CN109002042A - Electric-control system - Google Patents
Electric-control system Download PDFInfo
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- CN109002042A CN109002042A CN201810902507.4A CN201810902507A CN109002042A CN 109002042 A CN109002042 A CN 109002042A CN 201810902507 A CN201810902507 A CN 201810902507A CN 109002042 A CN109002042 A CN 109002042A
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- 238000005183 dynamical system Methods 0.000 claims abstract description 13
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- 230000000087 stabilizing effect Effects 0.000 claims description 32
- 230000005540 biological transmission Effects 0.000 claims description 17
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Classifications
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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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
-
- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
-
- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
-
- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0253—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting relative motion information from a plurality of images taken successively, e.g. visual odometry, optical flow
-
- 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
-
- 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
-
- 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
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
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- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
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Abstract
The present invention provides a kind of electric-control systems; it include: control panel, power protection module, control unit for vehicle; the vehicle operating modes selection instruction sent for receiving mission bit stream and bottom vehicle control device; when at least one in laterally or longitudinally control switch is pressed; second and first, third after mission bit stream, conversion process, the 4th environment perception data are handled, result of decision information is generated；Treated torque and/or course changing control information are sent to bottom vehicle control device；Bottom vehicle control device, torque control message after conversion process and/or the course changing control information after conversion process are sent to dynamical system by PCAN bus, so that the motor in dynamical system controls the speed of vehicle according to the torque control message after conversion process；And/or the steering of EPS control vehicle, and using the first video data of camera, remotely controlled.Thereby it is ensured that the high Precision Processing of control unit for vehicle, enriches control mode.
Description
Technical field
The present invention relates to electronic circuit technology field more particularly to a kind of electric-control systems.
Background technique
With the rapid development of computer technology and artificial intelligence technology, intelligent robot technology has become both at home and abroad
The hot spot of numerous scholar's researchs.Wherein, service humanoid robot opens the frontier of robot application, services going out for humanoid robot
Now mainly has the tendency that following three aspects reason: in a first aspect, domestic labor cost has rising；Second aspect, population are aged
Change and improving for the social welfare system provides extensive market application prospect for service humanoid robot；The third aspect, the mankind think
Get rid of duplicate labour.
In order to more easily distinguish and define wire control technology, the classification of line traffic control is just at a major issue.Global Auto at present
Two generally acknowledged classifying systems of industry are by United States highways safety management bureau (abbreviation NHTSA) and international automatic machine work respectively
What teachers learn (abbreviation SAE) proposed.Wherein, the wire control technology of L4 and L5 rank can be known as complete wire control technology, arrive
This rank, automobile can carry out all driver behaviors under the case where intervening completely without driver, drive
Member such as works or rests in terms of attention can also be placed on to others.But the difference of the two is, the line traffic control of L4 rank
Suitable for typically referring in city or on highway under the scene of part.And L5 rank then requires line traffic control automobile any
It can accomplish to drive vehicle driving completely under scene.
But in the prior art, electric-control system does not carry out voltage-stabilizing protection to critical elements in power supply, and to vehicle
The power supply of control unit and laser radar is not sampled, to judge whether power supply is normal, so as to cause vehicle control list
When Vehicular automatic driving caused by the power supply of member is abnormal, precision is impacted, and personification is not high.
Summary of the invention
The purpose of the embodiment of the present invention is that a kind of electric-control system is provided, to solve precision when automatic Pilot in the prior art
It is impacted, the not high problem of personification.
To solve the above problems, the present invention provides a kind of electric-control system, control panel has electricity on the control panel
Source switch, for generating power on signal when power switch is pressed；
Battery system, signal input part are connected with control panel, for receiving the power on signal of control panel transmission,
And according to the power on signal, supply voltage is provided for electric-control system；
First output end of power protection module, input terminal and the battery system is connected, for the power supply
The corresponding electric current of voltage measures, when the electric current is greater than preset current threshold, cutting power supply；
First Voltage stabilizing module, input terminal are connected with the second output terminal of the battery system, for the power supply
Voltage carries out steady pressure treatment, generates first voltage；
At least one laser radar, input terminal are connected with the output end of first Voltage stabilizing module, for obtaining the
One environment sensing data；
First output end of interchanger, input terminal and the power protection module is connected, signal input part and institute
The signal output end for stating laser radar is connected, the first environment perception data sent for receiving the laser radar；
Integrated navigation system, input terminal are connected with the second output terminal of the power protection module, signal input
End is connected with global position system GPS antenna, the second environment perception data sent for receiving the GPS antenna；
The third output end of communication interface conversion module, input terminal and the power protection module is connected, signal
Input terminal is connected with the signal output end of the integrated navigation system, for carrying out first to the second environment perception data
Conversion process, the second environment perception data after obtaining the first conversion process；
4th output end of vision module, input terminal and the power protection module is connected, for obtaining third ring
Border perception data；
5th output end of at least one millimetre-wave radar, input terminal and the power protection module is connected, and is used for
Obtain the 4th environment perception data；
Bottom vehicle control device, the first universal input export the automatic Pilot on GPIO port and control panel and switch phase
Connection, the second GPIO port are connected with the indicator light of control panel, the lateral control of third GPIO port and control panel
System switch is connected, and the 4th GPIO port is connected with the longitudinally controlled switch of control panel, the 5th GPIO port and point
Fiery system is connected, and after receiving the ignition signal of ignition system, receives the vehicle operating modes selection instruction of control panel,
And control the indicator light flashing；
Control unit for vehicle, the first signal input part are connected with the signal output end of the interchanger, the second letter
Number input terminal is connected with the signal output end of the communication interface conversion module, third signal input part and the vision mould
The signal output end of block is connected, and fourth signal input terminal is connected with the signal output end of the millimetre-wave radar, nothing
Line interface is connected with server, is connected by controller local area network's CAN bus with the bottom vehicle control device, uses
In receive server send trip mission bit stream and bottom vehicle control device send vehicle operating modes selection instruction, when
When the vehicle operating modes selection instruction is that at least one in crosswise joint switch and longitudinally controlled switch is pressed, to described
It goes on a journey mission bit stream, the first environment perception data, the second environment perception data after the first conversion process, described the
Three environment perception datas and the 4th environment perception data are handled, and result of decision information is generated；And to the decision knot
Fruit information is handled, and torque control message and/or course changing control information are generated, then to the torque control message and/or
Course changing control information is handled, and will treated the torque control message and/or course changing control information be sent to it is described
Bottom vehicle control device；Also, when crosswise joint switch is pressed, according to the steering of vehicle, course changing control letter is generated
Number, and the steering controling signal is sent to the bottom vehicle control device；
The bottom vehicle control device is also used to, and receives the control unit for vehicle moment of torsion control letter that sends that treated
Breath and/or course changing control information, the torque control message after conversion process and/or the course changing control information after conversion process are led to
It crosses vehicle dynamic Control local PCAN bus and is sent to dynamical system, so that after the motor in dynamical system is according to conversion process
The torque control message controls the speed of vehicle；And/or so that electric boosting steering system EPS in dynamical system, root
According to the course changing control information after conversion process, the steering of vehicle is controlled；And receive the steering that control unit for vehicle is sent
Signal is controlled, and according to the steering controling signal, generates driving signal；
6th output end of photoelectric isolating relay, input terminal and the power protection module is connected, and signal is defeated
Enter end to be connected with the signal output end of bottom vehicle control device, for receiving the driving signal of bottom vehicle control device, and root
According to the driving signal, first control signal and second control signal are generated；
First signal output end of lighting system, signal input part and the photoelectric isolating relay is connected, and is used for
The first control signal that the photoelectric isolating relay is sent is received, and according to the first control signal, with preset
Frequency scintillation preset duration；
The second signal output end of loudspeaker, signal input part and the photoelectric isolating relay is connected, for receiving
The second control signal that the photoelectric isolating relay is sent, and according to the second control signal, generate alarm signal；
At least one camera, for obtaining the first video data；
Universal serial bus concentrator USB HUB, signal input part are connected with the camera, signal output end
It is connected with the 5th signal input part of the control unit for vehicle, for receiving the first video data of camera, and by institute
It states the first video data and is sent to the control unit for vehicle；
The control unit for vehicle is also used to, and first video data is sent to server, so that the server
First video data is sent to long-range allotment monitor terminal, the remote vehicle manipulation rack according to remote control person according to
According to the manipulation that the first video data carries out vehicle, remote control commands are generated, and the remote control commands are sent to institute
Long-range allotment monitor terminal is stated, so that the long-range allotment monitor terminal carries out the vehicle according to the remote control commands
Long-range control；
The control unit for vehicle is also used to, and is handled the third environment sensing data, and processing result is generated, right
The processing result is analyzed, and when the processing result is there are when emergency, generation emergency brake signal is described urgent
Brake signal is sent to braking system by the vehicle PCAN bus, so that the braking system is believed according to the emergency braking
Number carry out emergency braking.
Preferably, the control unit for vehicle is also used to, obtain actual speed information, and to the actual speed information with
And the velocity information in second environment perception data carries out fusion treatment, formation speed fuse information is merged according to the speed
Information is modified the course changing control information and/or the torque control message.
Preferably, the electric-control system further includes first detection unit and/or second detection unit；
The first detection unit is arranged on the steering wheel, for detecting whether depositing there are user hand torque when detecting
In user hand torque, exit instruction is sent to the EPS, the exit instruction is used to indicate EPS and exits automatic driving mode,
Into artificial mode；
The second detection unit is arranged on brake pedal, for detecting whether brake pedal is operated, when the system
When dynamic pedal is operated, into artificial mode.
Preferably, the electric-control system further includes the second Voltage stabilizing module and display；
7th output end of second Voltage stabilizing module, input terminal and the power protection module is connected, for pair
The supply voltage is handled, and second voltage is generated；
The display, input terminal are connected with the output end of second Voltage stabilizing module, signal input part and vehicle
The signal output end of control unit is connected, and for receiving the car status information of control unit for vehicle transmission, and shows institute
State car status information.
Preferably, the electric-control system further includes inverter and power supply adaptor；
The third output end of the inverter, input terminal and power-supply system is connected, straight for carrying out supply voltage
Stream-exchange conversion DC-AC processing, generates alternating voltage；
The power supply adaptor, input terminal are connected with the output end of the inverter, output end and the vehicle
Control unit is connected, for carrying out rectification processing to the alternating voltage, and will rectification treated that the alternating voltage is defeated
Enter to the control unit for vehicle.
Preferably, the bottom vehicle control device includes the first modulus port and the second modulus port；
First modulus port is connected with the output end of first Voltage stabilizing module, second modulus port and institute
The output end for stating power supply adaptor is connected, and the bottom vehicle control device is used for respectively to the first voltage and the rectification
Treated, and the alternating voltage carries out sampling processing, and according to sampling processing as a result, judging the laser radar and vehicle
Whether the power supply of control unit is normal.
Preferably, the electric-control system further includes joint vision technique AVT camera；
8th output end of the AVT camera, input terminal and the power protection module is connected, for obtaining second
Video data.
Preferably, the electric-control system further includes third Voltage stabilizing module and router；
9th output end of the third Voltage stabilizing module, input terminal and power protection module is connected, for described
Supply voltage is handled, and tertiary voltage is generated；
The router, input terminal are connected with the output end of the third Voltage stabilizing module, signal input part and institute
The signal output end for stating AVT camera is connected, for receiving the second video data of AVT camera transmission；
The control unit for vehicle, the 5th signal input part are connected with the signal output end of the router, are used for
The second video data that the router is sent is received, and second video data is transmitted to server, so that server
According to second video data, vehicle is monitored.
Preferably, the electric-control system further includes data transmission unit DTU；
Tenth output end of the DTU, input terminal and the power protection module is connected, signal input part and institute
The input terminal for stating integrated navigation system is connected, for the second environment perception data to be carried out the second conversion process, and will
The second environment perception data after second conversion process is sent to server.
Current-limiting protection is carried out by power protection module to each ECU, and by Voltage stabilizing module to laser radar, vehicle control
Unit and router processed carry out steady pressure treatment, and sample to the power supply of laser radar and control unit for vehicle, ensure that sharp
The normal work of optical radar and control unit for vehicle, thereby it is ensured that the high Precision Processing of control unit for vehicle, and camera is adopted
Collect the first video data, convenient for the subsequent long-range control to vehicle, individually third environment sensing data is handled, are improved
The emergency capability of vehicle so that improve the degree that personalizes of vehicle on the whole.
Detailed description of the invention
Fig. 1 is electrical control system structure schematic diagram provided in an embodiment of the present invention.
Specific embodiment
The application is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining related invention, rather than the restriction to the invention.It also should be noted that for just
Part relevant to related invention is illustrated only in description, attached drawing.
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The application is described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
First, second hereinafter only distinguishes, and has no other meanings.
Fig. 1 is electrical control system structure schematic diagram provided in an embodiment of the present invention.The electric-control system can be applied to drive automatically
It sails in vehicle.As shown in Figure 1, the electric-control system includes: control panel, battery system, power protection module, the first pressure stabilizing mould
Block, at least one laser radar, interchanger, integrated navigation system, communication interface conversion module, vision module, at least one milli
Metre wave radar, control unit for vehicle, bottom vehicle control device, photoelectric isolating relay, lighting system, loudspeaker and at least one take the photograph
As head.In order to connect to signal flow, electrical connection and controller local area network's (Controller Area Network, CAN) bus
It connects and distinguishes, electrical connection lines are the black thin of heavy black line and the left side Fig. 1, universal input/output (General
Purpose Input Output, GPIO) port line is long dotted line, CAN bus is pecked line, and the port RJ45 line is short void
Line.
Control panel has power switch on control panel, for generating power on signal when power switch is pressed.
Battery system, signal input part are connected with control panel, for receiving the power on signal of control panel transmission,
And according to power on signal, supply voltage is provided for electric-control system.
Wherein, battery system has charging hole, and by charging hole, charger is battery system charging.
First output end of power protection module, input terminal and battery system is connected, for corresponding to supply voltage
Electric current measure, when electric current be greater than preset current threshold when, cutting power supply.
Wherein, power protection module can be fuse box, has multiple output ends, is individually carried out by each output end
Current-limiting protection, each electronic control unit of insulation blocking (Electronic Control Unit, ECU).Wherein, ECU can wrap
Include the element of subsequent and power control unit electrical connection.
The second output terminal of first Voltage stabilizing module, input terminal and battery system is connected, for carrying out to supply voltage
Steady pressure treatment generates first voltage.
The output end of at least one laser radar, input terminal and the first Voltage stabilizing module is connected, for obtaining the first ring
Border perception data.
As a result, by the first Voltage stabilizing module, steady pressure treatment is carried out to the power supply of laser radar, avoids laser radar in electricity
When pressing unstable, it is damaged.
Wherein, example and it is non-limiting, the quantity of at least one laser radar can be three, two 16 line laser radars,
One 32 line laser radar, first 16 line laser radar are properly termed as first laser radar, and 32 line laser radars are properly termed as
Second laser radar, another 16 line laser radar are properly termed as third laser radar.Two 16 line laser radars of a left side can be set
The right and left in vehicle is set, 32 line laser radars can be set in roof.Two 16 line laser radars and 32 line lasers
Radar, each has its corresponding environment sensing data, is referred to as first environment perception data.Pass through three laser thunders as a result,
Up to co-operation, reduce the blind area of laser scanning.
At this point, first environment perception data is the general designation for the perception data that three laser radars obtain.
First output end of interchanger, input terminal and power protection module is connected, signal input part and laser thunder
The signal output end reached is connected, for receiving the first environment perception data of laser radar transmission.
Wherein, interchanger can be eight mouthfuls of gigabit switch.
The second output terminal of integrated navigation system, input terminal and power protection module is connected, signal input part and
Global position system GPS antenna is connected, for receiving the second environment perception data of GPS antenna transmission.
Wherein, integrated navigation system includes Differential Global Positioning System (Differential Global Positioning
System, DGPS) chip and Inertial Measurement Unit (Inertial measurement unit, IMU).The DGPS chip is external
Main global positioning system (Principal Global Positioning System, PGPS) antenna and from global positioning system
(Subordinate Global Positioning System, SGPS) antenna, to get the location information and speed of vehicle
Spend information.Inertial Measurement Unit is used to measure the angular speed and acceleration of mobile object.Therefore, second environment perception data includes
The angular speed and acceleration of mobile object in the velocity information of vehicle, location information and ambient enviroment.
The third output end of communication interface conversion module, input terminal and power protection module is connected, signal input
End is connected with the signal output end of integrated navigation system, for carrying out the first conversion process to second environment perception data, obtains
Second environment perception data after to the first conversion process.
Wherein, integrated navigation system has the electrical characteristic RS422 interface of balanced voltage digital interface circuit, second environment
Perception data is sent to vehicle control after communication interface conversion module is converted, by the second environment perception data after conversion
Unit.Conversion herein is mainly stylistic conversion.
4th output end of vision module, input terminal and power protection module is connected, for obtaining third environment sense
Primary data.
Wherein, the model of vision module can be the ME6300ALL of incomparable view (Mobileye), which can be with
Obtain third environment sensing data.
5th output end of at least one millimetre-wave radar, input terminal and power protection module is connected, for obtaining
4th environment perception data.
Wherein, example and it is non-limiting, the quantity of millimetre-wave radar can be two, the first millimetre-wave radar and second millimeter
Wave radar.First millimetre-wave radar can be set in the front of vehicle, and second laser radar can be set at the rear of vehicle.This
When, the 4th environment perception data is the general designation for the data that two millimetre-wave radars obtain.
Bottom vehicle control device, the first universal input export (General Purpose Input Output, GPIO)
Port is connected with the automatic Pilot switch on control panel, and the second GPIO port is connected with the indicator light of control panel,
Its third GPIO port is connected with the crosswise joint of control panel switch, longitudinal control of the 4th GPIO port and control panel
System switch is connected, and the 5th GPIO port is connected with ignition system, after receiving the ignition signal of ignition system, receives
The vehicle operating modes selection instruction of control panel, and control instructions lamp flashes.
Control unit for vehicle, the first signal input part are connected with the signal output end of interchanger, and second signal is defeated
Enter end to be connected with the signal output end of communication interface conversion module, the signal output of third signal input part and vision module
End is connected, and fourth signal input terminal is connected with the signal output end of millimetre-wave radar, wireless interface and server phase
Connection, be connected by CAN bus with bottom vehicle control device, for receive server send trip mission bit stream and
The vehicle operating modes selection instruction that bottom vehicle control device is sent, when vehicle operating modes selection instruction is crosswise joint switch
When being pressed at least one in longitudinally controlled switch, to trip mission bit stream, first environment perception data, the first conversion process
Second environment perception data, third environment sensing data and the 4th environment perception data afterwards is handled, and the result of decision is generated
Information；And decision result information is handled, torque control message and/or course changing control information are generated, then to torque control
Information processed and/or course changing control information are handled, and treated torque control message and/or course changing control information are sent
Give bottom vehicle control device；Also, when crosswise joint switch is pressed, according to the steering of vehicle, steering controling signal is generated,
And steering controling signal is sent to bottom vehicle control device.
Bottom vehicle control device is also used to, receive control unit for vehicle send treated torque control message and/or
Torque control message after conversion process and/or the course changing control information after conversion process are passed through vehicle by course changing control information
Bus is sent to dynamical system to dynamic Control local (Power Controller Area Network, PCAN), so that dynamical system
Motor in system controls the speed of vehicle according to the torque control message after conversion process；And/or so that in dynamical system
Electric boosting steering system EPS controls the steering of vehicle according to the course changing control information after conversion process；And receive vehicle
The steering controling signal that control unit is sent, and according to steering controling signal, generate driving signal.
6th output end of photoelectric isolating relay, input terminal and power protection module is connected, signal input part
It is connected with the signal output end of bottom vehicle control device, for receiving the driving signal of bottom vehicle control device, and according to drive
Dynamic signal, generates first control signal and second control signal.
First signal output end of lighting system, signal input part and photoelectric isolating relay is connected, for receiving
The first control signal that photoelectric isolating relay is sent, and according to first control signal, with preset frequency scintillation preset duration.
Wherein, lighting system includes left steering lamp, right turn lamp and left and right dipped headlight.For example, when vehicle turns left, control
Left steering lamp flashing processed.In driving at night and left-hand bend, control dipped headlight starting, and control left steering lamp starting.
The second signal output end of loudspeaker, signal input part and photoelectric isolating relay is connected, for receiving photoelectricity
The second control signal that disconnecting relay is sent, and according to second control signal, generate alarm signal.
At least one camera, for obtaining the first video data.
Universal serial bus concentrator (Universal Serial Bus Hub, USB HUB), signal input part and takes the photograph
As head is connected, signal output end is connected with the 5th signal input part of control unit for vehicle, for receiving camera
First video data, and the first video data is sent to control unit for vehicle.
First video data is transmitted to control unit for vehicle by USB HUB, and control unit for vehicle turns the first video data
Server is issued, the first video data is sent to long-range allotment monitor terminal by server, and remote vehicle manipulates rack according to remote
The manipulation that journey manipulator carries out vehicle according to the first video data generates remote control commands, and remote control commands is sent out
Long-range allotment monitor terminal is given, so that remotely allotment monitor terminal remotely controls vehicle according to remote control commands.
Hereby it is achieved that the long-range Driving control of vehicle, enriches the control mode of vehicle.
Wherein, camera may include the first camera, second camera, third camera and the 4th camera.First
Camera can be preceding wide-angle camera, and second camera can be rear wide-angle camera, and third camera can be left wide-angle
Camera, the 4th camera can be right wide-angle camera.It is separately positioned on the different location of vehicle, in order to realize shooting blind area
Minimize, can the installation site to four cameras repeatedly tested, to determine best position.Camera passes through
USB interface is connected with USB HUB, and the video data of camera is forwarded to AVCU by USB HUB, and AVCU carries out video data
Compression processing, to reduce data volume, and by the video data transmission after compression processing to background server.Since AVCU is to data
It is compressed, substantially increases data transmission efficiency.
Control unit for vehicle is also used to, and the first video data is sent to server, so that server is by the first video counts
According to long-range allotment monitor terminal is sent to, remote vehicle manipulates rack according to remote control person the first video data of foundation to vehicle
The manipulation of progress generates remote control commands, and remote control commands is sent to long-range allotment monitor terminal, so that long-range adjust
Vehicle is remotely controlled according to remote control commands with monitor terminal.
In the following, the operational process to vehicle is specifically described.
The stage is debugged in vehicle, control unit for vehicle can be industrial personal computer, and after vehicle release, control unit for vehicle can be with
It is automatic driving vehicle control unit (Automated Vehicle Control Unit, AVCU).Bottom vehicle control device can
To be automatic Pilot bottom vehicle control device (Bottom Vehicle Control Unit, BVCU).In the vehicle testing stage,
Be connected between BVCU and photoelectric isolating relay by GPIO port line, after vehicle release, BVCU and Phototube Coupling after
It is connected between electric appliance by CAN bus.It is illustrated so that control unit for vehicle is AVCU as an example below.
There is power switch, automatic Pilot switch, crosswise joint switch and longitudinally controlled switch on control panel.By pressing
Piezoelectricity source switch, powers on for electric-control system, and after powering on, AVCU and BVCU carry out self-test, after self-test success, into standby mode.
After BVCU receives the ignition signal of ignition system, the vehicle mode selection instruction of control panel is then received.
It is controlled into automatic driving mode by pressing crosswise joint switch and/or longitudinal direction by pressing automatic Pilot switch
Which kind of automatic driving mode system switch, can choose in.For example, indicating to turn to automatic when only pressing crosswise joint switch
Driving mode.When only pressing longitudinally controlled switch, speed automatic driving mode is indicated.When pressing the two simultaneously, indicate
Full-automatic driving mode.
The vehicle mode selection instruction is sent to AVCU by BVCU, meanwhile, AVCU receives the task of user by display
Information, the mission bit stream may include: the origin of automatic Pilot.
AVCU is according to the mission bit stream, from the corresponding cartographic information of server calls mission bit stream.Then to various environment
Perception data carries out fusion treatment, dyspoiesis object information.Then according to the cartographic information and obstacle information, decision knot is generated
Fruit information.
Dynamical system includes electric boosting steering system (Electric Power Steering, EPS) and motor etc.,
Course changing control information after conversion process is sent to BVCU by CAN bus by AVCU, and BVCU will be located by vehicle PCAN bus
Course changing control information and/or torque control message after reason are sent to dynamical system.
It further, further include AB key receiving module, the input terminal and function of AB key receiving module when vehicle debugs the stage
The output end of rate protective module is connected, and the first output end of AB key receiving module is connected to the 5th GPIO port of BVCU, AB
The second output terminal of key receiving module is connected to the 6th GPIO port of BVCU.At the stage of debugging, the A key of AB key receiving module
It is equivalent to crosswise joint switch, B key is equivalent to longitudinally controlled switch.Its control method is similar with control panel, no longer superfluous herein
It states.
Wherein, AVCU and background server can pass through forth generation mechanics of communication (the 4th Generation
Communication system, 4G) technology, the 5th generation mechanics of communication (the 5th Generation communication
System, 5G) technology or Wireless Fidelity (Wireless Fidelity, WI-FI) technology etc. communicated.
Further, control unit for vehicle is also used to, and is handled third environment sensing data, and processing result is generated,
Processing result is analyzed, when processing result is there are when emergency, generation emergency brake signal, emergency brake signal leads to
It crosses vehicle PCAN bus and is sent to braking system, so that braking system carries out emergency braking according to emergency brake signal.
Specifically, AVCU individually handles the third environment sensing data that vision module obtains, processing herein
Mainly collision detection, determines whether vehicle can collide, if can collide, generates emergency brake signal.
For example, there is pedestrian running red light in 15 meters of front, AVCU is calculated according to speed, ambient enviroment, judges that vehicle can not
Pedestrian can be met, if can meet pedestrian, after emergency brake signal is sent to BVCU, BVCU is by being sent to braking system
System, stops in emergency to control vehicle, avoids the generation of fortuitous event, ensure that safe driving.
Further, the control unit for vehicle is also used to, and obtains actual speed information, and to the actual speed information
And the velocity information in second environment perception data carries out fusion treatment, formation speed fuse information melts according to the speed
Information is closed, the course changing control information and/or the torque control message are modified.
Specifically, it includes two kinds of situations that control unit for vehicle, which obtains actual speed information,.The first, before vehicle release,
Actual speed information is read from CAN bus by BVCU, and actual speed information is sent to control unit for vehicle.Second,
After vehicle release, control unit for vehicle reads actual speed information directly from CAN bus, in the latter case, practical
The acquisition of vehicle speed information is quicker.
Later, AVCU melts the velocity information of the vehicle obtained of DGPS in actual speed information and integrated navigation system
Conjunction processing, formation speed fuse information, according to speed fuse information, correct course changing control information or torque control message or
Course changing control information and torque control message.
Further, electric-control system further includes first detection unit and/or second detection unit (not shown).
First detection unit, setting on the steering wheel, for detecting whether there are user hand torque, when detecting the presence of use
When the hand-power square of family, exit instruction is sent to EPS, exit instruction is used to indicate EPS and exits automatic driving mode, into artificial mould
Formula；
Second detection unit is arranged on brake pedal, for detecting whether brake pedal is operated, when brake pedal quilt
When stepping on, into artificial mode.
As a result, by first detection unit and/or second detection unit, vehicle can be switched to people from automatic driving mode
Work mode.Hereby it is achieved that the switching to vehicle driving model.
Further, electric-control system further includes the second Voltage stabilizing module and display；
7th output end of the second Voltage stabilizing module, input terminal and power protection module is connected, for supply voltage
It is handled, generates second voltage；
The output end of display, input terminal and the second Voltage stabilizing module is connected, signal input part and vehicle control list
The signal output end of member is connected, and for receiving the car status information of control unit for vehicle transmission, and shows that vehicle-state is believed
Breath.The status information of vehicle can be current vehicle speed, current location, apart from terminal time, apart from terminal distance etc. information.By
This, carries out steady pressure treatment by voltage of second Voltage stabilizing module to display, ensure that the clarity of display.Pass through display
Device, user can intuitively obtain the status information of vehicle, improve user experience comfort level.
Further, electric-control system further includes inverter and power supply adaptor；
The third output end of inverter, input terminal and power-supply system is connected, for supply voltage to be carried out direct current-friendship
(Direct Current to Alternating Current, DC-AC) processing is changed in circulation, generates alternating voltage；
The output end of power supply adaptor, input terminal and inverter is connected, and output end is connected with control unit for vehicle
Connect, for carrying out rectification processing to alternating voltage, and will rectification treated that alternating voltage is input to control unit for vehicle.By
This, ensure that the stable power-supplying of control unit for vehicle, avoid power supply instability damage caused by control unit for vehicle.
Further, bottom vehicle control device includes the first modulus port and the second modulus port；
First modulus port is connected with the output end of the first Voltage stabilizing module, the second modulus port and power supply adaptor it is defeated
Outlet is connected, and the bottom vehicle control device is for first voltage and rectification, treated that alternating voltage samples respectively
Processing, and according to sampling processing as a result, judging whether the power supply of laser radar and control unit for vehicle normal.As a result, into one
Step ensure that the stability of the power supply of laser radar and control unit for vehicle, avoid power supply instability to laser radar and vehicle
It is damaged caused by control unit.
Further, electric-control system further includes joint vision technique (Allied Vision Technologies, AVT) phase
Machine.
8th output end of AVT camera, input terminal and power protection module is connected, for obtaining the second video counts
According to.
Further, electric-control system further includes third Voltage stabilizing module and router；
9th output end of third Voltage stabilizing module, input terminal and power protection module is connected, for supply voltage
It is handled, generates tertiary voltage；
Router, input terminal are connected with the output end of third Voltage stabilizing module, the letter of signal input part and AVT camera
Number output end is connected, for receiving the second video data of AVT camera transmission.
Control unit for vehicle, the 5th signal input part are connected with the signal output end of router, for receiving routing
The second video data that device is sent, and is transmitted to server for the second video data, so that server is according to the second video data,
Vehicle is monitored.
Specifically, the first video data that AVT camera obtains first is transferred to router, then vehicle control is transmitted to by router
Unit processed.Router can be 4G router.
Electric-control system further includes data transmission unit (Data Transfer unit, DTU).
Tenth output end of DTU, input terminal and power protection module is connected, signal input part and integrated navigation system
The input terminal of system is connected, for carrying out conversion process to the data obtained from Inertial Measurement Unit.
Wherein, DTU can be 4G DTU.Second conversion process is also stylistic conversion, is that second environment is perceived number
According to being converted to Internet protocol (Internet Protocol, IP) data.Hereby it is achieved that by second environment perception data into
After row conversion, it is transferred directly to server, requires no control unit for vehicle, improves the efficiency of data transmission.
As a result, by applying electric-control system provided in an embodiment of the present invention, each ECU is limited by power protection module
Stream protection, and steady pressure treatment is carried out to laser radar, control unit for vehicle and router by Voltage stabilizing module, and to laser thunder
It is sampled up to the power supply with control unit for vehicle, ensure that the normal work of laser radar and control unit for vehicle, protect as a result,
The high Precision Processing of control unit for vehicle is demonstrate,proved, and camera acquires the first video data, convenient for the subsequent long-range control to vehicle
System.
Professional should further appreciate that, described in conjunction with the examples disclosed in the embodiments of the present disclosure
Unit and algorithm steps, can be realized with electronic hardware, computer software, or a combination of the two, hard in order to clearly demonstrate
The interchangeability of part and software generally describes each exemplary composition and step according to function in the above description.
These functions are implemented in hardware or software actually, the specific application and design constraint depending on technical solution.
Professional technician can use different methods to achieve the described function each specific application, but this realization
It should not be considered as beyond the scope of the present invention.
The step of method described in conjunction with the examples disclosed in this document or algorithm, can be executed with hardware, processor
The combination of software module or the two is implemented.Software module can be placed in random access memory (RAM), memory, read-only memory
(ROM), electrically programmable ROM, electrically erasable ROM, register, hard disk, moveable magnetic disc, CD-ROM or technical field
In any other form of storage medium well known to interior.
Above specific embodiment has carried out further in detail the purpose of the present invention, technical scheme and beneficial effects
Illustrate, it should be understood that the above is only a specific embodiment of the invention, the protection model that is not intended to limit the present invention
It encloses, all within the spirits and principles of the present invention, any modification, equivalent substitution, improvement and etc. done should be included in the present invention
Protection scope within.
Claims (9)
1. a kind of electric-control system, which is characterized in that the electric-control system includes:
Control panel has power switch on the control panel, for generating power on signal when power switch is pressed；
Battery system, signal input part are connected with control panel, for receiving the power on signal of control panel transmission, and root
According to the power on signal, supply voltage is provided for electric-control system；
First output end of power protection module, input terminal and the battery system is connected, for the supply voltage
Corresponding electric current measures, when the electric current is greater than preset current threshold, cutting power supply；
First Voltage stabilizing module, input terminal are connected with the second output terminal of the battery system, for the supply voltage
Steady pressure treatment is carried out, first voltage is generated；
At least one laser radar, input terminal are connected with the output end of first Voltage stabilizing module, for obtaining the first ring
Border perception data；
First output end of interchanger, input terminal and the power protection module is connected, signal input part and it is described swash
The signal output end of optical radar is connected, the first environment perception data sent for receiving the laser radar；
Integrated navigation system, input terminal are connected with the second output terminal of the power protection module, signal input part and
Global position system GPS antenna is connected, the second environment perception data sent for receiving the GPS antenna；
The third output end of communication interface conversion module, input terminal and the power protection module is connected, signal input
End is connected with the signal output end of the integrated navigation system, for carrying out the first conversion to the second environment perception data
Processing, the second environment perception data after obtaining the first conversion process；
4th output end of vision module, input terminal and the power protection module is connected, for obtaining third environment sense
Primary data；
5th output end of at least one millimetre-wave radar, input terminal and the power protection module is connected, for obtaining
4th environment perception data；
Bottom vehicle control device, the first universal input export GPIO port and are connected with the automatic Pilot switch on control panel
It connects, the second GPIO port is connected with the indicator light of control panel, the crosswise joint of third GPIO port and control panel
Switch is connected, and the 4th GPIO port is connected with the longitudinally controlled switch of control panel, the 5th GPIO port and igniting
System is connected, and after receiving the ignition signal of ignition system, receives the vehicle operating modes selection instruction of control panel, and
Control the indicator light flashing；
Control unit for vehicle, the first signal input part are connected with the signal output end of the interchanger, and second signal is defeated
Enter end to be connected with the signal output end of the communication interface conversion module, third signal input part and the vision module
Signal output end is connected, and fourth signal input terminal is connected with the signal output end of the millimetre-wave radar, wirelessly connects
Mouth is connected with server, is connected by controller local area network's CAN bus with the bottom vehicle control device, for connecing
The trip mission bit stream that server is sent and the vehicle operating modes selection instruction that bottom vehicle control device is sent are received, when described
When vehicle operating modes selection instruction is that at least one in crosswise joint switch and longitudinally controlled switch is pressed, to the trip
The second environment perception data, the third ring after mission bit stream, the first environment perception data, the first conversion process
Border perception data and the 4th environment perception data are handled, and result of decision information is generated；And the result of decision is believed
Breath is handled, and torque control message and/or course changing control information is generated, then to the torque control message and/or steering
Control information is handled, and treated the torque control message and/or course changing control information are sent to the bottom
Vehicle control device；Also, when crosswise joint switch is pressed, according to the steering of vehicle, steering controling signal is generated, and
The steering controling signal is sent to the bottom vehicle control device；
The bottom vehicle control device is also used to, and is received control unit for vehicle and is sent treated the torque control message
And/or course changing control information, the torque control message after conversion process and/or the course changing control information after conversion process are passed through
Vehicle dynamic Control local PCAN bus is sent to dynamical system, so that the motor in dynamical system is according to the institute after conversion process
Torque control message is stated, the speed of vehicle is controlled；And/or so that electric boosting steering system EPS in dynamical system, according to
The course changing control information after conversion process, controls the steering of vehicle；And receive the steering control that control unit for vehicle is sent
Signal processed, and according to the steering controling signal, generate driving signal；
6th output end of photoelectric isolating relay, input terminal and the power protection module is connected, signal input part
It is connected with the signal output end of bottom vehicle control device, for receiving the driving signal of bottom vehicle control device, and according to institute
Driving signal is stated, first control signal and second control signal are generated；
First signal output end of lighting system, signal input part and the photoelectric isolating relay is connected, for receiving
The first control signal that the photoelectric isolating relay is sent, and according to the first control signal, with preset frequency
Flash preset duration；
The second signal output end of loudspeaker, signal input part and the photoelectric isolating relay is connected, described for receiving
The second control signal that photoelectric isolating relay is sent, and according to the second control signal, generate alarm signal；
At least one camera, for obtaining the first video data；
Universal serial bus concentrator USB HUB, signal input part are connected with the camera, signal output end and institute
The 5th signal input part for stating control unit for vehicle is connected, for receiving the first video data of camera, and by described
One video data is sent to the control unit for vehicle；
The control unit for vehicle is also used to, and first video data is sent to server, so that the server is by institute
It states the first video data and is sent to long-range allotment monitor terminal, the remote vehicle manipulation rack is according to remote control person according to the
The manipulation that one video data carries out vehicle generates remote control commands, and the remote control commands is sent to described remote
Journey deploys monitor terminal, so that the long-range allotment monitor terminal carries out remotely the vehicle according to the remote control commands
Control；
The control unit for vehicle is also used to, and is handled the third environment sensing data, processing result is generated, to described
Processing result is analyzed, when the processing result is to generate emergency brake signal, the emergency braking there are when emergency
Signal is sent to braking system by the vehicle PCAN bus so that the braking system according to the emergency brake signal into
Row emergency braking.
2. electric-control system according to claim 1, which is characterized in that the control unit for vehicle is also used to, and is obtained practical
Velocity information, and fusion treatment is carried out to the velocity information in the actual speed information and second environment perception data, it is raw
At speed fuse information, according to the speed fuse information, to the course changing control information and/or the torque control message into
Row amendment.
3. electric-control system according to claim 1, which is characterized in that the electric-control system further includes first detection unit
And/or second detection unit；
The first detection unit, setting on the steering wheel, for detecting whether there are user hand torque, when detecting the presence of use
When the hand-power square of family, exit instruction is sent to the EPS, the exit instruction is used to indicate EPS and exits automatic driving mode, enters
Artificial mode；
The second detection unit is arranged on brake pedal, for detecting whether brake pedal is operated, when the braking is stepped on
When plate is operated, into artificial mode.
4. electric-control system according to claim 1, which is characterized in that the electric-control system further include the second Voltage stabilizing module and
Display；
7th output end of second Voltage stabilizing module, input terminal and the power protection module is connected, for described
Supply voltage is handled, and second voltage is generated；
The display, input terminal are connected with the output end of second Voltage stabilizing module, signal input part and vehicle control
The signal output end of unit processed is connected, and for receiving the car status information of control unit for vehicle transmission, and shows the vehicle
Status information.
5. electric-control system according to claim 1, which is characterized in that the electric-control system further includes that inverter and power supply are suitable
Orchestration；
The third output end of the inverter, input terminal and power-supply system is connected, for supply voltage to be carried out direct current-friendship
DC-AC processing is changed in circulation, generates alternating voltage；
The power supply adaptor, input terminal are connected with the output end of the inverter, output end and the vehicle control
Unit is connected, for carrying out rectification processing to the alternating voltage, and will rectification treated that the alternating voltage is input to
The control unit for vehicle.
6. electric-control system according to claim 5, which is characterized in that the bottom vehicle control device includes the first modulus end
Mouth and the second modulus port；
First modulus port is connected with the output end of first Voltage stabilizing module, second modulus port and the electricity
The output end of source adapter is connected, and the bottom vehicle control device is for respectively handling the first voltage and the rectification
The alternating voltage afterwards carries out sampling processing, and according to sampling processing as a result, judging the laser radar and vehicle control
Whether the power supply of unit is normal.
7. electric-control system according to claim 1, which is characterized in that the electric-control system further includes joint vision technique
AVT camera；
8th output end of the AVT camera, input terminal and the power protection module is connected, for obtaining the second video
Data.
8. electric-control system according to claim 7, which is characterized in that the electric-control system further include third Voltage stabilizing module and
Router；
9th output end of the third Voltage stabilizing module, input terminal and power protection module is connected, for the power supply
Voltage is handled, and tertiary voltage is generated；
The router, input terminal are connected with the output end of the third Voltage stabilizing module, signal input part and the AVT
The signal output end of camera is connected, for receiving the second video data of AVT camera transmission；
The control unit for vehicle, the 5th signal input part is connected with the signal output end of the router, for receiving
The second video data that the router is sent, and second video data is transmitted to server so that server according to
Second video data, is monitored vehicle.
9. electric-control system according to claim 1, which is characterized in that the electric-control system further includes data transmission unit
DTU；
Tenth output end of the DTU, input terminal and the power protection module is connected, signal input part and described group
The input terminal for closing navigation system is connected, for the second environment perception data to be carried out the second conversion process, and by second
The second environment perception data after conversion process is sent to server.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110442124A (en) * | 2019-06-24 | 2019-11-12 | 广东杜尼智能机器人工程技术研究中心有限公司 | Driverless electric automobile control system |
| CN110442124B (en) * | 2019-06-24 | 2022-05-17 | 广东杜尼智能机器人工程技术研究中心有限公司 | Unmanned electric vehicle control system |
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