CN108153315A - The control method and control device of a kind of pilotless automobile - Google Patents
The control method and control device of a kind of pilotless automobile Download PDFInfo
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- CN108153315A CN108153315A CN201810009129.7A CN201810009129A CN108153315A CN 108153315 A CN108153315 A CN 108153315A CN 201810009129 A CN201810009129 A CN 201810009129A CN 108153315 A CN108153315 A CN 108153315A
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- 241000736199 Paeonia Species 0.000 claims abstract description 24
- 235000006484 Paeonia officinalis Nutrition 0.000 claims abstract description 24
- 238000009434 installation Methods 0.000 claims abstract description 22
- 230000010365 information processing Effects 0.000 claims abstract description 6
- 238000006243 chemical reaction Methods 0.000 claims description 32
- 230000004888 barrier function Effects 0.000 claims description 18
- 238000012544 monitoring process Methods 0.000 claims description 16
- 238000012545 processing Methods 0.000 claims description 16
- 230000009471 action Effects 0.000 claims description 5
- 210000004556 brain Anatomy 0.000 claims description 4
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- 230000006698 induction Effects 0.000 description 2
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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Abstract
The invention discloses the control methods and control device of a kind of pilotless automobile, mainly include：Main body, intelligent vehicle-carried platform, middle control computer, laser locator, global location GPRS, radar installations, left side anti-collision instrument, right side anti-collision instrument, wheel detector, blind spot looks around instrument, rear camera, microsensor, Chinese herbaceous peony infrared facility, infrared facility after vehicle, monitor, camera, main body is automobile frame, intelligent vehicle-carried stage+module is in body top, middle control computer is installed on body interior rear, laser locator is installed on above intelligent vehicle-carried platform, global location GPRS is installed on the left of intelligent vehicle-carried table top, monitor is installed on above main body front window, camera is installed on laser locator front surface；Hyundai electronics processor is made full use of to cope with the threat in terms of the life and property safety that some emergency cases bring interior personnel of the invention with accuracy to the rapidity of information processing.
Description
Technical field
Pilotless automobile technical field of the present invention is specifically related to control method and the control of a kind of pilotless automobile
Device.
Background technology
Pilotless automobile is one kind of intelligent automobile, also referred to as wheeled mobile robot, is relied primarily on interior in terms of
Intelligent driving instrument based on calculation machine system realizes unpiloted target.
Since the 1970s, the developed countries such as the U.S., Britain, Germany proceed by grinding for pilotless automobile
Study carefully, breakthrough progress is all achieved in terms of feasibility and functionization.China proceeds by nobody from the 1980s and drives
The research of automobile is sailed, the National University of Defense technology successfully developed Chinese first unmanned vapour truly in 1992
Vehicle.
2005, first city pilotless automobile was succeeded in developing in Shanghai Communications University.
State-of-the-art pilotless automobile has travelled nearly 500,000 kilometers after tested in the world, wherein last 80,000 kilometers are
It is completed under the safe intervening measure of nobody.
The researcher of General Motors and Carnegie Mellon University is developing automatic driving car cooperatively, and it is desirable that in 2018
Before put goods on the market.The advantages of vehicle unmanned technology is to make that trip is safer, alleviates traffic pressure and reduces environmental pollution.
But sometimes, driving can allow people to feel relief satisfied, and people to be allowed to be ready to entrust life, unmanned skill
Art must solve the problems, such as many.Driver error also has its reverse side advantage, that is, the judgement of the mankind.Unmanned technology
It is using protection vehicle and occupant as top priority forever.And a driver then may would rather sacrifice the Che Laibao of oneself
Protect other people.For example, front has a vehicle to skid suddenly when you drive, and you have had little time to stop.At this point, the left side at you has one
Truck, the right is then that a group waits the child to go across the road.Most of drivers can select to hit truck, to avoid row is bumped against
People.And automatic driving vehicle None- identified children --- it only can simply see that the resistance on the right is less, and vehicle is transferred
Rush at the right.
Invention content
Some emergency cases and the deficiency under complex environment are coped with for prior art pilotless automobile, the present invention provides
The control method and control device of a kind of pilotless automobile can effectively solve some emergency cases to occupant's safety
Threat, and reply of the present invention to around environment has been effectively ensured in grading control.
The technical scheme is that：A kind of control device of pilotless automobile, mainly includes：It is main body, intelligent vehicle-carried
Platform, middle control computer, laser locator, global location GPRS, radar installations, left side anti-collision instrument, right side anti-collision instrument, wheel-sensors
Device, blind spot look around infrared facility, monitor, camera after instrument, rear camera, microsensor, Chinese herbaceous peony infrared facility, vehicle, institute
Main body is stated as automobile frame, the intelligent vehicle-carried stage+module is in body top, after the middle control computer is installed on body interior
Side, the laser locator are installed on above intelligent vehicle-carried platform, and the global location GPRS is installed on intelligent vehicle-carried deck roof
On the left of portion, the radar installations is installed on front, the left side anti-collision instrument in main body and is installed on left forward side in main body, the right side
Side anti-collision instrument is installed on right forward side in main body, and the wheel detector two and is respectively arranged in outside main body or so front-wheel totally
Side, the blind spot look around instrument and totally two and are respectively arranged in main body or so car door both sides, and the rear camera is installed on main body
Interior rear, the microsensor two and are respectively arranged on the outside of main body or so trailing wheel, the Chinese herbaceous peony infrared facility peace totally
Loaded on main body front cover, infrared facility is installed on main body vehicle rear cover after the vehicle, and the monitor is installed on main body front window
Side, the camera are installed on laser locator front surface, middle control computer by data line respectively with intelligent vehicle-carried platform, laser
Locator, global location GPRS, radar installations, left side anti-collision instrument, right side anti-collision instrument, wheel detector, blind spot look around instrument, after take the photograph
As the actuation means connection of infrared facility, monitor, camera after head, microsensor, Chinese herbaceous peony infrared facility, vehicle.
Further, brake system, cross traffic system, lamp light control system, nobody are equipped in the middle control computer at night
Drive system, radar system, camera system, parking system, Lateral Collision Avoidance system, blind spot viewing system, intelligent predicting system, positioning
System, wheel control system, driver monitoring system for vehicle, middle control computer manage the left side anti-collision instrument, right side anticollision by receiving area
Instrument, Chinese herbaceous peony infrared facility, monitor, camera pass to the information of middle control computer, after middle control computer is to the information processing of collection
When judgement needs emergency brake, the brake system realizes urgent brake by being connect with the brake gear being equipped in the main body
Vehicle function；
Instrument, Chinese herbaceous peony infrared facility, monitor, camera are looked around by global location GPRS, blind spot to collect corresponding information and transmit
To middle control computer, middle control computer is collected by the information to above device with after conversion, passing to the cross traffic system
System, cross traffic system by making the correct road of traveling, red light at the parting of the ways after handling the information from middle control computer
The action that parking is passed through with green light；
Middle control computer is passed to the corresponding information of camera collection by radar installations, middle control computer passes through to above device
Information is collected with after conversion, passing to the lamp light control system, and lamp light control system is by processing from middle control computer
Information after control corresponding lighting switch；
By intelligent vehicle-carried platform, laser locator, global location GPRS, radar installations, left side anti-collision instrument, right side anti-collision instrument,
Wheel detector, blind spot are looked around infrared facility after instrument, rear camera, microsensor, Chinese herbaceous peony infrared facility, vehicle, monitor, are taken the photograph
Corresponding information is collected as head and passes to middle control computer, and middle control computer is collected and is converted by the information to above device
Afterwards, pass to it is described nobody drive system at night, nobody drive at night system by handle from it is middle control computer information after night control
Normal vehicle operation；
The information collected by radar installations passes to middle control computer, and middle control computer is collected by the information to above device
After conversion, the radar system is passed to, radar system is by handling the barrier around being found after the middle information for controlling computer
Hinder object；
The information collected by rear camera and camera passes to middle control computer, and middle control computer passes through the information to above device
It is collected with after conversion, passing to the camera system, camera system was detectd later by handling the information from middle control computer
Barrier on test cross ventilating signal lamp, pedestrian, vehicle and travel route；
Instrument, rear camera Chinese herbaceous peony infrared facility, Che Hou are looked around by laser locator, left side anti-collision instrument, right side anti-collision instrument, blind spot
The information that infrared facility is collected with camera passes to middle control computer, and middle control computer is collected by the information to above device
After conversion, the parking system is passed to, parking system controlled vehicle to stop later by handling the information from middle control computer
By parking stall nearby；
The information for looking around instrument collection with blind spot by left side anti-collision instrument, right side anti-collision instrument passes to middle control computer, middle control computer expert
It crosses and the information of above device is collected with after conversion, passing to the Lateral Collision Avoidance system, Lateral Collision Avoidance system control master
Body hides lateral vehicle in time；
The information that instrument collection is looked around by blind spot passes to middle control computer, and middle control computer is received by the information to above device
For collection with after conversion, passing to the blind spot viewing system, blind spot viewing system is later by handling the information from middle control computer
Determine barrier, pedestrian and the vehicle around blind spot；
By intelligent vehicle-carried platform, laser locator, global location GPRS, radar installations, left side anti-collision instrument, right side anti-collision instrument,
Wheel detector, blind spot are looked around infrared facility after instrument, rear camera, microsensor, Chinese herbaceous peony infrared facility, vehicle, monitor, are taken the photograph
As the information that head is collected passes to middle control computer, middle control computer by the information to above device be collected with convert after, pass
Pass the intelligent predicting system, intelligent predicting system by handle the information from middle control computer predicted later surrounding vehicles,
The movement locus of pedestrian carrys out pre-decelerating with hiding；
Middle control computer is passed to by the global location GPRS information collected, middle control computer is carried out by the information to above device
It collects with after conversion, passing to the alignment system, alignment system after handling the information from middle control computer by determining main body
Route allocation；
The information collected by wheel detector and microsensor passes to middle control computer, and middle control computer passes through to above device
Information be collected with after conversion, passing to the wheel control system, wheel control system is by processing from middle control electricity
The travel direction for being corrected wheel direction to ensure main body after the information of brain is correct；
The information collected by monitor passes to middle control computer, middle control computer by the information to above device be collected with
After conversion, the driver monitoring system for vehicle is passed to, driver monitoring system for vehicle after handling the information from middle control computer by carrying
Emergency case around awake driver；
Further, the global location GPRS uses real time kinematics GPRS.It is obtained in fact to traffic information, prevented by transportation network
Only the generation of traffic jam in the process of moving, and positioning accuracy error be 1 centimetre；
Further, be equipped with self-checking system in the middle control computer, can be detected with automated intelligent each system it is whether normal and
Whether connection connect normal with circuit in the intelligent measurement present invention；
Further, wireless charging system is additionally provided with, and bottom part body is equipped with coil group and the line of induction in the middle control computer
Circle, when vehicle is parked in parking stall, the coincidence of coil one will charge to vehicle；
Further, the method for work of the system includes the following steps：
S1：User enter the main body, and be inserted into car key start described device, then by destination information input it is described in
Control computer；
S2：After middle control computer determines position and the destination locations of current topic by the alignment system, travel route is determined,
Determine it is currently daytime or night；
S3：During daytime：After unmanned beginning, following system real-time workings are stopped after main body reaches target location,
It is specific as follows：
Main body connect to realize emergency brake function by the brake gear being equipped in brake system and the main body；Pass through cross
Traffic system is made travel correct road at the parting of the ways, the action that red parking and green light pass through；Pass through signal light control system
System controls corresponding lighting switch；The barrier of surrounding is found by radar system；Traffic signals are detected by camera system
Barrier on lamp, pedestrian, vehicle and travel route；Main body is controlled to hide lateral vehicle in time by Lateral Collision Avoidance system；It is logical
Blind spot viewing system is crossed to determine the barrier around blind spot, pedestrian and vehicle；Surrounding vehicle is predicted by intelligent predicting system
, the movement locus of pedestrian carry out pre-decelerating with hiding；Wheel direction is corrected by wheel control system to ensure to lead
The travel direction of body is correct；Emergency case around driver is reminded by driver monitoring system for vehicle；
During night：When different from working by day, after unmanned beginning, nobody also begins to work at the night system of driving, it is ensured that main body
Normal vehicle operation is controlled at night；
S4：After arriving at；Parking system is by controlling main body to rest on parking stall nearby；
Further, the driver monitoring system for vehicle can be reminded in main body while transport condition changes when unmanned
Personnel's current running state；
The beneficial effects of the invention are as follows：The control method and control device of a kind of pilotless automobile provided by the invention, can be with
The threat in terms of life and property safety that some emergency cases bring interior personnel of the invention is successfully managed, and is used
The global location GPRS devices of higher precision ensure that location information is more accurate；Positioning device can be with real-time reception traffic simultaneously
The information of net is obtained in fact to traffic information by transportation network, prevents the generation of traffic jam in the process of moving；By parking
System, vehicle can observe ambient enviroment as driver, make a response in time and safely drive to B points, function from A points
It is more advanced；And be additionally provided with cross traffic system, nobody drive system, Lateral Collision Avoidance system and intelligent predicting system night, fully
The rapidity of information processing is ensured with accuracy using hyundai electronics processor it is unmanned safer, reliably.
Description of the drawings
Fig. 1 is the device of the invention schematic diagram；
Fig. 2 is connection diagram of the present invention；
Wherein, computer, 4- laser locators, 5- global location GPRS, 6- radars are controlled in the intelligent vehicle-carried platform of 1- main bodys, 2-, 3-
Device, anti-collision instrument on the left of 7-, anti-collision instrument, 9- wheel detectors on the right side of 8-, that 10- blind spots look around instrument, 11- rear cameras, 12- is miniature
Infrared facility, 15- monitors, 16- cameras, 101- brake system, 102- after sensor, 13- Chinese herbaceous peonies infrared facility, 14- vehicles
Cross traffic system, 103- lamp light control systems, 104- nobody drive system, 105- radar systems, 106- camera systems, 107- night
Parking system, 108- Lateral Collision Avoidances system, 109- blind spots viewing system, 110- intelligent predictings system, 111- alignment systems, 112-
Wheel control system, 113- driver monitoring system for vehicle.
Specific embodiment
Below in conjunction with the accompanying drawings 1 and specific embodiment come to the present invention be further described in detail.
As shown in Figure 1, the technical scheme is that：A kind of control device of pilotless automobile, mainly includes：Main body
1st, intelligent vehicle-carried platform 2, middle control computer 3, laser locator 4, global location GPRS5, radar installations 6, left side anti-collision instrument 7, the right side
Side anti-collision instrument 8, wheel detector 9, blind spot look around instrument 10, rear camera 11, microsensor 12, Chinese herbaceous peony infrared facility 13, vehicle
Infrared facility 14, monitor 15, camera 16 afterwards, main body 1 are automobile frame, and intelligent vehicle-carried platform 2 is installed on 1 top of main body,
Middle control computer 3 is installed on 1 inside rear of main body, and laser locator 4 is installed on intelligent vehicle-carried 2 top of platform, global location GPRS5
Intelligent vehicle-carried 2 top left side of platform is installed on, radar installations 6 is installed on front, left side anti-collision instrument 7 in main body 1 and is installed on main body 1
Interior left forward side, right side anti-collision instrument 8 are installed on right forward side in main body 1, and wheel detector 9 totally two and is respectively arranged in master
On the outside of 1 or so front-wheel of body, blind spot looks around instrument 10 and totally two and is respectively arranged in 1 or so car door both sides of main body, rear camera 11
It is installed on rear in main body 1, microsensor 12 two and is respectively arranged on the outside of 1 or so trailing wheel of main body totally, and Chinese herbaceous peony is infrared
Device 13 is installed on 1 front cover of main body, and infrared facility 14 is installed on 1 vehicle rear cover of main body after vehicle, before monitor 15 is installed on main body 1
Above vehicle window, camera 16 is installed on 4 front surface of laser locator, and middle control computer 3 is put down by data line with intelligent vehicle-carried respectively
Platform 2, laser locator 4, global location GPRS5, radar installations 6, left side anti-collision instrument 7, right side anti-collision instrument 8, wheel detector 9,
Blind spot look around infrared facility 14 after instrument 10, rear camera 11, microsensor 12, Chinese herbaceous peony infrared facility 13, vehicle, monitor 15,
The actuation means connection of camera 16.
Wherein, it is middle control computer 3 in be equipped with brake system 101, cross traffic system 102, lamp light control system 103, nobody
Night drives system 104, radar system 105, camera system 106, parking system 107, Lateral Collision Avoidance system 108, blind spot viewing system
109th, intelligent predicting system 110, alignment system 111, wheel control system 112, driver monitoring system for vehicle 113, middle control computer 3 are logical
It crosses reception processing left side anti-collision instrument 7, right side anti-collision instrument 8, Chinese herbaceous peony infrared facility 13, monitor 15, camera 16 and passes to middle control
The information of computer 3, it is middle control computer 3 to after the information processing of collection judgement need emergency brake when, brake system 101 by with master
The brake gear being equipped in body 1 connects to realize emergency brake function；
By global location GPRS5, blind spot look around instrument 10, Chinese herbaceous peony infrared facility 13, monitor 15, camera 16 collect it is corresponding
Information passes to middle control computer 3, and middle control computer 3 is collected by the information to above device with after conversion, passing to cross
Traffic system 102, cross traffic system 102 by making traveling just at the parting of the ways after handling the information from middle control computer 3
The action that true road, red parking and green light passes through；
Corresponding information is collected with camera 16 by radar installations 6 and passes to middle control computer 3, middle control computer 3 is by above-mentioned
The information of device is collected with after conversion, passing to lamp light control system 103, and lamp light control system 103 is come from by processing
Corresponding lighting switch is controlled after the information of middle control computer 3；
Prevented by intelligent vehicle-carried platform 2, laser locator 4, global location GPRS5, radar installations 6, left side anti-collision instrument 7, right side
It hits instrument 8, wheel detector 9, blind spot and looks around instrument 10, rear camera 11, microsensor 12, Chinese herbaceous peony infrared facility 13, Che Houhong
Outer device 14, monitor 15, camera 16 collect corresponding information and pass to middle control computer 3, and middle control computer 3 passes through to above-mentioned dress
The information put is collected with after conversion, passing to nobody and driving system 104 night, nobody drives system 104 night and is come from by processing
After the information of control computer 3 normal vehicle operation is controlled at night；
The information collected by radar installations 6 passes to middle control computer 3, and middle control computer 3 is carried out by the information to above device
It collects with after conversion, passing to radar system 105, radar system 105 after handling the information from middle control computer 3 by finding week
The barrier enclosed；
The information collected by rear camera 11 and camera 16 passes to middle control computer 3, and middle control computer 3 is by above device
Information be collected with after conversion, passing to camera system 106, camera system 106 passes through letter of the processing from middle control computer 3
Breath detected the barrier on traffic lights, pedestrian, vehicle and travel route later；
Instrument 10, the infrared dress of 11 Chinese herbaceous peony of rear camera are looked around by laser locator 4, left side anti-collision instrument 7, right side anti-collision instrument 8, blind spot
It puts infrared facility 14 after 13, vehicle and passes to middle control computer 3 with the information that camera 16 is collected, middle control computer 3 passes through to above-mentioned dress
The information put is collected with after conversion, passing to parking system 107, and parking system 107 is by handling from middle control computer 3
Information controlled vehicle parking parking stall nearby later；
The information for looking around the collection of instrument 10 with blind spot by left side anti-collision instrument 7, right side anti-collision instrument 8 passes to middle control computer 3, middle control electricity
Brain 3 is collected by the information to above device with after conversion, passing to Lateral Collision Avoidance system 108, Lateral Collision Avoidance system 108
Control main body 1 hides lateral vehicle in time；
By blind spot look around instrument 10 collect information pass to it is middle control computer 3, it is middle control computer 3 by the information to above device into
Row is collected with after conversion, passing to blind spot viewing system 109, and blind spot viewing system 109 is by handling the letter from middle control computer 3
Breath determined barrier, pedestrian and the vehicle around blind spot later；
Prevented by intelligent vehicle-carried platform 2, laser locator 4, global location GPRS5, radar installations 6, left side anti-collision instrument 7, right side
It hits instrument 8, wheel detector 9, blind spot and looks around instrument 10, rear camera 11, microsensor 12, Chinese herbaceous peony infrared facility 13, Che Houhong
The information that outer device 14, monitor 15, camera 16 are collected passes to middle control computer 3, and middle control computer 3 is by above device
Information is collected with after conversion, passing to intelligent predicting system 110, and intelligent predicting system 110 is by processing from middle control electricity
The information of brain 3 predicted surrounding vehicles later, the movement locus of pedestrian carrys out pre-decelerating with hiding；
Middle control computer 3 is passed to by the global location GPRS5 information collected, middle control computer 3 passes through the information to above device
It is collected with after conversion, passing to alignment system 111, alignment system 111 is by handling after the middle information for controlling computer 3 really
Determine the route allocation of main body 1；
The information collected by wheel detector 9 and microsensor 12 passes to middle control computer 3, and middle control computer 3 is by upper
The information for stating device is collected with after conversion, passing to wheel control system 112, wheel control system 112 by handle come
The travel direction being corrected to wheel direction from after the information of middle control computer 3 to ensure main body 1 is correct；
The information collected by monitor 15 passes to middle control computer 3, and middle control computer 3 is received by the information to above device
Collection is with after conversion, passing to driver monitoring system for vehicle 113, and driver monitoring system for vehicle 113 is by handling the letter from middle control computer 3
Emergency case around driver is reminded after breath；
Brake system 101 uses anti-lock braking system；When not having the automobile emergency brake of anti-lock braking system, tire can be locked
Extremely, lead to automobile sideslip out of control；
Global location GPRS5 uses real time kinematics GPRS.It is obtained in fact to traffic information by transportation network, prevents traffic jam
Occur in the process of moving, and positioning accuracy error is 1 centimetre；
Self-checking system is equipped in middle control computer 3, can detect whether each system normal with automated intelligent and intelligent measurement this hair
Whether bright interior connection connect normal with circuit.
Wireless charging system is additionally provided with, and bottom part body is equipped with coil group and induction coil in middle control computer 3, when vehicle stops
When in parking stall, the coincidence of coil one will charge to vehicle.
The method of work of system includes the following steps：
S1：User enters main body 1, and is inserted into car key starter, and computer 3 is controlled during then destination information is inputted；
S2：After middle control computer 3 determines position and the destination locations of current topic 1 by alignment system 111, traveling road is determined
Line determines it is currently daytime or night；
S3：During daytime：After unmanned beginning, following system real-time workings stop work after main body 1 reaches target location
Make, it is specific as follows：
Main body 1 connect to realize emergency brake function by the brake gear being equipped in brake system 101 and main body 1；Pass through ten
Word traffic system 102 is made travel correct road at the parting of the ways, the action that red parking and green light pass through；Pass through light control
System 103 processed controls corresponding lighting switch；The barrier of surrounding is found by radar system 105；By camera system 106 come
Detect the barrier on traffic lights, pedestrian, vehicle and travel route；Control main body 1 timely by Lateral Collision Avoidance system 108
Hide lateral vehicle；Barrier around blind spot, pedestrian and vehicle are determined by blind spot viewing system 109；It is pre- by intelligence
Examining system 110 predicts that the movement locus of surrounding vehicles, pedestrian carrys out pre-decelerating with hiding；It is right by wheel control system 112
The travel direction that wheel direction is corrected to ensure main body 1 is correct；It is reminded around driver by driver monitoring system for vehicle 113
Emergency case；
During night：When different from working by day, after unmanned beginning, nobody drives system 104 night and also begins to work, it is ensured that main
Body 1 controls normal vehicle operation at night；
S4：After arriving at；Parking system 107 is by controlling main body 1 to rest on parking stall nearby；
Driver monitoring system for vehicle 113 can remind personnel's current line in main body 1 while transport condition changes when unmanned
Sail state；
The control method and control device of a kind of pilotless automobile provided by the invention, can successfully manage some emergency cases
Threat in terms of the life and property safety brought to interior personnel of the invention, and using the global location of higher precision
GPRS5 devices ensure that location information is more accurate；Positioning device can pass through traffic with the information of the real-time reception network of communication lines simultaneously
Network is obtained in fact to traffic information, prevents the generation of traffic jam in the process of moving；By parking system 107, vehicle can be with
Ambient enviroment is observed as driver, make a response in time and safely drives to B points from A points, function is more advanced；And
Be additionally provided with cross traffic system 102, nobody drive system 104, Lateral Collision Avoidance system 108 and intelligent predicting system 110, fully profit night
It is unmanned safer to ensure with accuracy to the rapidity of information processing with hyundai electronics processor, reliably.
Finally it should be noted that：The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
The present invention is described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that：It still may be used
To modify to the technical solution recorded in previous embodiment or carry out equivalent replacement to which part technical characteristic；And
These modifications are replaced, the spirit and model of technical solution of the embodiment of the present invention that it does not separate the essence of the corresponding technical solution
It encloses.
Claims (6)
1. a kind of control device of pilotless automobile, which is characterized in that mainly include：Main body（1）, intelligent vehicle-carried platform（2）、
Middle control computer（3）, laser locator（4）, global location GPRS（5）, radar installations（6）, left side anti-collision instrument（7）, right side anticollision
Instrument（8）, wheel detector（9）, blind spot look around instrument（10）, rear camera（11）, microsensor（12）, Chinese herbaceous peony infrared facility
（13）, infrared facility after vehicle（14）, monitor（15）, camera（16）, the main body（1）For automobile frame, the intelligent vehicle
Carrying platform（2）It is installed on main body（1）Top, the middle control computer（3）It is installed on main body（1）Internal rear, the laser positioning
Device（4）It is installed on intelligent vehicle-carried platform（2）Top, the global location GPRS（5）It is installed on intelligent vehicle-carried platform（2）Top left
Side, the radar installations（6）It is installed on main body（1）Interior front, the left side anti-collision instrument（7）It is installed on main body（1）Interior front is left
Side, the right side anti-collision instrument（8）It is installed on main body（1）Interior right forward side, the wheel detector（9）Totally two and pacify respectively
Loaded on main body（1）On the outside of the front-wheel of left and right, the blind spot looks around instrument（10）Totally two and it is respectively arranged in main body（1）Left and right car door
Both sides, the rear camera（11）It is installed on main body（1）Interior rear, the microsensor（12）It totally two and installs respectively
In main body（1）On the outside of the trailing wheel of left and right, the Chinese herbaceous peony infrared facility（13）It is installed on main body（1）Front cover, infrared dress after the vehicle
It puts（14）It is installed on main body（1）Vehicle rear cover, the monitor（15）It is installed on main body（1）Above front window, the camera
（16）It is installed on laser locator（4）Front surface, middle control computer（3）By data line respectively with intelligent vehicle-carried platform（2）, laser
Locator（4）, global location GPRS（5）, radar installations（6）, left side anti-collision instrument（7）, right side anti-collision instrument（8）, wheel detector
（9）, blind spot look around instrument（10）, rear camera（11）, microsensor（12）, Chinese herbaceous peony infrared facility（13）, infrared facility after vehicle
（14）, monitor（15）, camera（16）Actuation means connection.
A kind of 2. control device of pilotless automobile as described in claim 1, which is characterized in that the middle control computer（3）
It is interior to be equipped with brake system（101）, cross traffic system（102）, lamp light control system（103）, nobody drive system at night（104）, thunder
Up to system（105）, camera system（106）, parking system（107）, Lateral Collision Avoidance system（108）, blind spot viewing system（109）、
Intelligent predicting system（110）, alignment system（111）, wheel control system（112）, driver monitoring system for vehicle（113）, middle control electricity
Brain（3）The left side anti-collision instrument is handled by receiving（7）, right side anti-collision instrument（8）, Chinese herbaceous peony infrared facility（13）, monitor（15）、
Camera（16）Pass to middle control computer（3）Information, middle control computer（3）Urgent stop is needed to judgement after the information processing of collection
Che Shi, the brake system（101）By with the main body（1）The brake gear being inside equipped with connects to realize emergency brake work(
Energy；
Pass through global location GPRS（5）, blind spot look around instrument（10）, Chinese herbaceous peony infrared facility（13）, monitor（15）, camera（16）
It collects corresponding information and passes to middle control computer（3）, middle control computer（3）It is collected and converts by the information to above device
Afterwards, the cross traffic system is passed to（102）, cross traffic system（102）By processing from middle control computer（3）Information
It makes at the parting of the ways afterwards and travels correct road, the action that red parking and green light pass through；
Pass through radar installations（6）With camera（16）It collects corresponding information and passes to middle control computer（3）, middle control computer（3）It is logical
It crosses and the information of above device is collected with after conversion, passing to the lamp light control system（103）, lamp light control system
（103）By processing from middle control computer（3）Information after control corresponding lighting switch；
Pass through intelligent vehicle-carried platform（2）, laser locator（4）, global location GPRS（5）, radar installations（6）, left side anti-collision instrument
（7）, right side anti-collision instrument（8）, wheel detector（9）, blind spot look around instrument（10）, rear camera（11）, microsensor（12）, vehicle
Preceding infrared facility（13）, infrared facility after vehicle（14）, monitor（15）, camera（16）It collects corresponding information and passes to middle control
Computer（3）, middle control computer（3）By the information to above device be collected with convert after, pass to it is described nobody drive at night and be
System（104）, nobody drives system at night（104）By processing from middle control computer（3）Information after night control the normal row of vehicle
It sails；
Pass through radar installations（6）The information of collection passes to middle control computer（3）, middle control computer（3）Pass through the letter to above device
Breath is collected with after conversion, passing to the radar system（105）, radar system（105）By processing from middle control computer
（3）Information after find around barrier；
Pass through rear camera（11）With camera（16）The information of collection passes to middle control computer（3）, middle control computer（3）By right
The information of above device is collected with after conversion, passing to the camera system（106）, camera system（106）Pass through processing
From middle control computer（3）Information detected barrier on traffic lights, pedestrian, vehicle and travel route later；
Pass through laser locator（4）, left side anti-collision instrument（7）, right side anti-collision instrument（8）, blind spot look around instrument（10）, rear camera（11）
Chinese herbaceous peony infrared facility（13）, infrared facility after vehicle（14）With camera（16）The information of collection passes to middle control computer（3）, middle control
Computer（3）It is collected by the information to above device with after conversion, passing to the parking system（107）, parking system
（107）By processing from middle control computer（3）Information controlled vehicle parking parking stall nearby later；
Pass through left side anti-collision instrument（7）, right side anti-collision instrument（8）Instrument is looked around with blind spot（10）The information of collection passes to middle control computer
（3）, middle control computer（3）It is collected by the information to above device with after conversion, passing to the Lateral Collision Avoidance system
（108）, Lateral Collision Avoidance system（108）Control main body（1）Hide lateral vehicle in time；
Instrument is looked around by blind spot（10）The information of collection passes to middle control computer（3）, middle control computer（3）By to above device
Information is collected with after conversion, passing to the blind spot viewing system（109）, blind spot viewing system（109）By handle come
From middle control computer（3）Information later determine blind spot around barrier, pedestrian and vehicle；
Pass through intelligent vehicle-carried platform（2）, laser locator（4）, global location GPRS（5）, radar installations（6）, left side anti-collision instrument
（7）, right side anti-collision instrument（8）, wheel detector（9）, blind spot look around instrument（10）, rear camera（11）, microsensor（12）, vehicle
Preceding infrared facility（13）, infrared facility after vehicle（14）, monitor（15）, camera（16）The information of collection passes to middle control computer
（3）, middle control computer（3）It is collected by the information to above device with after conversion, passing to the intelligent predicting system
（110）, intelligent predicting system（110）By processing from middle control computer（3）Information predicted surrounding vehicles, the fortune of pedestrian later
Dynamic rail mark carrys out pre-decelerating with hiding；
Pass through global location GPRS（5）The information of collection passes to middle control computer（3）, middle control computer（3）By to above device
Information be collected with conversion after, pass to the alignment system（111）, alignment system（111）By processing from middle control
Computer（3）Information after determine main body（1）Route allocation；
Pass through wheel detector（9）With microsensor（12）The information of collection passes to middle control computer（3）, middle control computer（3）
It is collected by the information to above device with after conversion, passing to the wheel control system（112）, wheel control system
（112）By processing from middle control computer（3）Information after wheel direction is corrected to ensure main body（1）Travel direction
Correctly；
Pass through monitor（15）The information of collection passes to middle control computer（3）, middle control computer（3）Pass through the information to above device
It is collected with after conversion, passing to the driver monitoring system for vehicle（113）, driver monitoring system for vehicle（113）By handle come
From middle control computer（3）Information after remind driver around emergency case.
A kind of 3. control device of pilotless automobile according to claim 1, which is characterized in that the brake system
（101）Using anti-lock braking system.
A kind of 4. control device of pilotless automobile according to claim 1, which is characterized in that the global location
GPRS（5）Using real time kinematics GPRS.
A kind of 5. control method of pilotless automobile according to claim 1, which is characterized in that the work of the system
Method includes the following steps：
S1：User enters the main body（1）, and be inserted into car key and start described device, destination information is then inputted into institute
State middle control computer（3）；
S2：Middle control computer（3）Pass through the alignment system（111）Determine current topic（1）Position and destination locations after, really
Determine travel route, determine it is currently daytime or night；
S3：During daytime：After unmanned beginning, following system real-time workings, until main body（1）Stop work after reaching target location
Make, it is specific as follows：
Main body（1）Pass through brake system（101）With the main body（1）The brake gear being inside equipped with connects to realize emergency brake work(
Energy；Pass through cross traffic system（102）Make at the parting of the ways the correct road of traveling, red parking and green light pass through it is dynamic
Make；Pass through lamp light control system（103）Control corresponding lighting switch；Pass through radar system（105）Barrier around it was found that；
Pass through camera system（106）To detect the barrier on traffic lights, pedestrian, vehicle and travel route；Pass through Lateral Collision Avoidance
System（108）Control main body（1）Hide lateral vehicle in time；Pass through blind spot viewing system（109）To determine the barrier around blind spot
Hinder object, pedestrian and vehicle；Pass through intelligent predicting system（110）Movement locus to predict surrounding vehicles, pedestrian carrys out pre-decelerating
With hiding；Pass through wheel control system（112）Wheel direction is corrected to ensure main body（1）Travel direction it is correct；It is logical
Cross driver monitoring system for vehicle（113）Remind emergency case around driver；
During night：When different from working by day, after unmanned beginning, nobody drives system at night（104）Also begin to work, it is ensured that
Main body（1）Normal vehicle operation is controlled at night；
S4：After arriving at；Parking system（107）By controlling main body（1）It rests on parking stall nearby.
A kind of 6. control method of pilotless automobile according to claim 5, which is characterized in that driver's monitoring
System（113）Main body can be reminded while transport condition changes when unmanned（1）Interior personnel's current running state.
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