CN109683599A - A kind of pilotless automobile automatic obstacle avoiding system - Google Patents
A kind of pilotless automobile automatic obstacle avoiding system Download PDFInfo
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- CN109683599A CN109683599A CN201710968630.1A CN201710968630A CN109683599A CN 109683599 A CN109683599 A CN 109683599A CN 201710968630 A CN201710968630 A CN 201710968630A CN 109683599 A CN109683599 A CN 109683599A
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- 230000004888 barrier function Effects 0.000 claims description 6
- 230000005611 electricity Effects 0.000 claims description 4
- 239000000446 fuel Substances 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims description 2
- 206010039203 Road traffic accident Diseases 0.000 abstract description 10
- 230000002265 prevention Effects 0.000 abstract description 2
- 238000011161 development Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
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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
- G05D1/0231—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
-
- 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
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
-
- 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)
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- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Optics & Photonics (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a kind of pilotless automobile automatic obstacle avoiding systems, belong to automobile technical field, including Driving control unit, turn to avoidance unit, automatic obstacle avoiding unit, communication unit, memory, navigation elements and laser emission element, Driving control unit is connect with relay, relay is connect with electromagnet and solenoid valve, solenoid valve is connect with oil pipe, electromagnet is connect with brake system, Driving control unit is also connect with velocity sensor and braking sensor, and braking sensor is connect with relay；Communication unit is connect with automotive front baffle unit and automobile front drive unit, and automotive front baffle unit is electrically connected with traffic lights detection unit and lane detection unit respectively, and automobile front drive unit is electrically connected with traffic lights distance measurement unit.The present invention can detect following distance and traffic lights, control automobile power and braking, automatic obstacle avoiding and can turn to avoidance, prevention is knocked into the back, identified to target, can actively brake, avoid traffic accident.
Description
Technical field
The present invention relates to a kind of automobile obstacle avoidance systems to belong to more particularly to a kind of pilotless automobile automatic obstacle avoiding system
In automobile technical field.
Background technique
In recent years, economic fast development, private car quantity is growing day by day, causes road car crowded, brings many
Traffic accident, there is very much, principal element in the reason of person and property to people cause huge loss, cause traffic accident
Or the reason of driver itself, specifically, be driver to the generation of accident cannot make correctly anticipation and caused by,
If certain measure can be taken, guiding function is played to the operation of driver, traffic accident rate can be reduced.
With the rapid development of the automotive industry and continuous improvement of people's living standards, automobile is instead of conventional traffic
Tool.Since the vehicle travelled on road is more and more, so if not controling effectively to vehicle obstacle-avoidance, it is possible to cause
Traffic accidents, one of the key technology as automobile active safety system, vehicle obstacle-avoidance method are got the attention, nothing
People's driving is a kind of intelligent automobile, can also be referred to as wheeled mobile robot, is relied primarily on interior with department of computer science
Intelligent driving instrument based on system is unmanned to realize, China carries out grinding for pilotless automobile since the 1980s
Study carefully, the National University of Defense technology successfully developed the pilotless automobile of first, China truly in 1992,2005, first
City pilotless automobile is succeeded in developing in Shanghai Communications University.
Pilotless automobile is to perceive road environment by vehicle-mounted sensor-based system, and automatic planning travelling line simultaneously controls vehicle
The intelligent automobile of predeterminated target is reached, 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, integrates numerous technologies such as automatic control, architecture, artificial intelligence, vision calculating, be computer section
It learns, the product of pattern-recognition and intelligent control technology high development, and measures a national research strength and industrial level
One important symbol has broad application prospects in national defence and national economy field, and China is as a great powers in the world, in height
Sciemtifec and technical sphere also necessarily takes up one seat, and the intelligence of future automobile is development of automobile industry certainty, in this case
Studying automobile avoidance has far reaching significance, this occupies the research to China's future intelligent automobile in world's high-tech area leading
Status plays a significant role.
Summary of the invention
The main object of the present invention is to provide for a kind of pilotless automobile automatic obstacle avoiding system, being capable of monitoring traffic-light
And traffic route, in time parking or starting, the power supply and service brake of automobile are controlled, it can be to left, front and right
Barrier detected, realize automatic obstacle avoiding, effectively prevent the generation knocked into the back, the generation to avoid traffic accident.
The purpose of the present invention can reach by using following technical solution:
A kind of pilotless automobile automatic obstacle avoiding system, including Driving control unit, steering avoidance unit, automatic obstacle avoiding list
Member, communication unit, memory, navigation elements and laser emission element, the Driving control unit is used for collecting data information, right
Data information is handled, and is controlled for car steering, the Driving control unit respectively with the memory and described lead
The unit that navigates is electrically connected；The Driving control unit is electrically connected with relay, and the relay is electric with electromagnet and solenoid valve respectively
Connection, the solenoid valve are electrically connected with the oil pipe, and the electromagnet is connect with brake system, and the Driving control unit also divides
It is not electrically connected with velocity sensor, braking sensor and automatic tension regulator, the braking sensor and relay electricity
Connection, the communication unit are electrically connected by the automatic tension regulator with the Driving control unit；The Laser emission
Unit includes front laser emission element, right laser emission element and left laser emission element, the steering avoidance unit
For issuing phase according to the obstacle distance signal of the right laser emission element and left laser emission element transmission
Avoidance is answered to instruct, the obstacle distance signal that the automatic obstacle avoiding unit is used to be sent according to the front laser emission element is sent out
Corresponding avoidance instruction out.
Further, the steering avoidance unit is electrically connected by the automatic tension regulator and the Driving control unit
It connects, the light source control unit swashs with the front laser emission element, the right laser emission element, the left respectively
Light emitting unit and laser pick-off unit electrical connection.
Further, the front laser emission element is used to launch a light beam, the right side along the driving direction of automobile
Square laser emission element is used to launch along the right turn direction of automobile a light beam, and the left laser emission element is used for along vapour
A light beam is launched in the left steering direction of vehicle,
Further, the laser pick-off unit is used to receive light beam after reflection, and the light source control unit is used for
Adjust the light that the front laser emission element, the right laser emission element and the left laser emission element are emitted
The light intensity of beam, and the light intensity of the received light beam of the laser pick-off unit is compared with the interior preset value set.
Further, the braking sensor is electrically connected with the Driving control unit and the relay respectively, described
Braking sensor is used to obtain braking information by the Driving control unit, and converts the braking information to including brake
Braking instruction is sent to the electromagnet and institute by the relay by the braking instruction including refueling with reduction, braking instruction
Solenoid valve is stated, brake system described in the magnet control is braked, and oil pipe described in the solenoid valve control reduces fuel feeding.
Further, the steering avoidance unit and the automatic obstacle avoiding unit are electric with the automatic tension regulator respectively
Connection, the automatic tension regulator are electrically connected with the navigation elements, and the navigation elements for pilotless automobile for mentioning
For navigation, including Beidou Navigation System and GPS positioning system.
Further, the automatic tension regulator is electrically connected with the communication unit, the communication unit respectively with vapour
Chinese herbaceous peony gear unit is connected with automobile front drive unit communications, and the automotive front baffle unit is arranged on the front windshield of automobile, institute
Automobile front drive unit is stated to be arranged near the front bumper of automobile.
Further, the automotive front baffle unit is electrically connected with traffic lights detection unit and lane detection unit respectively,
The automobile front drive unit is electrically connected with traffic lights distance measurement unit, before the traffic lights detection unit is obtained by camera
The color of square traffic lights issues corresponding if the color that only one traffic lights of the image got issue according to this color
Phonetic order；If getting the color that there are image more than two traffic lights to issue, according to horizontal on the image away from acquisition
The color of that nearest traffic lights of direction center line issues corresponding phonetic order.
Further, the communication unit is electrically connected with the Driving control unit, the communication unit for wired and
Wireless telecommunications, for storing data, the velocity sensor is for measuring this vehicle speed and passing vehicle speed data for the memory
It send to the Driving control unit.
Further, the Driving control unit is also electrically connected with steering angle sensor, the steering angle sensor
It is electrically connected with turn signal lamp, the steering angle sensor is mounted on the outside of steering axles, the turn signal lamp installation
In automobile tail, the turn signal lamp is electrically connected with the Driving control unit.
Advantageous effects of the invention: pilotless automobile automatic obstacle avoiding system according to the invention, the present invention provide
Pilotless automobile automatic obstacle avoiding system, can monitoring traffic-light and traffic route, in time parking or starting, control automobile
Power supply and service brake reduce Vehicular visual blind area, effectively prevent the generation knocked into the back, the generation to avoid traffic accident is adopted
Vehicle headway and traffic lights are detected with traffic lights detection unit and traffic lights distance measurement unit, according to light source control list
The light intensity of light beam that member adjustment front laser emission element is emitted, and by the light intensity of the received light beam of laser pick-off unit with it is interior
If a preset value compare, when encountering barrier, the power supply and service brake of automobile will be controlled, effectively prevention is knocked into the back
Occur, active can brake when vehicle be in unsafe condition, the generation to avoid traffic accident, by left, preceding
The front laser emission element of side and right can detect the barrier of left, front and right, effectively reduce and knock into the back
The probability that accident occurs by automatic obstacle avoiding unit and turns to avoidance unit realization automatic obstacle avoiding.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of a preferred embodiment of pilotless automobile automatic obstacle avoiding system according to the invention.
In figure: 1- Driving control unit, 2- turn to avoidance unit, 3- automatic obstacle avoiding unit, 4- velocity sensor, 8- braking
Sensor, 9- communication unit, 10- memory, 11- automatic tension regulator, 12- light source control unit, the front 13- Laser emission
Unit, the right 14- laser emission element, the left 15- laser emission element, 16- laser pick-off unit, 17- electromagnet, 19- after
Electric appliance, 20- solenoid valve, 21- brake system, 23- navigation elements, 24- automotive front baffle unit, 26- automobile front drive unit, 28- are red
Green light detection unit, 29- lane detection unit, 30- traffic lights distance measurement unit, 31- oil pipe.
Specific embodiment
To make the more clear and clear technical solution of the present invention of those skilled in the art, below with reference to examples and drawings
The present invention is described in further detail, and embodiments of the present invention are not limited thereto.
As shown in Figure 1, a kind of pilotless automobile automatic obstacle avoiding system provided in this embodiment, including Driving control unit
1, avoidance unit 2, automatic obstacle avoiding unit 3, communication unit 9, memory 10, navigation elements 23 and laser emission element, institute are turned to
Driving control unit 1 is stated for collecting data information, data information is handled, and is controlled for car steering, it is described to drive
Control unit 1 is sailed to be electrically connected with the memory 10 and the navigation elements 23 respectively；The Driving control unit 1 and relay
19 electrical connections, the relay 19 are electrically connected with electromagnet 17 and solenoid valve 20 respectively, the solenoid valve 20 and the oil pipe 31
Electrical connection, the electromagnet 17 connect with brake system 21, the Driving control unit 1 also respectively with velocity sensor 4, brake
Sensor 8 and automatic tension regulator 11 are electrically connected, and the braking sensor 8 is electrically connected with the relay 19, the communication
Unit 9 is electrically connected by the automatic tension regulator 11 with the Driving control unit 1；Before the laser emission element includes
Square laser emission element 13, right laser emission element 14 and left laser emission element 15, the steering avoidance unit 2 are used for
Phase is issued according to the obstacle distance signal that the right laser emission element 14 and the left laser emission element 15 are sent
Avoidance is answered to instruct, the obstacle distance that the automatic obstacle avoiding unit 3 is used to be sent according to the front laser emission element 13 is believed
Number issue the instruction of corresponding avoidance.
Further, in the present embodiment, as shown in Figure 1, the steering avoidance unit 2 is adjusted by the automatic voltage
Device 11 is electrically connected with the Driving control unit 1, the light source control unit 12 respectively with the front laser emission element 13,
The right laser emission element 14, the left laser emission element 15 and laser pick-off unit 16 are electrically connected；The front
Laser emission element 13 is used to launch a light beam along the driving direction of automobile, and the right laser emission element 14 is used for along vapour
A light beam is launched in the right turn direction of vehicle, and the left laser emission element 15 along the left steering direction of automobile for launching
One light beam,
Further, in the present embodiment, as shown in Figure 1, the laser pick-off unit 16 is for receiving after reflection
Light beam, the light source control unit 12 is for adjusting the front laser emission element 13, the right laser emission element 14
The light intensity of the light beam emitted with the left laser emission element 15, and by the received light beam of the laser pick-off unit 16
Light intensity is compared with the interior preset value set；The braking sensor 8 respectively with the Driving control unit 1 and the relay
19 electrical connections, the braking sensor 8 is used to obtain braking information by the Driving control unit 1, and the braking is believed
Breath is converted into the braking instruction including braking and reducing and refuel, and braking instruction is sent out braking instruction by the relay 19
It send to the electromagnet 17 and the solenoid valve 20, the electromagnet 17 controls the brake system 21 and brakes, the electricity
Magnet valve 20 controls the oil pipe 31 and reduces fuel feeding.
Further, in the present embodiment, as shown in Figure 1, the steering avoidance unit 2 and the automatic obstacle avoiding unit 3
It being electrically connected respectively with the automatic tension regulator 11, the automatic tension regulator 11 is electrically connected with the navigation elements 23,
The navigation elements 23 are used to provide navigation, including Beidou Navigation System and GPS positioning system for pilotless automobile.
Further, in the present embodiment, as shown in Figure 1,9 electricity of the automatic tension regulator 11 and the communication unit
Connection, the communication unit 9 respectively with 26 communication connection of automotive front baffle unit 24 and automobile front drive unit, the automotive front baffle list
Member 24 is arranged on the front windshield of automobile, and the automobile front drive unit 26 is arranged near the front bumper of automobile；It is described
Automotive front baffle unit 24 is electrically connected with traffic lights detection unit 28 and lane detection unit 29 respectively, the automobile front drive unit
26 are electrically connected with traffic lights distance measurement unit 30, and the traffic lights detection unit 28 obtains front traffic lights by camera
Color issues corresponding phonetic order according to this color if the color that only one traffic lights of the image got issue；If
The color that there are image more than two traffic lights to issue is got, then most according to horizontal direction center line on the image away from acquisition
The color of that close traffic lights issues corresponding phonetic order.
Further, in the present embodiment, as shown in Figure 1, the communication unit 9 is electrically connected with the Driving control unit 1
It connects, the communication unit 9 is used for wired and wireless communication, and the memory 10 for storing data, use by the velocity sensor 4
In measurement this vehicle speed and vehicle speed data is sent to the Driving control unit 1；The Driving control unit 1 is gone back and steering angle
Sensor electrical connection is spent, the steering angle sensor is electrically connected with turn signal lamp, and the steering angle sensor is mounted on
On the outside of steering axles, the turn signal lamp is mounted on automobile tail, the turn signal lamp and the Driving control unit 1
Electrical connection.
In conclusion in the present embodiment, according to the pilotless automobile automatic obstacle avoiding system of the present embodiment, the present embodiment
The pilotless automobile automatic obstacle avoiding system of offer, can monitoring traffic-light and traffic route, in time parking or starting, control vapour
The power supply and service brake of vehicle reduce Vehicular visual blind area, effectively prevent the generation knocked into the back, the hair to avoid traffic accident
It is raw, vehicle headway and traffic lights are detected using traffic lights detection unit and traffic lights distance measurement unit, according to light source
The light intensity of light beam that control unit adjustment front laser emission element is emitted, and by the light of the received light beam of laser pick-off unit
By force compared with the interior preset value set, when encountering barrier, the power supply and service brake of automobile will be controlled, effectively prevented
The generation knocked into the back can actively brake when vehicle is in unsafe condition, and the generation to avoid traffic accident passes through a left side
The front laser emission element of side, front and right can detect the barrier of left, front and right, effectively reduce
The probability that rear-end collision occurs by automatic obstacle avoiding unit and turns to avoidance unit realization automatic obstacle avoiding.
The above, further embodiment only of the present invention, but scope of protection of the present invention is not limited thereto, and it is any
Within the scope of the present disclosure, according to the technique and scheme of the present invention and its design adds those familiar with the art
With equivalent substitution or change, protection scope of the present invention is belonged to.
Claims (10)
1. a kind of pilotless automobile automatic obstacle avoiding system, including Driving control unit (1), turns to avoidance unit (2), independently keeps away
Hinder unit (3), communication unit (9), memory (10), navigation elements (23) and laser emission element, it is characterised in that: described to drive
Control unit (1) is sailed for collecting data information, data information is handled, and is controlled for car steering, the driving
Control unit (1) is electrically connected with the memory (10) and the navigation elements (23) respectively；The Driving control unit (1) with
Relay (19) electrical connection, the relay (19) are electrically connected with electromagnet (17) and solenoid valve (20) respectively, the solenoid valve
(20) it is electrically connected with the oil pipe (31), the electromagnet (17) connect with brake system (21), the Driving control unit (1)
It is also electrically connected respectively with velocity sensor (4), braking sensor (8) and automatic tension regulator (11), the braking sensor
(8) it is electrically connected with the relay (19), the communication unit (9) passes through the automatic tension regulator (11) and the driving
Control unit (1) electrical connection；The laser emission element includes front laser emission element (13), right laser emission element
(14) it is used for left laser emission element (15), the steering avoidance unit (2) according to the right laser emission element
(14) and the obstacle distance signal of the left laser emission element (15) transmission issues corresponding avoidance instruction, described independently to keep away
The obstacle distance signal that barrier unit (3) is used to be sent according to the front laser emission element (13) issues corresponding avoidance and refers to
It enables.
2. a kind of pilotless automobile automatic obstacle avoiding system according to claim 1, it is characterised in that: the steering avoidance
Unit (2) is electrically connected by the automatic tension regulator (11) with the Driving control unit (1), the light source control unit
(12) respectively with the front laser emission element (13), the right laser emission element (14), the left Laser emission
Unit (15) and laser pick-off unit (16) electrical connection.
3. a kind of pilotless automobile automatic obstacle avoiding system according to claim 2, it is characterised in that: the front laser
Transmitting unit (13) is used to launch a light beam along the driving direction of automobile, and the right laser emission element (14) is used for along vapour
A light beam is launched in the right turn direction of vehicle, and the left laser emission element (15) is used for the left steering direction along automobile and emits
A light beam out.
4. a kind of pilotless automobile automatic obstacle avoiding system according to claim 3, it is characterised in that: the laser pick-off
Unit (16) is used to receive light beam after reflection, and the light source control unit (12) is for adjusting the front Laser emission list
The light intensity for the light beam that first (13), the right laser emission element (14) and the left laser emission element (15) are emitted,
And the light intensity of the laser pick-off unit (16) received light beam is compared with the interior preset value set.
5. a kind of pilotless automobile automatic obstacle avoiding system according to claim 1, it is characterised in that: the braking sensing
Device (8) is electrically connected with the Driving control unit (1) and the relay (19) respectively, and the braking sensor (8) is for leading to
It crosses the Driving control unit (1) and obtains braking information, and convert the braking information to and refuel including braking and reducing
Braking instruction is sent to the electromagnet (17) and the electricity by the relay (19) by interior braking instruction, braking instruction
Magnet valve (20), the electromagnet (17) control the brake system (21) and brake, and the solenoid valve (20) controls the oil
It manages (31) and reduces fuel feeding.
6. a kind of pilotless automobile automatic obstacle avoiding system according to claim 1, it is characterised in that: the steering avoidance
Unit (2) and the automatic obstacle avoiding unit (3) are electrically connected with the automatic tension regulator (11) respectively, the automatic voltage tune
Whole device (11) is electrically connected with the navigation elements (23), and the navigation elements (23) are used to provide navigation for pilotless automobile,
Including Beidou Navigation System and GPS positioning system.
7. a kind of pilotless automobile automatic obstacle avoiding system according to claim 1, it is characterised in that: the automatic voltage
Adjuster (11) is electrically connected with the communication unit (9), the communication unit (9) respectively with automotive front baffle unit (24) and automobile
Forerunner's unit (26) communication connection, the automotive front baffle unit (24) is arranged on the front windshield of automobile, before the automobile
Unit (26) are driven to be arranged near the front bumper of automobile.
8. a kind of pilotless automobile automatic obstacle avoiding system according to claim 7, it is characterised in that: the automotive front baffle
Unit (24) is electrically connected with traffic lights detection unit (28) and lane detection unit (29) respectively, the automobile front drive unit
(26) it is electrically connected with traffic lights distance measurement unit (30), the traffic lights detection unit (28) is red by camera acquisition front
The color of green light issues corresponding voice according to this color if the color that only one traffic lights of the image got issue
Instruction；If getting the color that there are image more than two traffic lights to issue, according to horizontal direction on the image away from acquisition
The color of that nearest traffic lights of center line issues corresponding phonetic order.
9. a kind of pilotless automobile automatic obstacle avoiding system according to claim 1, it is characterised in that: the communication unit
(9) it is electrically connected with the Driving control unit (1), the communication unit (9) is used for wired and wireless communication, the memory
(10) for storing data, the velocity sensor (4) is for measuring this vehicle speed and vehicle speed data being sent to the driving
Control unit (1).
10. a kind of pilotless automobile automatic obstacle avoiding system according to claim 1, it is characterised in that: the driving control
Unit (1) processed is also electrically connected with steering angle sensor, and the steering angle sensor is electrically connected with turn signal lamp, and described turn
It is mounted on the outside of steering axles to angular transducer, the turn signal lamp is mounted on automobile tail, the turn signal lamp
It is electrically connected with the Driving control unit (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710968630.1A CN109683599A (en) | 2017-10-18 | 2017-10-18 | A kind of pilotless automobile automatic obstacle avoiding system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710968630.1A CN109683599A (en) | 2017-10-18 | 2017-10-18 | A kind of pilotless automobile automatic obstacle avoiding system |
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| CN109683599A true CN109683599A (en) | 2019-04-26 |
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| CN201710968630.1A Pending CN109683599A (en) | 2017-10-18 | 2017-10-18 | A kind of pilotless automobile automatic obstacle avoiding system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116749866A (en) * | 2023-08-22 | 2023-09-15 | 常州星宇车灯股份有限公司 | Vertical take-off and landing lighting auxiliary system of aerocar and aerocar |
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