CN106926843A - A kind of automatic Pilot control system and control method for electric automobile of going sightseeing - Google Patents
A kind of automatic Pilot control system and control method for electric automobile of going sightseeing Download PDFInfo
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- CN106926843A CN106926843A CN201710161378.3A CN201710161378A CN106926843A CN 106926843 A CN106926843 A CN 106926843A CN 201710161378 A CN201710161378 A CN 201710161378A CN 106926843 A CN106926843 A CN 106926843A
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- 230000004888 barrier function Effects 0.000 claims description 24
- 238000012545 processing Methods 0.000 claims description 10
- 230000005540 biological transmission Effects 0.000 claims description 9
- 238000011897 real-time detection Methods 0.000 claims description 7
- 230000002093 peripheral effect Effects 0.000 claims description 6
- 230000005611 electricity Effects 0.000 claims description 2
- 238000010304 firing Methods 0.000 claims 1
- 230000000875 corresponding effect Effects 0.000 description 8
- 230000001133 acceleration Effects 0.000 description 4
- 230000001276 controlling effect Effects 0.000 description 4
- 230000010365 information processing Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000002604 ultrasonography Methods 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/403—Image sensing, e.g. optical camera
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/408—Radar; Laser, e.g. lidar
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
- B60W2555/20—Ambient conditions, e.g. wind or rain
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a kind of automatic Pilot control system and control method for electric automobile of going sightseeing, belong to electric automobile field.The automatic Pilot control system, including controller in the car is set, it is connected with electronic control unit and power supply respectively by data line and power line.It is arranged on the camera on front windshield.The laser radar on roof is arranged on, the horizontal radiation angle of laser radar is 360 °.Multiple ultrasonic radars of vehicle body both sides are uniformly arranged on, and radiating surface is parallel with both sides side.Camera, laser radar, ultrasonic radar are connected with controller and power supply respectively by data line and power line.Controller is used for the data message of real-time reception camera, laser radar and ultrasonic radar detection and processes, and then sends control instruction to control the transport condition of electric automobile to electronic control unit in real time.The detection accuracy of the automatic Pilot control system is high, can low speed, safely travel, be easy to visitor to view and admire.
Description
Technical field
The present invention relates to electric automobile field, more particularly to a kind of automatic Pilot control system for electric automobile of going sightseeing
And control method.
Background technology
With the progress of society, ridden instead of walk using tour bus more than the people of the occasions such as scenic spot, garden.Wherein, it is electronic
Automobile because with it is environmentally safe the characteristics of and be used as tour bus more.It is existing because the occasions such as scenic spot, garden are crowded
Sightseeing electric automobile generally requires the special driver of outfit and carries out driver behavior, and this needs to put into a large amount of manpowers and fund.And
And, for sightseeing electric automobile, its travel speed is slow, and the human pilot control need not with high-tech drives.Base
Understood in above-mentioned, there is provided a kind of automatic Pilot control system for electric automobile of going sightseeing is very necessary.
Used as correlation technique, prior art provides a kind of automatic Pilot control system for electric automobile, the control
System includes：Controller in the car is set, by data line and power line respectively with in-car electronic control unit and
Power supply is connected；Also include two cameras, the spacing sense that are connected with controller and power supply respectively by data line and power supply
Answer unit, anemobiagraph.Specifically, spacing sensing unit is four radars or laser range finder, is separately positioned on the front and rear of vehicle body
At four orientation in left and right, for measuring the distance between vehicle body and barrier.Two cameras are separately positioned on electric automobile
On the symmetrical line of front and rear windshield, for gathering road conditions.Anemobiagraph, is arranged on roof, the transverse direction for detecting vehicle body
Wind speed.The electric automobile in the process of moving, two cameras, spacing sensing unit, the corresponding data of anemobiagraph real-time detection
Information is simultaneously transferred to controller, and controller receiving data information is simultaneously real-time to electronic control unit transmission control instruction, works as shooting
Either component detects the information that the electric automobile continues to be travelled with original state that is not suitable in head, spacing sensing unit, anemobiagraph
When, controller changes the control instruction of original transport condition by being sent to electronic control unit, so that electric automobile makes a change
Speed, steering, braking etc. are acted, to ensure that the electric automobile drives safely.The electric automobile is applied to runs at high speed, it is to avoid horizontal
The aweather steering on electric automobile produces influence.
Inventor has found that prior art at least has problems with：
The automatic Pilot control system that prior art is provided coordinates camera, spacing sensing unit to detect road by anemobiagraph
Condition simultaneously makes electric automobile safely run at high speed, by anemobiagraph is detected for the wind speed that the electric automobile run at high speed is born
It is sensitive, and road conditions can not be accurately detected under conditions of running at a low speed, it is not suitable for the electric automobile gone sightseeing.
The content of the invention
Embodiment of the present invention technical problem to be solved is, there is provided it is a kind of can be accurate under conditions of running at a low speed
Ground detection road conditions, it is adaptable to the automatic Pilot control system and control method of electric automobile of going sightseeing.Concrete technical scheme is as follows：
In a first aspect, the embodiment of the invention provides a kind of automatic Pilot control system for electric automobile of going sightseeing, wrap
Include and controller in the car be set, the controller by data line and power line respectively with in-car electronic control unit
Connected with power supply, the electronic control unit is used to control the transport condition of electric automobile；It is arranged on taking the photograph on front windshield
As head.
The control system also includes：The laser radar on roof is arranged on, the horizontal radiation angle of the laser radar is
360°；It is uniformly arranged on multiple ultrasonic radars of vehicle body both sides, and the radiating surface of the ultrasonic radar and the vehicle body two
The side of side is parallel；The camera, the laser radar, the ultrasonic radar pass through data line and sub-power source line
It is not connected with the controller and the power supply.
The controller is used for the detection of camera described in real-time reception, the laser radar and the ultrasonic radar
Data message is simultaneously processed, and then sends control instruction to control the traveling shape of electric automobile to the electronic control unit in real time
State.
Specifically, preferably, the data line is ethernet line or CAN bus.
Specifically, preferably, being provided with the data reception module of electrical connection, data processing module in the controller；
The camera and the laser radar pass through the first ethernet line and the second ethernet line and the data reception module respectively
Connection；Multiple ultrasonic radars are connected by the first CAN bus with the data reception module；It is described
Electronic control unit is connected by second controller Area Network bus with the data processing module.
Specifically, preferably, the camera is binocular camera；The camera is located at room mirror lower section.
Specifically, preferably, the vertical radiation angle of the laser radar is -15 ° -15 °；The laser radar is apart from institute
The distance for stating roof front end is the 1/5-1/4 of the roof fore-and-aft direction length.
Specifically, preferably, the number of the ultrasonic radar is eight, the vehicle body two is oppositely disposed at two-by-two
Side.
Specifically, preferably, the system also includes being arranged on the man-machine interface of the in-car；The man-machine interface is led to
Data line and power line is crossed to be connected with the controller and the power supply respectively.
Specifically, preferably, the automatic Pilot control system also includes the vehicle mounted guidance being arranged on the roof
Instrument；The automatic navigator is connected by power line with the power supply.
Second aspect, the embodiment of the invention provides the control method of above-mentioned automatic Pilot control system, the controlling party
Method is as follows：
Around camera, laser radar, the wheeled area road conditions of ultrasonic radar difference real-time detection vehicle front, vehicle body
Barrier situation, vehicle body both sides barrier situation, and the data message real-time Transmission that will be separately detected is to controller, the control
Device processed receives the data message and processes, and then control instruction is sent to electronic control unit in real time, so that at electric automobile
In the automatic Pilot state of safety.
The beneficial effect that technical scheme provided in an embodiment of the present invention is brought is：
Automatic Pilot control system for electric automobile of going sightseeing provided in an embodiment of the present invention, by setting horizontal radiation
Angle is 360 ° of laser radar, is easy to detect the road conditions in vehicle body peripheral extent.Uniformly set by the side of vehicle body both sides
Multiple ultrasonic radars are put, is easy to detect the barrier situation in vehicle body two side areas, detected with making up laser radar
Vehicle body both sides blind area.By setting camera, it is easy to detect the barrier situation in vehicle front wheeled region.Pass through
Data line connects camera, laser radar, ultrasonic radar and controller, is easy to controller to receive camera, laser
Data message that radar, ultrasonic radar are detected simultaneously is processed, and then sends control instruction to electronic control unit, to ensure to make
With the electric automobile of the automatic Pilot control system in the occasion such as scenic spot, garden low speed, safety traffic.It can be seen that, the present invention is implemented
Example provide the automatic Pilot control system for electric automobile of going sightseeing detection accuracy it is high, can low speed, safety traffic, be easy to
Visitor views and admires.
Brief description of the drawings
Technical scheme in order to illustrate more clearly the embodiments of the present invention, below will be to that will make needed for embodiment description
Accompanying drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the present invention, for
For those of ordinary skill in the art, on the premise of not paying creative work, other can also be obtained according to these accompanying drawings
Accompanying drawing.
Fig. 1 is the annexation schematic diagram of automatic Pilot control system provided in an embodiment of the present invention；
Fig. 2 is layout drawing of the automatic Pilot control system provided in an embodiment of the present invention on sightseeing electric automobile.
Wherein, reference is represented respectively：
1 controller,
2 electronic control units,
3 cameras,
4 laser radars,
5 ultrasonic radars,
6 man-machine interfaces.
Specific embodiment
Unless otherwise defined, all technical terms used by the embodiment of the present invention are respectively provided with usual with those skilled in the art
The identical implication of understanding.To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with accompanying drawing to this hair
Bright implementation method is described in further detail.
In a first aspect, a kind of automatic Pilot control system for electric automobile of going sightseeing is the embodiment of the invention provides, such as
Shown in accompanying drawing 1 and accompanying drawing 2, the system includes setting controller 1 in the car, and controller 1 passes through data line and power line
It is connected with in-car electronic control unit 2 and power supply respectively, electronic control unit 2 is used to control the transport condition of electric automobile.
It is arranged on the camera 3 on front windshield.Further, the control system also includes：It is arranged on the laser radar on roof
4, the horizontal radiation angle of laser radar 4 is 360 °.It is uniformly arranged on multiple ultrasonic radars 5 of vehicle body both sides, and ultrasonic wave thunder
Radiating surface up to 5 is parallel with the side of vehicle body both sides.Camera 3, laser radar 4, ultrasonic radar 5 pass through data line
It is connected with controller 1 and power supply respectively with power line.Controller 1 is used for real-time reception camera 3, laser radar 4 and ultrasound
The data message of the detection of ripple radar 5 is simultaneously processed, and then sends control instruction to control electric automobile to electronic control unit 2 in real time
Transport condition.
Below with regard to the operation principle of the automatic Pilot control system for electric automobile of going sightseeing provided in an embodiment of the present invention
Give and describe：
Camera 3 in the automatic Pilot control system is used for the road conditions in the wheeled area of real-time detection vehicle front；Swash
Optical radar 4 is used in real-time detection vehicle body peripheral extent (being in border circular areas of the center of circle to external radiation i.e. with laser radar 4)
Barrier situation；Multiple ultrasonic radars 5 are used for barrier situation of the real-time detection in the region of the vehicle body left and right sides, and more
Mend the blind area of the vehicle body both sides of the detection of laser radar 4.Camera 3, laser radar 4, multiple ultrasonic radar 5 coordinates can be accurately
The barrier situation around vehicle body, and the data information transfer that will be real-time detected are detected to controller 1, controller 1 is received
Control instruction is simultaneously sent to electronic control unit 2 (European Currency Unit, abbreviation by processing data information in real time
ECU), electronic control unit 2 receives control instruction and is transferred to corresponding motor unit (such as steering unit, brake unit, drive
Moving cell etc.), motor unit makes corresponding action so that the electric automobile is in the occasion such as scenic spot, garden low speed, safely drive
Sail.
It should be noted that electronic control unit 2 (ECU) is the core component of electric automobile, for controlling electric automobile
E-Gas, electronic gear (drive shift, reverse gear and neutral gear), car light, steering-by-wire, brake-by-wire etc., in order to control
The various transport conditions of electric automobile.Ultrasonic radar 5 can detect the barrier situation in vehicle body two side areas, laser
Radar 4 is arranged on roof, detects the barrier situation in the border circular areas with laser radar 4 as the center of circle, near vehicle body two
The region laser radar 4 of side is difficult to detect, and ultrasonic radar 5 can make up the blind area just.Horizontal radiation angle is laser
The angle that all laser beams that radar 4 is launched are formed after being vertically projected on horizontal plane, the horizontal radiation angle of laser radar 4
It it is 360 °, i.e., the upright projection of its all laser beam is border circular areas.
Automatic Pilot control system for electric automobile of going sightseeing provided in an embodiment of the present invention, by setting horizontal radiation
Angle is 360 ° of laser radar 4, is easy to detect the road conditions in vehicle body peripheral extent.By uniform on the side of vehicle body both sides
Multiple ultrasonic radars 5 are set, are easy to detect the barrier situation in vehicle body two side areas, visited with making up laser radar 4
The blind area of the vehicle body both sides of survey.By setting camera 3, it is easy to detect the barrier situation in vehicle front wheeled region.
Camera 3, laser radar 4, ultrasonic radar 5 is connected with controller 1 by data line, be easy to controller 1 to connect in real time
Receive camera 3, the data message that laser radar 4, ultrasonic radar 5 are detected and process, then sent to electronic control unit 2
Control instruction, to ensure the electric automobile for using the automatic Pilot control system in the occasion such as scenic spot, garden low speed, security row
Sail.It can be seen that, the detection accuracy of the automatic Pilot control system for electric automobile provided in an embodiment of the present invention is high, can be low
Speed, safety traffic, are easy to visitor to view and admire.
Data line be ethernet line or CAN bus, wherein, controller local area network
(Controller Area Network) bus is referred to as CAN.Ethernet line has big with roomy, data communication capacity
Advantage, can remote transmission.CAN uses short frame structure, and real-time is good, reliability is high, transmission rate is fast, in data load
Will not also be collapsed when heavier.Ethernet or CAN can be ensured in the automatic Pilot control system as data line
The real time high-speed of controller 1 ground receive data message, and can make controller 1 that control instruction real time high-speed is transferred into Electronic Control
Unit 2, and then make electronic control unit 2 control electric automobile to drive safely.
Data reception module, the data processing module of electrical connection are provided with controller 1；4 points of camera 3 and laser radar
Not Tong Guo the first ethernet line and the second ethernet line be connected with data reception module；Multiple ultrasonic radars 5 are by the first control
Device Area Network bus processed are connected with data reception module；Electronic control unit 2 by second controller Area Network bus with
Data processing module is connected.Data reception module is provided with controller 1 and data processing module is easy to the controller 1 to receive number
According to sending control instruction after information processing.Because the data message amount that camera 3 and laser radar 4 are detected is larger, preferably have
The too netting twine for having the big feature of message capacity makes camera 3 and laser radar 4 are connected with data reception module respectively.And multiple ultrasounds
Ripple radar 5 needs detection to be real-time close to the barrier situation of vehicle body both sides, and electronic control unit 2 needs to connect real-time
The control instruction that admission controller 1 sends, preferably with real-time it is good, reliability is high, the CAN of transmission rate fast feature difference
Multiple ultrasonic radars 5 are made to be connected with data processing module with data reception module, electronic control unit 2.
Camera 3 is binocular camera, and camera 3 is located at room mirror lower section, in order to drive simulating person's observation car
The wheeled area in front, and the data message of distance between camera 3 and barrier can be accurately acquired.Binocular camera master
To rely on two cameras of parallel arrangement to produce parallax, the institute of same object is a little all found, rely on accurate triangle
Range finding, and then calculate the distance between camera 3 and preceding object thing.
The vertical radiation angle of laser radar 4 is -15 ° -15 °, the vertical radiation angle of such as laser radar 4 can for -15 °, -
10 °, -5 °, 0 °, 5 °, 10 °, 15 ° etc., in order to the highdensity detecting laser beam that launches laser radar 4 to circular nearby
The barrier of different volumes in region.Distance of the laser radar 4 apart from roof front end is the 1/5-1/ of roof fore-and-aft direction length
4, in order to make laser radar 4 be located on the midpoint of the front and rear line of symmetry of vehicle body, and then vehicle body is detected positioned at laser radar 4
Border circular areas middle part, the barrier situation of vehicle body peripheral region is detected in order to the maximum magnitude of laser radar 4.As excellent
Choosing, laser radar 4 is 16 line laser radars, and in order to high accuracy, expeditiously radius of investigation is about in 20 meters of border circular areas
Barrier situation.
It should be noted that all of laser beam and datum water level that vertical radiation angle is launched by laser radar 4
Between angle project on perpendicular after the angle that is formed."-" in angle represents laser beam below datum water level.
The number of ultrasonic radar 5 can have multiple, it is cost-effective, make up the investigative range blind area of laser radar 4 before
Put, preferably the number of ultrasonic radar 5 is eight, vehicle body both sides is oppositely disposed at two-by-two, referring to accompanying drawing 2, with accurately
Barrier situation of the detection near vehicle body both sides.
Automatic Pilot control system provided in an embodiment of the present invention also includes setting man-machine interface 6 in the car；Man-machine boundary
Face 6 is connected with controller 1 and power supply respectively by data line and power line.Wherein, (the Human Machine of man-machine interface 6
Interaction) abbreviation HMI, when user's control man-machine interface 6, that is, when touching the button on the display screen of man-machine interface 6,
Man-machine interface 6 will receive control signal, and control signal is transferred into controller 1, and controller 1 receives control signal and processes,
Then control instruction is sent to the electronic control unit 2 of electric automobile, in order to realize that user controls the fortune of electric automobile manually
Row state.For example, the buttons such as startup, stopping, acceleration, deceleration can be set on the display screen of man-machine interface 6, in order to
Family controls the running status of electric automobile manually；A danger button is additionally provided with display screen, sightseeing electricity is made in order to user
Electrical automobile realizes brake hard.
Additionally, man-machine interface 6 can also be set by way of remote control, in order to not in sightseeing electric automobile
User controls the transport condition of electric automobile away from the user of man-machine interface 6 by mobile phone.The mode of remote control is needed
App softwares to be installed in mobile phone in passenger, you can realize that mobile phone is connected with car so as to control controller 1 by car networking, and then
Control electronic control unit 2, so that wish automatic Pilot of the sightseeing electric automobile according to passenger.
Automatic Pilot control system for electric automobile provided in an embodiment of the present invention also includes being arranged on roof
Automatic navigator；Automatic navigator is connected by power line with power supply.Wherein, automatic navigator can be global positioning system
(Global Positioning System) navigator abbreviation GPS navigator, GPS navigator is by receiving satellite-signal come right
Electric automobile is positioned or navigated, and can voice broadcast and or map denotation by way of provide the user road
Line information.
Second aspect, the embodiment of the present invention additionally provides the above-mentioned automatic Pilot control system for electric automobile of going sightseeing
Control method, the control method is as follows：
Camera 3, laser radar 4, ultrasonic radar 5 distinguish wheeled area road conditions, the vehicle body of real-time detection vehicle front
Peripheral obstacle situation, vehicle body both sides barrier situation, and the data message real-time Transmission that will be separately detected is to controller 1,
Controller 1 receives data message and processes, and then control instruction is sent to electronic control unit 2 in real time, so that electronic vapour of going sightseeing
Car is in the automatic Pilot state of safety.
The control method can accurately detect the barrier situation around vehicle body, and then be easy to controller 1 to electronics
Control unit 2 sends accurate control instruction, so that sightseeing electric automobile low speed, safely automatic in occasions such as scenic spot, gardens
Traveling, in order to viewing and admiring for people.
Camera 3, laser radar 4, multiple ultrasonic radars 5 will real-time detect the data message of various different road conditions,
And real-time Transmission is to controller 1, the processing data information of controller 1 and in real time to the transmission control instruction of electronic control unit 2, so that
Sightseeing electric automobile low speed, safely automatic Pilot.For example, it is given below when facing three kinds of road conditions, the automatic Pilot control
The solution of system processed：
When camera 3 and laser radar 4 detect sightseeing electric automobile front barrier, or work as ultrasonic radar
When there is barrier in 5 left sides or right side for detecting vehicle body, to electronic control unit after the reception corresponding data information processing of controller 1
2 send course changing control instruction and deceleration control instruction, then electronic control unit 2 controls steering unit (such as steering wheel) and drives
Unit (such as car stop) makes corresponding steering and speed-down action to clear side.
When camera 3 and laser radar 4 detect sightseeing electric automobile all is clear ahead, and ultrasonic radar
When the vehicle body left side of 5 detections and right side clear, to electronic control unit 2 after the reception corresponding data information processing of controller 1
Straight movement control instruction is sent, then the control of electronic control unit 2 sightseeing electric automobile maintains the original state traveling.Now, user also may be used
Make the sightseeing electric automobile acceleration or deceleration with by the acceleration or deceleration button in man-machine interface 6.
Soon enter dead angle (i.e. automobile when camera 3, laser radar 4, ultrasonic radar 5 detect sightseeing electric automobile
Front, left, right have barrier) when, controller 1 is sent out after receiving corresponding data information processing to electronic control unit 2
The control instruction for send deceleration, reversing, turning to, the control of electronic control unit 2 deceleration unit, reversing unit (such as car stop), steering
Unit makes corresponding deceleration, reversing, go to action, so that the sightseeing electric automobile leaves dead angle.
User can make automobile starting or stopping after getting on the bus by controlling the button that starts or stops in man-machine interface 6,
Change the travel speed of sightseeing electric automobile by controlling acceleration or deceleration button.
Presently preferred embodiments of the present invention is the foregoing is only, the protection domain being not intended to limit the invention is all in this hair
Within bright spirit and principle, any modification, equivalent substitution and improvements made etc. should be included in protection scope of the present invention
Within.
Claims (9)
1. a kind of automatic Pilot control system for electric automobile of going sightseeing, including setting controller (1) in the car, the control
Device (1) processed is connected with in-car electronic control unit (2) and power supply respectively by data line and power line, the electronics control
Unit (2) processed is for controlling the transport condition of electric automobile；
It is arranged on the camera (3) on front windshield；
Characterized in that, the control system also includes：The laser radar (4) on roof is arranged on, the laser radar (4)
Horizontal radiation angle is 360 °；
Be uniformly arranged on multiple ultrasonic radars (5) of vehicle body both sides, and the ultrasonic radar (5) radiating surface and the car
The side of body both sides is parallel；
The camera (3), the laser radar (4), the ultrasonic radar (5) pass through data line and sub-power source line
It is not connected with the controller (1) and the power supply；
The controller (1) is for camera described in real-time reception (3), the laser radar (4) and the ultrasonic radar
(5) data message of detection and process, then send control instruction controlling electronic vapour to the electronic control unit (2) in real time
The transport condition of car.
2. automatic Pilot control system according to claim 1, it is characterised in that the data line is ethernet line
Or CAN bus.
3. automatic Pilot control system according to claim 2, it is characterised in that is provided with electricity in the controller (1)
The data reception module of connection, data processing module；
The camera (3) and the laser radar (4) pass through the first ethernet line and the second ethernet line and the number respectively
Connected according to receiver module；
Multiple ultrasonic radars (5) are connected by the first CAN bus with the data reception module；
The electronic control unit (2) is connected by second controller Area Network bus with the data processing module.
4. automatic Pilot control system according to claim 1, it is characterised in that the camera (3) is binocular camera shooting
Head；
The camera (3) is positioned at room mirror lower section.
5. automatic Pilot control system according to claim 1, it is characterised in that the vertical spoke of the laser radar (4)
Firing angle is -15 ° -15 °；
Distance of the laser radar (4) apart from the roof front end is the 1/5-1/4 of the roof fore-and-aft direction length.
6. automatic Pilot control system according to claim 1, it is characterised in that the number of the ultrasonic radar (5)
It is eight, the vehicle body both sides is oppositely disposed at two-by-two.
7. automatic Pilot control system according to claim 1, it is characterised in that the system also includes being arranged on described
In-car man-machine interface (6)；
The man-machine interface (6) is connected with the controller (1) and the power supply respectively by data line and power line.
8. automatic Pilot control system according to claim 7, it is characterised in that the automatic Pilot control system is also wrapped
Include the automatic navigator being arranged on the roof；
The automatic navigator is connected by power line with the power supply.
9. the control method of the automatic Pilot control system described in any one of claim 1-8, it is characterised in that the controlling party
Method is as follows：
Camera (3), laser radar (4), wheeled area road conditions, the car of ultrasonic radar (5) difference real-time detection vehicle front
Body peripheral obstacle situation, vehicle body both sides barrier situation, and the data message real-time Transmission that will be separately detected is to controller
(1), the controller (1) receives the data message and processes, and then sending control to electronic control unit (2) in real time refers to
Order, so that electric automobile is in the automatic Pilot state of safety.
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| CN111785020A (en) * | 2020-06-23 | 2020-10-16 | 江苏鼎观智能科技有限公司 | Automatic driving sightseeing vehicle control method and system |
| CN115452406A (en) * | 2022-08-25 | 2022-12-09 | 一汽奔腾轿车有限公司 | Driving assistance system based on public road testing device |
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