied to or implemented by a calculation processing unit. The computational processing unit may be an integrated circuit chip with signal processing capabilities. The computation processing unit may be a general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf programmable Gate Array (FPGA) or other programmable logic device, discrete Gate or transistor logic device, discrete hardware component. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

Also, those of ordinary skill in the art will appreciate that the various example structures and methods described in connection with the embodiments disclosed herein may be implemented using various configurations or adjustments, with each structure or reasonable variations of the structure, but such implementations should not be considered as beyond the scope of the present disclosure. Furthermore, it should be understood that the connection relationship between the various components of the amplifier in the foregoing figures in the embodiments of the present disclosure is an illustrative example, and does not set any limit to the embodiments of the present disclosure.

As shown in fig. 2, the present disclosure further provides an automatic driving device, where the automatic driving device 200 is equipped with the automatic driving system 100 shown in fig. 1, and can implement information interaction among a user 300, a vehicle end, a cloud end, and a road end.

Further, in order to adapt to diversified business application requirements, the present disclosure provides a standardized intelligent container 210, the intelligent container 210 is a standardized second interface, an intelligent container control module in the automatic driving system 100 is provided with a standardized first interface, the first interface and the second interface both include an electrical interface and a communication interface, so that the upper layer application can be freely adapted to the multifunctional intelligent container under the condition that the interfaces are not changed, such as logistics selling, security monitoring and the like.

The automatic driving apparatus 200 integrates, for example, one or more of a navigation device, a laser radar, a camera, an ultrasonic radar, and a millimeter wave radar on a vehicle body to recognize surrounding environments (e.g., a lane, a pedestrian, a vehicle, a road sign, etc.), and transmits the recognition result to the automatic driving system 100, and an automatic driving module in the automatic driving system 100 controls a movable apparatus to perform automatic driving according to the recognition result.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

In accordance with the embodiments of the present invention as set forth above, these embodiments are not exhaustive and do not limit the utility model to the precise embodiments described. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the utility model and the practical application, to thereby enable others skilled in the art to best utilize the utility model and various embodiments with various modifications as are suited to the particular use contemplated. The utility model is limited only by the claims and their full scope and equivalents.

Claims (10)

1. An autopilot system, comprising:

a chassis module for controlling movement of the movable device;

the automatic driving module is connected with the chassis module and transmits an automatic driving instruction to the chassis module so as to control the movable device to carry out automatic driving; and

and the redundancy control module is connected with the chassis module and transmits a remote control instruction to the chassis module so as to control the movable device to carry out remote driving.

2. The autopilot system of claim 1 further comprising: and the cloud scheduling management module is suitable for providing the remote control instruction for the redundancy control module according to remote control information.

3. The autopilot system of claim 2 further comprising:

an interface module connected to the chassis module to receive status information of the chassis module; and

and the intelligent container module is connected to the interface module, is suitable for information interaction with a user to obtain user information, and transmits the user information to the interface module.

4. The autopilot system of claim 3 further comprising: an interaction module, which interacts information with the cloud scheduling management module to send an interaction instruction to the cloud scheduling management module,

the cloud scheduling management module sends a task instruction to the interface module according to the interaction instruction, and the interface module sends the task instruction to the automatic driving module and/or the intelligent container module.

5. The autopilot system of claim 3 wherein the cloud dispatch management module is in informational communication with the interface module to receive the status information and/or the user information.

6. The autopilot system of claim 3 or 5,

the cloud scheduling management module obtains a scheduling instruction according to the state information and sends the scheduling instruction to the automatic driving module through the interface module; and/or

And the cloud scheduling management module acquires service feedback information according to the user information and sends the service feedback information to the intelligent container module through the interface module.

7. The autopilot system of claim 1 wherein the redundant control module includes:

a sensor unit adapted to collect environmental information around the mobile device; and

a black box recording unit adapted to store at least the environmental information.

8. The autopilot system of claim 7 wherein,

the redundant control module and the automatic driving module carry out information interaction so as to collect the automatic driving information of the automatic driving module,

the redundant control module is further adapted to collect status information of the chassis module,

the redundancy control module stores the automatic driving information and the state information in the black box recording unit.

9. The autopilot system of claim 1 further comprising: and the Internet of vehicles communication module is connected to the automatic driving module so as to perform information interaction with the automatic driving module.

10. The autopilot system of claim 9 wherein the internet of vehicles communication module transmits external information about the mobile device to the autopilot module,

and the automatic driving module drives the chassis module according to the external information.

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