CN109491380A - A kind of intelligent automobile Unmanned Systems and application method - Google Patents
A kind of intelligent automobile Unmanned Systems and application method Download PDFInfo
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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
- G05D1/0212—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
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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
- G05D1/0212—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
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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
- G05D1/0227—Control of position or course in two dimensions specially adapted to land vehicles using mechanical sensing means, e.g. for sensing treated area
- G05D1/0229—Control of position or course in two dimensions specially adapted to land vehicles using mechanical sensing means, e.g. for sensing treated area in combination with fixed guiding means
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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
- G05D1/0246—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
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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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- Aviation & Aerospace Engineering (AREA)
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- Automation & Control Theory (AREA)
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- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The invention discloses a kind of intelligent automobiles with Unmanned Systems, including cloud platform, course of action module, detection of obstacles module, map data base, automatic Pilot module, alarm module, switching module, intelligent terminal and road information acquisition module, cloud platform includes central processing unit, information transmit-receive unit, storage unit, course of action module includes route planning unit and route correction unit, detection of obstacles module includes millimetre-wave radar and vision camera, automatic Pilot module includes travelling control unit, speed change steering unit, walking monitoring unit and positioning unit, road information acquisition module includes traffic lights unit and speed-limiting messages acquisition unit, the system can be according to the location information of intelligent automobile, place road traffic signal and speed-limiting messages are acquired, and corresponding operating is carried out to intelligent automobile；It is easy to operate the present invention also provides a kind of intelligent automobile application method of Unmanned Systems, convenient for promoting.
Description
Technical field
The present invention relates to unmanned technical field, specially a kind of intelligent automobile is with Unmanned Systems and user
Method.
Background technique
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.
Pilotless automobile is to perceive road environment by vehicle-mounted sensor-based system, and automatic planning travelling line simultaneously controls vehicle
Reach the intelligent automobile of predeterminated target.It is vehicle-periphery to be perceived using onboard sensor, and obtained according to perception
Road, vehicle location and obstacle information, the steering and speed of vehicle are controlled, to enable the vehicle to reliably and securely exist
It is travelled on road.It is unmanned to integrate numerous technologies such as automatic control, architecture, artificial intelligence, vision calculating, it is meter
Calculation machine science, pattern-recognition and intelligent control technology high development product, and measure a national research strength and industry
A horizontal important symbol, has broad application prospects in national defence and national economy field.
Unmanned Systems are a mature technologies, design, construction and in terms of have been achieved for it is rich
Rich experience, as advanced timetable planning, the positive development trend for guiding urban track traffic, Unmanned Systems are related to
And multiple professions such as vehicle, signal, communication, comprehensive automation, all professions should all require to design according to Unmanned Systems,
The safety and reliability of raising system accelerates each level professional technology to develop, and reaching reduces investment operation cost, improves
Rail transportation operation management level optimizes the service quality to passenger.
Currently, the automated driving system of pilotless automobile there is also some problems, have on running car road a large amount of
Traffic lights and speed-limiting messages, if handled not in time, easily generation traffic accident.
Summary of the invention
The technical problem to be solved by the present invention is to overcome the existing defects, provides a kind of intelligent automobile and uses Unmanned Systems
And application method, it can effectively solve the problems in background technique.
To achieve the above object, the invention provides the following technical scheme: a kind of intelligent automobile is with Unmanned Systems, including
Cloud platform, course of action module, detection of obstacles module, map data base, automatic Pilot module, alarm module, switching module,
Intelligent terminal and road information acquisition module, the cloud platform input terminal respectively with the course of action module, the barrier
Detection module, the map data base, the automatic Pilot module, the switching module, the intelligent terminal and the road
The output end of information acquisition module connects, the cloud platform output end respectively with the course of action module, the obstacle quality testing
The input terminal for surveying module, the map data base, the automatic Pilot module, the alarm module and the intelligent terminal connects
It connects, the output end of the intelligent terminal is connect with the input terminal of the switching module, the automatic Pilot module output end and institute
The input terminal connection of road information acquisition module is stated, the cloud platform includes central processing unit, information transmit-receive unit, storage list
Member, the course of action module include route planning unit and route correction unit, and the detection of obstacles module includes millimeter
Wave radar and vision camera, the automatic Pilot module include travelling control unit, speed change steering unit, walking monitoring unit and
Positioning unit, the road information acquisition module include traffic lights unit and the speed-limiting messages acquisition unit.
As a preferred technical solution of the present invention, the intelligent terminal is smart phone, tablet computer or vehicle-mounted meter
Other networked intelligent devices such as calculation machine.
As a preferred technical solution of the present invention, the alarm module includes warning lamp and buzzer, and the police
Show that lamp and the buzzer are arranged inside intelligent automobile.
As a preferred technical solution of the present invention, the road information acquisition module and Road information management system connect
It connects.
As a preferred technical solution of the present invention, the storage unit includes cloud storage and local storage.
The invention also provides a kind of intelligent automobile application methods of Unmanned Systems, comprising the following steps:
S1. the intelligent terminal open system, system starting can be used in user, and the cloud platform is opened to modules hair number
Instruction, and inputted by the intelligent terminal and drive beginning and end；
S2. the cloud platform extracts correlation map from the map data base, from the road according to beginning and end is driven
Related roads information is extracted in information acquisition module, and correlation map and related roads information are then transmitted to the course of action
Module, the route planning unit formulate course of action according to starting and terminal point, correlation map and related roads information is driven, and will
Course of action sends the cloud platform；
S3. the cloud platform sends course of action to the automatic Pilot module, the map data base and the intelligence eventually
End；
S4. the travelling control unit in the automatic Pilot module carries out walking control to intelligent automobile according to course of action
System, the speed change steering unit carry out speed change steering operation, the walking monitoring unit pair to intelligent automobile according to course of action
Intelligent automobile is monitored, and the positioning unit positions intelligent automobile, and location information is sent to the cloud platform
With the road information acquisition module；
S5. the road information acquisition module believes the traffic lights of road where intelligent automobile and speed limit according to location information
Breath passes to the cloud platform, and traffic lights and speed-limiting messages drive automatically to described after integration processing by the cloud platform
It sails module to be operated, control intelligent automobile carries out speed regulation and automatic starting and parking；
S6. in intelligent automobile traveling process, the detection of obstacles module is detected, the institute in the detection of obstacles module
It states millimetre-wave radar and the vision camera is detected to Obstacle Position and extracted associated picture, detect the position of barrier
The distance set, and will test the position of barrier and distance sends the cloud platform to, the cloud platform carries out information whole
Conjunction processing, then compares obstacle information to existing course of action information, when barrier is located at existing course of action
On, intelligent automobile can be stopped to advance, while detecting barrier, Xiang Suoshu automatic Pilot module assigns instruction and slows down,
Obstacle information and cartographic information are transmitted to the course of action module by the cloud platform, and the route correction unit is according to barrier
Hinder object information and cartographic information to be corrected existing course of action, then sends the course of action after correction to the cloud and put down
Platform；
S7. the cloud platform sends course of action to the automatic Pilot module, the map data base and the intelligence eventually
End, the travelling control unit in the automatic Pilot module according to course of action after correction to use the equipment of the system into
Row control；
S8. when obstacle distance is closer using the equipment of the system, the cloud platform assigns finger to the alarm module
It enables, the alarm module carries out alarm；
S9. intelligent terminal can be used to operate by the switching module to the cloud platform for user, can will be unmanned
Pattern switching is to manual hand manipulation's mode, and under manual hand manipulation's mode, the travelling control unit in the system stops
Work, remaining part work normally.
Compared with prior art, the beneficial effects of the present invention are:
1, the present invention can carry out data by cloud platform to integrate processing and switching, and data are real-time by setting cloud platform
Intelligent terminal and automatic Pilot module are sent to, convenient for providing automatic navigation technology to intelligent automobile.
2, for the present invention by setting intelligent terminal, user can use the system by intelligent terminal, convenient and efficient, be convenient for
Operation.
3, the present invention by setting map data base, can to map information extract and integrate, can also be by course of action
Map data base is uploaded to, is updated.
4, the present invention can be to existing row when encountering barrier on existing course of action by setting route correction unit
Dynamic route is corrected, and can be made a response in time in equipment during traveling, avoids equipment impaired.
5, the present invention by setting switching module, can by unmanned mode and manual hand manipulation's mode free switching,
It is convenient to use.
6, the present invention, can be during unmanned, according to determining for intelligent automobile by setting road information acquisition module
Position information, place road information is acquired, and carries out corresponding operating to intelligent automobile.
It is easy to operate the present invention also provides a kind of intelligent automobile application method of Unmanned Systems, it is convenient for
It promotes.
Detailed description of the invention
Fig. 1 is connection schematic diagram of the present invention.
In figure: 1, cloud platform；2, course of action module；3, detection of obstacles module；4, map data base；5, automatic Pilot
Module；6, alarm module；7, switching module；8, intelligent terminal；9, road information acquisition module；10, central processing unit；11,
Information transmit-receive unit；12, storage unit；13, route planning unit；14, route correction unit；15, millimetre-wave radar；16, it regards
Feel camera；17, travelling control unit；18, speed change steering unit；19, walking monitoring unit；20, positioning unit；21, traffic is believed
Signal lamp unit；22, speed-limiting messages acquisition unit.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Referring to Fig. 1, the present invention provides a kind of technical solution: a kind of intelligent automobile is flat with Unmanned Systems, including cloud
Platform 1, course of action module 2, detection of obstacles module 3, map data base 4, automatic Pilot module 5, alarm module 6, switching mould
Block 7, intelligent terminal 8 and road information acquisition module 9,1 input terminal of cloud platform respectively with course of action module 2, detection of obstacles
The output of module 3, map data base 4, automatic Pilot module 5, switching module 7, intelligent terminal 8 and road information acquisition module 9
End connection, 1 output end of cloud platform respectively with course of action module 2, detection of obstacles module 3, map data base 4, automatic Pilot
Module 5, alarm module 6 are connected with the input terminal of intelligent terminal 8, and the output end of intelligent terminal 8 and the input terminal of switching module 7 connect
It connects, 5 output end of automatic Pilot module is connect with the input terminal of road information acquisition module 9, and cloud platform 1 includes central processing unit
10, information transmit-receive unit 11, storage unit 12, course of action module 2 include route planning unit 13 and route correction unit 14,
Detection of obstacles module 3 include millimetre-wave radar 15 and vision camera 16, automatic Pilot module 5 include travelling control unit 17,
Speed change steering unit 18, walking monitoring unit 19 and positioning unit 20, road information acquisition module 9 include traffic lights unit
21 and speed-limiting messages acquisition unit 22.
Intelligent terminal 8 is other networked intelligent devices such as smart phone, tablet computer or car-mounted computer；Alarm module 6
Including warning lamp and buzzer, and warning lamp and buzzer are arranged inside intelligent automobile；Road information acquisition module 9 and road
The connection of road information management system；Storage unit 12 includes cloud storage and local storage.
Its application method, comprising the following steps:
S1. user can be used 8 open system of intelligent terminal, system starting, cloud platform 1 to modules hair open command,
And beginning and end is driven by the input of intelligent terminal 8；
S2. cloud platform 1 extracts correlation map from map data base 4 according to beginning and end is driven, and acquires mould from road information
Related roads information is extracted in block 9, and correlation map and related roads information are then transmitted to course of action module 2, route rule
It draws unit 13 and formulates course of action according to starting and terminal point, correlation map and related roads information is driven, and course of action is sent
Cloud platform 1；
S3. cloud platform 1 sends course of action to automatic Pilot module 5, map data base 4 and intelligent terminal 8；
S4. the travelling control unit 17 in automatic Pilot module 5 carries out travelling control, speed change to intelligent automobile according to course of action
Steering unit 18 carries out speed change steering operation to intelligent automobile according to course of action, and walking monitoring unit 19 carries out intelligent automobile
Monitoring, positioning unit 20 positions intelligent automobile, and location information is sent to cloud platform 1 and road information acquisition module
9；
S5. road information acquisition module 9 is according to location information by the traffic lights and speed-limiting messages of road where intelligent automobile
Pass to cloud platform 1, traffic lights and speed-limiting messages carry out to automatic Pilot module 5 after integration processing by cloud platform 1
Operation, control intelligent automobile carry out speed regulation and automatic starting and parking；
S6. in intelligent automobile traveling process, detection of obstacles module 3 is detected, the millimeter wave thunder in detection of obstacles module 3
Associated picture is detected and extracted to Obstacle Position up to 15 and vision camera 16, detects the distance of the position of barrier,
And will test the position of barrier and distance sends cloud platform 1 to, cloud platform 1 carries out integration processing to information, then will barrier
Hinder object information to compare existing course of action information, when barrier is located on existing course of action, intelligent vapour can be stopped
Garage is into while detecting barrier, assigning instruction to automatic Pilot module 5 and slow down, cloud platform 1 is by obstacle information
It is transmitted to course of action module 2 with cartographic information, route correction unit 14 is according to obstacle information and cartographic information to existing row
Dynamic route is corrected, and then sends the course of action after correction to cloud platform 1；
S7. cloud platform 1 sends course of action to automatic Pilot module 5, map data base 4 and intelligent terminal 8, automatic Pilot mould
Travelling control unit 17 in block 5 controls the equipment for using the system according to course of action after correction；
S8. when obstacle distance is closer using the equipment of the system, cloud platform 1 assigns instruction to alarm module 6, alarm
Module 6 carries out alarm；
S9. intelligent terminal 8 can be used to operate by switching module 7 to cloud platform 1 for user, can cut unmanned mode
Change to manual hand manipulation's mode, under manual hand manipulation's mode, the travelling control unit 17 in the system stops working, remaining
Component works normally.
Data can be carried out integrating processing and switching by the present invention by cloud platform 1, and data are real-time transmitted to intelligent end
End 8 and automatic Pilot module 9, convenient for providing automatic navigation technology to intelligent automobile；User can be used by intelligent terminal 8 should
System, it is convenient and efficient, convenient for operation；Can to map information extract and integrate, course of action can also be uploaded to map number
According to library 4, it is updated；When encountering barrier on existing course of action, existing course of action can be corrected, it can be in equipment
It during traveling, makes a response in time, avoids equipment impaired；It can be free by unmanned mode and manual hand manipulation's mode
Switching, it is convenient to use；Can during unmanned, according to the location information of intelligent automobile, by place road information into
Row acquisition, and corresponding operating is carried out to intelligent automobile；The present invention also provides a kind of intelligent automobile making with Unmanned Systems
It is easy to operate with method, convenient for promoting.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (6)
1. a kind of intelligent automobile is with Unmanned Systems, including cloud platform (1), course of action module (2), detection of obstacles module
(3), map data base (4), automatic Pilot module (5), alarm module (6), switching module (7), intelligent terminal (8) and road letter
Cease acquisition module (9), which is characterized in that cloud platform (1) input terminal respectively with the course of action module (2), the barrier
Hinder analyte detection module (3), the map data base (4), the automatic Pilot module (5), the switching module (7), the intelligence
Can terminal (8) connected with the output end of the road information acquisition module (9), cloud platform (1) output end respectively with it is described
Course of action module (2), the detection of obstacles module (3), the map data base (4), the automatic Pilot module (5),
The alarm module (6) connects with the input terminal of the intelligent terminal (8), and the output end of the intelligent terminal (8) is cut with described
The input terminal connection of block (7) is changed the mold, automatic Pilot module (5) output end is defeated with the road information acquisition module (9)
Enter end connection, the cloud platform (1) includes central processing unit (10), information transmit-receive unit (11), storage unit (12), described
Course of action module (2) includes route planning unit (13) and route correction unit (14), detection of obstacles module (3) packet
Millimetre-wave radar (15) and vision camera (16) are included, the automatic Pilot module (5) includes travelling control unit (17), speed change turn
To unit (18), walking monitoring unit (19) and positioning unit (20), the road information acquisition module (9) includes traffic signals
Lamp unit (21) and the speed-limiting messages acquisition unit (22).
2. a kind of intelligent automobile according to claim 1 is with Unmanned Systems, it is characterised in that: the intelligent terminal
It (8) is other networked intelligent devices such as smart phone, tablet computer or car-mounted computer.
3. a kind of intelligent automobile according to claim 1 is with Unmanned Systems, it is characterised in that: the alarm module
It (6) include warning lamp and buzzer, and the warning lamp and the buzzer are arranged inside intelligent automobile.
4. a kind of intelligent automobile according to claim 1 is with Unmanned Systems, it is characterised in that: the road information is adopted
Collection module (9) is connect with Road information management system.
5. a kind of intelligent automobile according to claim 1 is with Unmanned Systems, it is characterised in that: the storage unit
It (12) include cloud storage and local storage.
6. a kind of intelligent automobile application method of Unmanned Systems, it is characterised in that: the following steps are included:
S1. the intelligent terminal (8) open system, system starting can be used in user, and the cloud platform (1) is sent out to modules
Number open command, and pass through the intelligent terminal (8) input and drive beginning and end；
S2. the cloud platform (1) is according to beginning and end is driven, from correlation map is extracted in the map data base (4), from institute
It states and extracts related roads information in road information acquisition module (9), correlation map and related roads information are then transmitted to institute
It states course of action module (2), the route planning unit (13) is according to driving starting and terminal point, correlation map and related roads information
Course of action is formulated, and course of action is sent into the cloud platform (1)；
S3. the cloud platform (1) sends course of action to the automatic Pilot module (5), the map data base (4) and institute
State intelligent terminal (8)；
S4. the travelling control unit (17) in the automatic Pilot module (5) carries out intelligent automobile according to course of action
Travelling control, the speed change steering unit (18) carry out speed change steering operation, the walking to intelligent automobile according to course of action
Monitoring unit (19) is monitored intelligent automobile, and the positioning unit (20) positions intelligent automobile, and positioning is believed
Breath is sent to the cloud platform (1) and the road information acquisition module (9)；
S5. the road information acquisition module (9) is according to location information by the traffic lights and limit of road where intelligent automobile
Fast information passes to the cloud platform (1), and traffic lights and speed-limiting messages are carried out integration processing backward by the cloud platform (1)
The automatic Pilot module (5) is operated, and control intelligent automobile carries out speed regulation and automatic starting and parking；
S6. in intelligent automobile traveling process, the detection of obstacles module (3) is detected, the detection of obstacles module (3)
In the millimetre-wave radar (15) and the vision camera (16) associated picture is detected and extracted to Obstacle Position, examine
The distance of the position of barrier is measured, and will test the position of barrier and distance sends the cloud platform (1), the cloud to
Platform (1) carries out integration processing to information, then compares obstacle information to existing course of action information, works as obstacle
Level can stop intelligent automobile to be advanced on existing course of action, while detecting barrier, Xiang Suoshu automatic Pilot module
(5) it assigns instruction to slow down, obstacle information and cartographic information are transmitted to the course of action module by the cloud platform (1)
(2), the route correction unit (14) is corrected existing course of action according to obstacle information and cartographic information, then will
Course of action after correction sends the cloud platform (1) to；
S7. the cloud platform (1) sends course of action to the automatic Pilot module (5), the map data base (4) and institute
It states intelligent terminal (8), the travelling control unit (17) in the automatic Pilot module (5) is according to course of action pair after correction
It is controlled using the equipment of the system；
S8. when obstacle distance is closer using the equipment of the system, cloud platform (1) the Xiang Suoshu alarm module (6)
Instruction is assigned, the alarm module (6) carries out alarm；
S9. intelligent terminal (8) can be used to operate by the switching module (7) to the cloud platform (1) for user, can incite somebody to action
Unmanned pattern switching is to manual hand manipulation's mode, under manual hand manipulation's mode, the travelling control in the system
Unit (17) stops working, and remaining part works normally.
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| CN201811256334.XA CN109491380A (en) | 2018-10-26 | 2018-10-26 | A kind of intelligent automobile Unmanned Systems and application method |
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| CN111157996A (en) * | 2020-01-06 | 2020-05-15 | 珠海丽亭智能科技有限公司 | Parking robot driving safety detection method |
| CN111613079A (en) * | 2020-05-09 | 2020-09-01 | 苏州工业园区职业技术学院 | Intelligent driving automobile motion control system |
| WO2021134441A1 (en) * | 2019-12-31 | 2021-07-08 | 深圳元戎启行科技有限公司 | Automated driving-based vehicle speed control method and apparatus, and computer device |
| CN113341824A (en) * | 2021-06-17 | 2021-09-03 | 鄂尔多斯市普渡科技有限公司 | Open type automatic driving obstacle avoidance control system and control method |
| CN113359750A (en) * | 2021-06-23 | 2021-09-07 | 江苏高瞻数据科技有限公司 | Method and device for remotely controlling vehicle based on intelligent equipment |
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| CN114428504A (en) * | 2022-01-18 | 2022-05-03 | 上汽通用五菱汽车股份有限公司 | Unmanned vehicle obstacle avoidance method, system, electronic device and storage medium |
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| CN116834670A (en) * | 2023-06-29 | 2023-10-03 | 重庆亿连信息科技有限公司 | Automatic driving and managing system and method for self-driving community |
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