CN109032123A - A kind of unmanned electric patrol car - Google Patents
A kind of unmanned electric patrol car Download PDFInfo
- Publication number
- CN109032123A CN109032123A CN201810502802.0A CN201810502802A CN109032123A CN 109032123 A CN109032123 A CN 109032123A CN 201810502802 A CN201810502802 A CN 201810502802A CN 109032123 A CN109032123 A CN 109032123A
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- Prior art keywords
- module
- patrol car
- headstock
- unmanned
- wheel
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- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims abstract description 15
- 229910052744 lithium Inorganic materials 0.000 claims abstract description 15
- 238000005183 dynamical system Methods 0.000 claims abstract description 14
- 230000007613 environmental effect Effects 0.000 claims abstract description 13
- 230000008447 perception Effects 0.000 claims abstract description 12
- 230000005540 biological transmission Effects 0.000 claims abstract description 8
- 230000007547 defect Effects 0.000 abstract description 2
- 230000006870 function Effects 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 5
- 230000004888 barrier function Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000007500 overflow downdraw method Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Classifications
-
- 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
- G05D1/0251—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 3D information from a plurality of images taken from different locations, e.g. stereo vision
-
- 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
- G05D1/0257—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
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Electromagnetism (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Traffic Control Systems (AREA)
Abstract
The present invention relates to electric patrol cars, more particularly to a kind of unmanned electric patrol car, including going on patrol car body, car body is gone on patrol by headstock, the tailstock, roof, chassis, wheel and dynamical system composition, dynamical system includes the lithium battery group on chassis, driving motor and wheel set on tailstock bottom, vehicle seat is fixed in lithium battery group, GPS module is fixed at the top of roof, car light and radar, roof bottom is fixed with camera, headstock is equipped with steering wheel, control panel is equipped with inside headstock, it is equipped in control panel for acquiring radar, camera transmission data and the environmental perception module for constructing running environment model, the navigation positioning module of traveling geographical location information is provided for typing dipper system positioning terminal data, for the behaviour decision making mould according to environmental perception module and the information planning driving path track of navigation positioning module transmission Block；Technical solution provided by the present invention can effectively overcome the defect for not having unmanned function present in the prior art.
Description
Technical field
The present invention relates to electric patrol cars, and in particular to a kind of unmanned electric patrol car.
Background technique
With the development of society, the security protection of the public places such as more and more large-scale garden, workshop, airport, harbour, museums
Task becomes increasingly important.Electric patrol car is widely used as police, civilian important monitoring security protection tool, and is had
There is the wide market space.
However existing electric patrol car can only be operated using pilot steering, cannot use automatic unmanned mode, and
And pilot steering can not be carried out in the case where the extremely environmental conditions very severe such as cold, sudden-heat, radiation pollution.With labour's
Lack and the demand of security industry is growing, the demand to unmanned electric patrol car will be more and more, therefore have
Necessity improves existing electric patrol car.
Summary of the invention
(1) the technical issues of solving
For disadvantages mentioned above present in the prior art, the present invention provides a kind of unmanned electric patrol cars, can
Effectively overcome the defect for not having unmanned function present in the prior art.
(2) technical solution
In order to achieve the above object, the present invention is achieved by the following technical programs:
A kind of unmanned electric patrol car, including patrol car body, the patrol car body is by headstock, the tailstock, roof, bottom
Disk, wheel and dynamical system composition, the dynamical system include the lithium battery group on chassis, the driving set on tailstock bottom
Motor and wheel are fixed with vehicle seat in the lithium battery group, are fixed with GPS module, car light and radar at the top of the roof, described
Roof bottom is fixed with camera, and the headstock is equipped with steering wheel, is equipped with control panel inside the headstock；
It is equipped in the control panel for acquiring radar, camera transmission data and the environment sensing for constructing running environment model
Module provides the navigation positioning module of traveling geographical location information for typing dipper system positioning terminal data, is used for basis
The behaviour decision making module for the information planning driving path track that environmental perception module and navigation positioning module are sent, for according to row
Dynamical system and steering wheel are controlled for the planning driving path track of decision-making module, complete the movement of unmanned operation
Control module.
Preferably, the lithium battery group and driving motor are electrically connected.
Preferably, two rear-wheels in the wheel are connected by transmission device with driving motor.
Preferably, the lithium battery group is externally provided with shell.
Preferably, the headstock be equipped with mode-changeover device, the mode-changeover device be used for pilot steering, nobody
Two kinds of driving modes are driven to switch over.
Preferably, when the mode-changeover device is switched to unmanned mode, can be stepped on by artificial foot brake pedal or
Steering wheel rotation is restored to pilot steering mode.
Preferably, the headstock is equipped with emergency safety brake, and pressing switch can be achieved emergency braking.
(3) beneficial effect
Compared with prior art, a kind of unmanned electric patrol car provided by the present invention can utilize environment sensing mould
Radar merge with the image that camera obtains by block is changed into grating map, includes lane line and obstacle in each grating map
The information such as object can obtain the current geographical position of car body by acquiring dipper system positioning terminal data using navigation positioning module
It sets, behaviour decision making module can plan driving path according to the information that environmental perception module, navigation positioning module provide,
Motion-control module can be according to the run routing information control dynamical system and steering wheel that behaviour decision making module provides, thus real
Existing autonomous traveling of the car body in planning path.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described.It should be evident that the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is schematic structural view of the invention；
Fig. 2 is present system structural schematic diagram；
In figure:
1, headstock；2, the tailstock；3, roof；4, chassis；5, wheel；6, lithium battery group；7, vehicle seat；8, GPS module；9, vehicle
Lamp；10, radar；11, camera；12, control panel；13, steering wheel.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described.Obviously, described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without creative efforts, shall fall within the protection scope of the present invention.
A kind of unmanned electric patrol car, as depicted in figs. 1 and 2, including patrol car body, car body is gone on patrol by headstock 1, vehicle
Tail 2, roof 3, chassis 4, wheel 5 and dynamical system composition, dynamical system include the lithium battery group 6 being set on chassis 4, are set to vehicle
The driving motor and wheel 5 of 2 bottom of tail are fixed with vehicle seat 7 in lithium battery group 6, GPS module 8, car light 9 are fixed at the top of roof 3
With radar 10,3 bottom of roof is fixed with camera 11, and headstock 1 is equipped with steering wheel 13, is equipped with control panel 12 inside headstock 1；
It is equipped in control panel 12 for acquiring radar 10, camera 11 transmits data and constructs the environment sense of running environment model
Know module, provides the navigation positioning module of traveling geographical location information for typing dipper system positioning terminal data, be used for root
According to the behaviour decision making module for the information planning driving path track that environmental perception module and navigation positioning module are sent, it to be used for basis
The planning driving path track of behaviour decision making module controls dynamical system and steering wheel 13, completes unmanned operation
Motion-control module.
Lithium battery group 6 and driving motor are electrically connected；Two rear-wheels in wheel 5 pass through transmission device and driving motor phase
Even；Lithium battery group 6 is externally provided with shell；Headstock 1 is equipped with mode-changeover device, and mode-changeover device is used for pilot steering, nothing
People drives two kinds of driving modes and switches over；When mode-changeover device is switched to unmanned mode, system can be stepped on by artificial foot
Dynamic pedal or steering wheel rotation are restored to pilot steering mode；Headstock 1 is equipped with emergency safety brake, and pressing switch can be real
Existing emergency braking.
Environmental perception module constructs running environment model by the information of acquisition radar 10, camera 11, forms a grid
Lattice map transfers to behaviour decision making resume module.The specific method is as follows:
Using radar 10 obtain road around three-dimensional panoramic image, and by feature extraction, feature expansion, searching algorithm,
The processes such as road modeling, model verifying complete the radar image acquisition of dynamic static-obstacle and road information；
Camera 11 obtains binary image, refines, mention to binary image by utilizing self-adaption binaryzation method
Cut-off line obtains lane line candidate line, and image is carried out inverse perspective projection and is changed, then the geometrical characteristic of lane line is recycled to obtain
To testing result, to complete the image information collecting of lane line；
Using the Multiple Source Sensor information fusion method based on model, the image that radar 10 is obtained with camera 11 is melted
It closes, fused image information is changed into the grating map of 15cm*15cm, includes lane line and barrier etc. inside each grid
Attribute information.
The current geographical position of car body can be obtained by acquiring dipper system positioning terminal data using navigation positioning module
Set with car body pose, and this information is transferred into behaviour decision making resume module.
Behaviour decision making module can carry out unpiloted according to the information that environmental perception module, navigation positioning module provide
Driving path planning, forms a track, motion-control module is transferred to handle.The specific method is as follows:
The global path that upper layer is descended is received, the information that navigation locating module is sent judges that vehicle is presently in entirely
Office's path position, the lane line and the information such as barrier in grating map provided according to environmental perception module, is advised according to traffic
Then with the requirement of vehicle safety, unpiloted driving path is planned.
Motion-control module can be according to the run routing information control dynamical system and direction that behaviour decision making module provides
Disk, to realize autonomous traveling of the car body in planning path.
A kind of unmanned electric patrol car provided by the present invention can utilize environmental perception module by radar and camera
The image of acquisition carries out fusion and is changed into grating map, includes the information such as lane line and barrier, utilization in each grating map
Navigation positioning module can obtain the current geographical location of car body, behaviour decision making mould by acquiring dipper system positioning terminal data
Block can according to environmental perception module, navigation positioning module provide information driving path is planned, motion-control module
It can be according to the run routing information control dynamical system and steering wheel that behaviour decision making module provides, to realize that car body is being planned
Autonomous traveling in path.
The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although with reference to the foregoing embodiments
Invention is explained in detail, those skilled in the art should understand that: it still can be to aforementioned each implementation
Technical solution documented by example is modified or equivalent replacement of some of the technical features；And these modification or
Replacement, can't be such that the essence of corresponding technical solution departs from the spirit and scope of the technical scheme of various embodiments of the present invention.
Claims (7)
1. a kind of unmanned electric patrol car, it is characterised in that: including going on patrol car body, the patrol car body is by headstock (1), vehicle
Tail (2), roof (3), chassis (4), wheel (5) and dynamical system composition, the dynamical system include the lithium on chassis (4)
Battery pack (6), the driving motor and wheel (5) for being set to the tailstock (2) bottom, are fixed with vehicle seat (7) on the lithium battery group (6),
It is fixed with GPS module (8), car light (9) and radar (10) at the top of the roof (3), roof (3) bottom is fixed with camera
(11), the headstock (1) is equipped with steering wheel (13), is equipped with control panel (12) inside the headstock (1)；
It is equipped in the control panel (12) for acquiring radar (10), camera (11) transmission data and constructing running environment model
Environmental perception module provides the navigation positioning module of traveling geographical location information for typing dipper system positioning terminal data,
For the behaviour decision making module according to environmental perception module and the information planning driving path track of navigation positioning module transmission, use
Dynamical system and steering wheel (13) are controlled according to the planning driving path track of behaviour decision making module, nobody is completed and drives
Sail the motion-control module of operation.
2. unmanned electric patrol car according to claim 1, it is characterised in that: the lithium battery group (6) and driving
Motor electrical connection.
3. unmanned electric patrol car according to claim 1, it is characterised in that: after two in the wheel (5)
Wheel is connected by transmission device with driving motor.
4. unmanned electric patrol car according to claim 1, it is characterised in that: the lithium battery group (6) is externally provided with
Shell.
5. unmanned electric patrol car according to claim 1, it is characterised in that: the headstock (1) is equipped with mode
Switching device, the mode-changeover device is for switching over pilot steering, unmanned two kinds of driving modes.
6. unmanned electric patrol car according to claim 5, it is characterised in that: the mode-changeover device is switched to
When unmanned mode, brake pedal can be stepped on by artificial foot or steering wheel rotation is restored to pilot steering mode.
7. unmanned electric patrol car according to claim 1, it is characterised in that: the headstock (1) is equipped with urgent
Safety catch, pressing switch can be achieved emergency braking.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810502802.0A CN109032123A (en) | 2018-05-23 | 2018-05-23 | A kind of unmanned electric patrol car |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810502802.0A CN109032123A (en) | 2018-05-23 | 2018-05-23 | A kind of unmanned electric patrol car |
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| Publication Number | Publication Date |
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| CN109032123A true CN109032123A (en) | 2018-12-18 |
Family
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810502802.0A Pending CN109032123A (en) | 2018-05-23 | 2018-05-23 | A kind of unmanned electric patrol car |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110244742A (en) * | 2019-07-01 | 2019-09-17 | 百度在线网络技术（北京）有限公司 | Method, equipment and the storage medium that automatic driving vehicle is cruised |
| CN111258319A (en) * | 2020-01-23 | 2020-06-09 | 中汽数据(天津)有限公司 | Intelligent patrol car |
| CN112034829A (en) * | 2019-05-15 | 2020-12-04 | 广州汽车集团股份有限公司 | End-to-end automatic driving method and system and vehicle |
| CN112305573A (en) * | 2020-10-23 | 2021-02-02 | 上海伯镭智能科技有限公司 | Unmanned vehicle route selection system based on big dipper |
| WO2021017803A1 (en) * | 2019-07-26 | 2021-02-04 | 比亚迪股份有限公司 | Train control system and control method, and train |
| CN114056351A (en) * | 2021-11-26 | 2022-02-18 | 文远苏行(江苏)科技有限公司 | Automatic driving method and device |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112034829A (en) * | 2019-05-15 | 2020-12-04 | 广州汽车集团股份有限公司 | End-to-end automatic driving method and system and vehicle |
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| WO2021017803A1 (en) * | 2019-07-26 | 2021-02-04 | 比亚迪股份有限公司 | Train control system and control method, and train |
| CN111258319A (en) * | 2020-01-23 | 2020-06-09 | 中汽数据(天津)有限公司 | Intelligent patrol car |
| CN112305573A (en) * | 2020-10-23 | 2021-02-02 | 上海伯镭智能科技有限公司 | Unmanned vehicle route selection system based on big dipper |
| CN114056351A (en) * | 2021-11-26 | 2022-02-18 | 文远苏行(江苏)科技有限公司 | Automatic driving method and device |
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Application publication date: 20181218 |