CN216352880U - Education training is with driving car with autopilot function - Google Patents
Education training is with driving car with autopilot function Download PDFInfo
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- CN216352880U CN216352880U CN202120960445.XU CN202120960445U CN216352880U CN 216352880 U CN216352880 U CN 216352880U CN 202120960445 U CN202120960445 U CN 202120960445U CN 216352880 U CN216352880 U CN 216352880U
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Abstract
The utility model relates to a driving vehicle with an automatic driving function for education and training, which comprises a wire control chassis and an outer vehicle body decoration which is positioned above the wire control chassis and is detachably connected with the wire control chassis, wherein an automatic driving system and education accessories are arranged on the outer vehicle body decoration; the platform adopts a modular design and has full-line control capability and an automatic driving function; the system can be matched with an automatic driving experiment course, realizes related requirements of automatic driving research, teaching and training, and can be used as a professional platform for automatic driving technology research and teaching.
Description
Technical Field
The utility model relates to the field of automatic driving vehicle devices for teaching and training, in particular to a driving vehicle with an automatic driving function for education and training.
Background
The automatic driving technology is the current popular research direction and is also a necessary technology for realizing unmanned logistics, unmanned environmental sanitation, unmanned disinfection and the like in the future. The teaching vehicle of the many unmanned vehicles is disclosed in the prior art:
for example, the chinese utility model patent CN211555178U discloses an unmanned automobile teaching vehicle, which comprises a vehicle body, an unmanned control system and a drawable platform, wherein a teaching component in the unmanned control system is assembled on the drawable platform; the teaching assembly comprises a central control machine with high failure frequency, inertial navigation, an inverter for converting voltage and a transformer, the inertial navigation is in communication connection with the central control machine, an open type rear tail door is arranged at the tail part of the vehicle body, and when the open type rear tail door is opened, the drawable platform is driven to extend to the outside of the vehicle body; the camera and the millimeter wave radar in the unmanned control system are assembled on the head of the vehicle body, and the laser radar in the unmanned control system is assembled on the roof of the vehicle. The visibility of parts in the unmanned automobile is greatly improved, students can learn intuitively, and meanwhile, teachers can conveniently add obstacles in the parts without disassembling. The state of the automobile can be observed in real time through the display, obstacles can be found out, the obstacles can be removed through the operation of the keyboard and the mouse, and the practical ability of students can be investigated and exercised.
Still like chinese patent CN212624468U discloses an automatic real teaching aid of keeping away barrier parking of unmanned automobile, this real teaching aid of instructing includes operation chassis, teaching aid car, the operation base includes base, swiveling wheel module, front axle, rear axle, belt, the base is frame construction, and the teaching aid car includes electrical power generating system, traveling system, actuating system, control system. This real standard teaching aid can be as real standard platform in new energy automobile's chassis at ordinary times, let the student observe the structure of each part in new energy pure electric vehicles chassis, when the teacher taught unmanned automobile's automation and kept away barrier parking principle, transfer the teaching aid car into the automatic mode of cruising, make the student closely observe the automatic working process of dodging the barrier of unmanned automobile, cooperation teacher's theoretical explanation, make teaching work more directly perceived, lively, thereby student's study enthusiasm has been transferred, and then teacher's teaching quality and student's learning effect have been improved, let the student master the principle that unmanned automobile dodges the barrier automatically.
In the prior art, the research about the automatic driving technology is generally modified from the mature vehicle type, and the vehicle type specially designed for the education and training of the automatic driving technology is not available; and most of the existing vehicles are demonstration models, and the complete actual automatic driving function cannot be realized.
SUMMERY OF THE UTILITY MODEL
The utility model aims to solve the technical problem of providing a driving vehicle with an automatic driving function for education and training, and aims to overcome the defects in the prior art.
The technical scheme for solving the technical problems is as follows:
a driving vehicle with an automatic driving function for education and training comprises a wire control chassis and an upper vehicle body positioned above the wire control chassis, wherein an automatic driving system is arranged on the upper vehicle body, the automatic driving system collects information around the automatic driving vehicle and generates a control command, and the wire control chassis can control the automatic driving vehicle to drive to a specified position according to the control command;
the automatic driving system comprises a laser radar, a monocular/binocular camera, a high-performance computing unit, a millimeter wave radar, an ultrasonic radar and a combined inertial navigation system; the high-performance computing unit collects information of a laser radar, a monocular/binocular camera, a millimeter wave radar and an ultrasonic radar, and combines environmental information, high-precision positioning and navigation to realize the functions of path navigation and automatic obstacle avoidance;
the upper vehicle body comprises a front vehicle body assembly frame and a rear vehicle body assembly frame, the rear vehicle body assembly frame is provided with a seat, and the outer side of the upper vehicle body is provided with a vehicle body exterior decoration for protection;
the drive-by-wire chassis comprises a chassis frame, wherein a chassis controller is arranged on the chassis frame and is respectively connected with a drive-by-wire steering system, a drive-by-wire brake system, a drive-by-wire parking system and a drive-by-wire driving system through corresponding interfaces, and the drive-by-wire driving system drives tires to rotate; the chassis controller is connected with the steer-by-wire system, the brake-by-wire system and the parking-by-wire system through signal lines; the middle part of the chassis frame is provided with a battery for providing power for a drive-by-wire chassis and a battery management system, and the chassis controller is connected with the high-performance computing unit and used for receiving a control instruction to realize the functions of route navigation of the logistics vehicle and obstacle avoidance of the automatic arm;
furthermore, the outer decoration of the vehicle body is made of plastic or glass fiber reinforced plastic, and the front vehicle body assembly frame and the rear vehicle body assembly frame are round tube steel frames and play a role of supporting the frame;
furthermore, the combined inertial navigation system comprises a combined inertial navigation front antenna positioned in front of the front combined frame and a combined inertial navigation rear antenna positioned behind the rear combined frame; the front display is arranged in the front combined frame and faces the seat, the rear display is arranged in the rear combined frame and faces the rear, and the front display and the rear display are both connected with the high-performance computing unit and used for displaying path navigation and obstacle prompt information in real time;
furthermore, the high-performance computing unit is connected with a handheld control terminal through a wireless module, and the instruction priority of the handheld control terminal is higher than that of the automatic driving system;
furthermore, the laser radar is positioned above the front combined frame, the monocular/binocular camera and the millimeter wave radar are arranged right in front of the front combined frame, and the ultrasonic radars are distributed on the outer sides of the periphery below the upper vehicle body and used for detecting the surrounding environment of the driving vehicle; rear-view mirrors are arranged on two sides of the front combined frame; the high-performance computing unit is arranged in a frame below the front combined frame;
furthermore, the laser radar is fixed on the front combined frame through an adjustable support, the adjustable support comprises a base, a lower platform, a middle platform and an upper platform, and the angle and the position of the laser radar can be adjusted through adjusting the positions of the lower platform, the middle platform and the upper platform; the laser radar is fixed on the upper platform through screws, the upper platform is provided with an upper platform joint, the middle platform is provided with a middle platform joint, the middle platform joint comprises an upper joint and a middle platform lower joint, the upper platform joint and the middle platform upper joint are connected through bolts, the upper platform joint is provided with a U-shaped hole, and the position of the U-shaped hole of the upper platform and the bolts are changed through moving the upper platform so as to adjust the angle of the upper platform; the lower platform is provided with a lower platform joint, the lower platform joint is provided with a U-shaped hole, the lower joint of the middle platform is connected with the lower platform through a bolt, and the position of the U-shaped hole of the lower platform and the bolt are changed through the movable middle platform so as to adjust the angle of the middle platform; the lower platform is connected with the base through a rotating shaft to drive the laser radar to rotate;
furthermore, the monocular/binocular camera is fixed through an adjustable support, the adjustable support comprises a base, a lower platform and an upper platform, and the angle and the position of the camera are adjusted through the adjustment of the upper platform and the lower platform through the position relation between the joint of the upper platform and the joint of the lower platform; the base is fixed on the front combined frame through bolts; the monocular/binocular camera is connected with the upper platform through an L-shaped bracket;
the utility model has the beneficial effects that: the utility model is a brand-new automatic driving low-speed vehicle platform which is oriented to the automatic driving technology research, teaching, training and landing application services and integrates functional modules such as a full-line control chassis, a vehicle gauge-level controller, a sensing/positioning/planning/control system and the like; the platform adopts a modular design and has full-line control capability and an automatic driving function; the system can be matched with an automatic driving experiment course, realizes related requirements of automatic driving research, teaching and training, and can be used as a professional platform for automatic driving technology research and teaching.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of a drive-by-wire chassis according to the present invention;
FIG. 3 is a schematic structural view of the upper vehicle body of the present invention;
FIG. 4 is a schematic structural diagram of an automatic navigation system for the upper vehicle body according to the present invention;
FIG. 5 is a schematic view of a laser radar mount according to the present invention;
FIG. 6 is a schematic view of a monocular/binocular camera mount according to the present invention;
the reference numerals are explained below:
1. a drive-by-wire chassis, 11, chassis frame, 12, chassis controller, 13, steer-by-wire system, 14, brake-by-wire system, 15, park-by-wire system, 16, drive-by-wire system, 17, battery and battery management system 2, upper body, 21, front body assembly, 22, rear body assembly, 23, seat, 24, exterior body, 25, rear view mirror, 3, autopilot system, 31, lidar, 32, monocular/binocular camera, 33, high performance computing unit, 34, millimeter wave radar, 35, ultrasonic radar, 36, combined inertial navigation front antenna, 37, combined inertial navigation rear antenna, 38, front display, 39, rear display, 41, base, 42, lower platform, 43, middle platform, 44, upper platform, 45, upper platform joint, 46, middle platform joint, 47, lower platform joint;
Detailed Description
The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the utility model.
As shown in fig. 1, a driving vehicle for education and training with an automatic driving function comprises a wire control chassis 1 and an upper vehicle body 2 positioned above the wire control chassis 1, wherein an automatic driving system 3 is arranged on the upper vehicle body, the automatic driving system 3 collects information around the automatic driving vehicle and generates a control command, and the wire control chassis 1 can control the automatic driving vehicle to drive to a specified position according to the control command;
the automatic driving system comprises a laser radar 31, a monocular/binocular camera 32, a high-performance computing unit 33, a millimeter wave radar 34, an ultrasonic radar 35 and a combined inertial navigation system; the high-performance computing unit collects information of a laser radar, a monocular/binocular camera, a millimeter wave radar and an ultrasonic radar, and combines environmental information, high-precision positioning and navigation to realize the functions of path navigation and automatic obstacle avoidance;
as shown in fig. 3, the upper vehicle body includes a front vehicle body assembly frame 21 and a rear vehicle body assembly frame 22, the rear vehicle body assembly frame is provided with a seat 23, and a vehicle body exterior 24 for protection is arranged on the outer side of the upper vehicle body;
as shown in fig. 2, the drive-by-wire chassis 1 includes a chassis frame 11, which has a chassis controller 12 connected to a steering-by-wire system 13, a brake-by-wire system 14, a parking-by-wire system 15, and a drive-by-wire system 16 through corresponding interfaces, respectively, the drive-by-wire system driving the tires to rotate; the chassis controller is connected with the steer-by-wire system, the brake-by-wire system and the parking-by-wire system through signal lines; the middle part of the chassis frame is provided with a battery and battery management system 17 for providing power for a drive-by-wire chassis, and the chassis controller is connected with the high-performance computing unit and used for receiving a control instruction so as to realize the functions of route navigation of the logistics vehicle and obstacle avoidance of the automatic arm;
through the arranged automatic driving system, functional modules including perception positioning, planning decision, control execution and the like are arranged on the system software level. The sensing part realizes the acquisition of environmental information and the target recognition, utilizes sensors such as laser radar, millimeter wave radar, single/double-eye camera, ultrasonic radar and the like, combines the advantages and the disadvantages of the sensors, supplements each other, realizes the environment sensing capabilities of 360-degree omnibearing obstacle detection, traffic light recognition and the like of the automatic driving vehicle, and ensures the driving safety of the vehicle. The positioning part adopts the data fusion of various sensors such as a global positioning system (GNSS), an inertial navigation unit (IMU), a laser radar and the like to realize the high-precision positioning of the vehicle, and even if the automatic driving vehicle is seriously shielded by GNSS signals and cannot provide positioning information with stable precision, the automatic positioning part still has the high-precision autonomous positioning capability by utilizing the supplement of the IMU and the laser radar.
And the planning decision module makes a decision on how to drive by combining the self state, the peripheral obstacle information, the map and other data obtained by the perception and positioning module, and determines whether the vehicle keeps a lane, changes the lane or parks. And then, the path planner is used for finishing the output of the planned track, so that the automatic driving vehicle can know how to walk. The control execution module is used as the tail end of the automatic driving system and is connected with the drive-by-wire chassis, and the control over the systems of vehicle power, braking, steering and the like is completed according to the planned track, so that the automatic driving vehicle can smoothly and safely complete the automatic driving function.
Preferably, the vehicle body exterior trim is made of plastic or glass fiber reinforced plastic, and the front vehicle body assembly frame and the rear vehicle body assembly frame are round tube steel frames and play a role of supporting frames;
preferably, as shown in fig. 4, the combined inertial navigation system includes a combined inertial navigation front antenna 36 located in front of the front combined frame and a combined inertial navigation rear antenna 37 located in rear of the rear combined frame; a front display 38 is arranged in the front combined frame and opposite to the seat, a rear display 39 is arranged in the rear combined frame and opposite to the rear, and the front display and the rear display are both connected with a high-performance computing unit and used for displaying path navigation and obstacle prompt information in real time;
as a further optimization and improvement of the technical scheme of the utility model, the high-performance computing unit is connected with a handheld control terminal through a wireless module, and the instruction priority of the handheld control terminal is higher than that of an automatic driving system;
when the teaching device is used specifically, a teacher controls the automatic driving system to work through the handheld control terminal, the automatic driving vehicle sends an instruction to the online control chassis under the instruction control of the automatic driving system to realize automatic driving, a student sits on a seat of the driving vehicle, unmanned path navigation and obstacle information are watched in real time through the front display, the student closely observes the working process of the unmanned vehicle for automatically avoiding obstacles, and the teaching device is matched with the theoretical explanation of the teacher to enable teaching work to be more visual and vivid.
Once the driving vehicle breaks down or the path planning fails and other problems occur, the teacher can take over the driving vehicle through the handheld control terminal and control the driving vehicle manually, so that danger is avoided.
As a further optimization of the technical scheme of the utility model, the laser radar is positioned above the front combined frame, the monocular/binocular camera and the millimeter wave radar are arranged right in front of the front combined frame, and the ultrasonic radars are distributed on the outer sides of the periphery below the upper vehicle body and are used for detecting the environment around the driving vehicle; rear-view mirrors are arranged on two sides of the front combined frame; the high-performance computing unit is arranged in a frame below the front combined frame;
preferably, as shown in fig. 5, the lidar is fixed on the front combination vehicle frame through an adjustable bracket, the adjustable bracket includes a base 41, a lower platform 42, a middle platform 43 and an upper platform 44, and the adjustment of the angle and the position of the lidar can be realized through the position adjustment on the lower platform, the middle platform and the upper platform; the laser radar is fixed on the upper platform through screws, the upper platform is provided with an upper platform joint 45, the middle platform is provided with a middle platform joint 46, the middle platform joint comprises an upper joint and a middle platform lower joint, the upper platform joint and the middle platform upper joint are connected through bolts, the upper platform joint is provided with a U-shaped hole, and the position of the U-shaped hole of the upper platform and the bolts are changed through moving the upper platform so as to adjust the angle of the upper platform; the lower platform is provided with a lower platform joint 47, the lower platform joint is provided with a U-shaped hole, the lower joint of the middle platform is connected with the lower platform through a bolt, and the position of the U-shaped hole of the lower platform and the bolt are changed through the movable middle platform so as to adjust the angle of the middle platform; the lower platform is connected with the base through a rotating shaft to drive the laser radar to rotate;
preferably, as shown in fig. 6, the monocular/binocular camera is fixed by an adjustable bracket, the adjustable bracket comprises a base, a lower platform and an upper platform, and the adjustment of the angle and the position of the camera is realized by adjusting the upper platform and the lower platform through the position relation between the joint of the upper platform and the joint of the lower platform; the base is fixed on the front combined frame through bolts; the monocular/binocular camera is connected with the upper platform through an L-shaped bracket;
the above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the utility model, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (7)
1. The utility model provides an education and training is with driving car with autopilot function which characterized in that: the automatic driving system is arranged on the upper vehicle body, the automatic driving system collects surrounding information of the automatic driving vehicle and generates a control instruction, and the drive-by-wire chassis can control the automatic driving vehicle to run to a specified position according to the control instruction;
the automatic driving system comprises a laser radar, a monocular/binocular camera, a high-performance computing unit, a millimeter wave radar, an ultrasonic radar and a combined inertial navigation system; the high-performance computing unit collects information of a laser radar, a monocular/binocular camera, a millimeter wave radar and an ultrasonic radar, and combines environmental information, high-precision positioning and navigation to realize the functions of path navigation and automatic obstacle avoidance;
the upper vehicle body comprises a front vehicle body assembly frame and a rear vehicle body assembly frame, the rear vehicle body assembly frame is provided with a seat, and the outer side of the upper vehicle body is provided with a vehicle body exterior decoration for protection;
the drive-by-wire chassis comprises a chassis frame, wherein a chassis controller is arranged on the chassis frame and is respectively connected with a drive-by-wire steering system, a drive-by-wire brake system, a drive-by-wire parking system and a drive-by-wire driving system through corresponding interfaces, and the drive-by-wire driving system drives tires to rotate; the chassis controller is connected with the steer-by-wire system, the brake-by-wire system and the parking-by-wire system through signal lines; the middle part of the chassis frame is provided with a battery for providing power for a drive-by-wire chassis and a battery management system, and the chassis controller is connected with the high-performance computing unit and used for receiving a control instruction, so that the functions of logistics vehicle path navigation and automatic arm obstacle avoidance are realized.
2. The driving cart for educational training with an automatic driving function according to claim 1, wherein: the automobile body exterior trim is a plastic piece or a glass fiber reinforced plastic material, and the front automobile body assembly frame and the rear automobile body assembly frame are round tube steel frames and play a role of supporting frames.
3. The driving cart for educational training with an automatic driving function according to claim 2, wherein: the combined inertial navigation system comprises a combined inertial navigation front antenna positioned in front of the front combined frame and a combined inertial navigation rear antenna positioned behind the rear combined frame; the front display is arranged in the front combined frame and faces the seat, the rear display is arranged in the rear combined frame and faces the rear, and the front display and the rear display are connected with the high-performance computing unit and used for displaying path navigation and obstacle prompt information in real time.
4. The driving cart for educational training with an automatic driving function according to claim 3, wherein: the high-performance computing unit is connected with the handheld control terminal through the wireless module, and the instruction priority of the handheld control terminal is higher than that of the automatic driving system.
5. The driving cart for educational training with an automatic driving function according to claim 4, wherein: the laser radar is positioned above the front combined frame, the monocular/binocular camera and the millimeter wave radar are arranged right in front of the front combined frame, and the ultrasonic radars are distributed on the outer sides of the periphery below the upper vehicle body and used for detecting the environment around the driving vehicle; rear-view mirrors are arranged on two sides of the front combined frame; the high-performance computing unit is arranged in a frame below the front combined vehicle frame.
6. The driving cart for educational training with an automatic driving function according to claim 5, wherein: the laser radar is fixed on the front combined frame through an adjustable support, the adjustable support comprises a base, a lower platform, a middle platform and an upper platform, and the angle and the position of the laser radar can be adjusted through the position adjustment on the lower platform, the middle platform and the upper platform; the laser radar is fixed on the upper platform through screws, the upper platform is provided with an upper platform joint, the middle platform is provided with a middle platform joint, the middle platform joint comprises an upper joint and a middle platform lower joint, the upper platform joint and the middle platform upper joint are connected through bolts, the upper platform joint is provided with a U-shaped hole, and the position of the U-shaped hole of the upper platform and the bolts are changed through moving the upper platform so as to adjust the angle of the upper platform; the lower platform is provided with a lower platform joint, the lower platform joint is provided with a U-shaped hole, the lower joint of the middle platform is connected with the lower platform through a bolt, and the position of the U-shaped hole of the lower platform and the bolt are changed through the movable middle platform so as to adjust the angle of the middle platform; the lower platform is connected with the base through a rotating shaft to drive the laser radar to rotate.
7. The driving cart for educational training with an automatic driving function according to claim 6, wherein: the monocular/binocular camera is fixed through an adjustable support, the adjustable support comprises a base, a lower platform and an upper platform, and the angle and the position of the camera are adjusted through the upper platform and the lower platform through the adjustment of the position relation between the joint of the upper platform and the joint of the lower platform; the base is fixed on the front combined frame through bolts; the monocular/binocular camera is connected with the upper platform through the L-shaped support.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120960445.XU CN216352880U (en) | 2021-05-07 | 2021-05-07 | Education training is with driving car with autopilot function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120960445.XU CN216352880U (en) | 2021-05-07 | 2021-05-07 | Education training is with driving car with autopilot function |
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| Publication Number | Publication Date |
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| CN216352880U true CN216352880U (en) | 2022-04-19 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202120960445.XU Active CN216352880U (en) | 2021-05-07 | 2021-05-07 | Education training is with driving car with autopilot function |
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2021
- 2021-05-07 CN CN202120960445.XU patent/CN216352880U/en active Active
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