CN110162064A - A kind of automatic Pilot positioning and control system for tour bus - Google Patents
A kind of automatic Pilot positioning and control system for tour bus Download PDFInfo
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- CN110162064A CN110162064A CN201910513701.8A CN201910513701A CN110162064A CN 110162064 A CN110162064 A CN 110162064A CN 201910513701 A CN201910513701 A CN 201910513701A CN 110162064 A CN110162064 A CN 110162064A
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- 238000010295 mobile communication Methods 0.000 claims abstract description 21
- 238000001514 detection method Methods 0.000 claims abstract description 19
- 239000003990 capacitor Substances 0.000 claims description 21
- 238000004891 communication Methods 0.000 claims description 13
- 230000002459 sustained effect Effects 0.000 claims description 9
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- 238000004519 manufacturing process Methods 0.000 description 6
- 230000001105 regulatory effect Effects 0.000 description 5
- 238000012937 correction Methods 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 230000001276 controlling effect Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000011160 research Methods 0.000 description 3
- 238000000465 moulding Methods 0.000 description 2
- 101100048435 Caenorhabditis elegans unc-18 gene Proteins 0.000 description 1
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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
-
- 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
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
-
- 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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- Radar, Positioning & Navigation (AREA)
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- Physics & Mathematics (AREA)
- 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 present invention relates to automatic Pilot technical fields, disclose a kind of automatic Pilot positioning and control system for tour bus, including vehicle-mounted Differential positioning movement station, detection of obstacles module, chassis embedded control panel, host computer；The vehicle-mounted Differential positioning movement station includes inertia/satellite combined guidance system, mobile communication antenna, satellite earth antenna, 4G-DTU, the satellite earth antenna is connect with inertia/satellite combined guidance system, the mobile communication antenna is connect with 4G-DTU, the 4G-DTU is connect with inertia/satellite combined guidance system, and the inertia/satellite combined guidance system is connect with host computer；The detection of obstacles module includes laser radar, millimetre-wave radar, and the laser radar is connect by power/data converter with host computer, and the millimetre-wave radar is connect by Ethernet-CAN converter with host computer.Positioning and the automatic obstacle-avoiding of automobile Centimeter Level can be achieved, provide foundation for automatic Pilot trajectory planning and the travel route control of automobile.
Description
Technical field
The present invention relates to automatic Pilot technical fields, position more particularly, to a kind of automatic Pilot for tour bus
And control system.
Background technique
Each automobile production in recent years and R & D Enterprises set foot in the research of automatic Pilot technology one after another, some volume productions also occur
The automobile for possessing Function for Automatic Pilot, such as the tesla in the U.S., can be realized in high speed and city specified link part from
It is dynamic to drive, learn the definition of (SAE) according to United States highways safety management bureau (NHTSA) and U.S. automotive engineer, it
Automatic Pilot belong to L3 grade.Although tesla's addition of the volume production with Function for Automatic Pilot, tesla it is automatic
There are several bigger traffic accidents during high speed driving in driving, and the control system and algorithm of automatic Pilot are also
There is biggish defect, safety of America administrative section was once once limiting the automatic Pilot test of its road.Such as the hundred of China
Degree has also gone out the automobile with Function for Automatic Pilot using the automobile improvement of other companies production, it can be in high speed and city
Specified link realizes that part automatic Pilot also belongs to L3 grade according to the definition of NHTSA and SAE.But its automatic technology is also located
In research and experimental stage, without volume production.
Some specific occasions such as travel garden, campus, plant area tour bus, travel speed is of less demanding, row
It sails route to fix, is particularly suitable for automatic Pilot.It has very important significance to the research for promoting automatic Pilot technology.
Currently, without a kind of special control system suitable for tour bus automatic Pilot.
Wen Zhong, 4G-DTU: mobile communication 4G data transmission module.
Summary of the invention
The present invention in order to overcome at least one of the drawbacks of the prior art described above, provides a kind of realize and cuts automatically to gear
It changes, the automatic Pilot positioning and control system for tour bus of automatic braking.
In order to solve the above technical problems, technical scheme is as follows:
A kind of automatic Pilot positioning and control system for tour bus, including vehicle-mounted Differential positioning movement station, barrier
Detection module, chassis embedded control panel, host computer；The vehicle-mounted Differential positioning movement station includes inertia/combinations of satellites navigation
System, mobile communication antenna, satellite earth antenna, 4G-DTU, the satellite earth antenna and inertia/satellite combined guidance system
Connection, the mobile communication antenna are connect with 4G-DTU, and the 4G-DTU is connect with inertia/satellite combined guidance system, described
Inertia/satellite combined guidance system is connect with host computer；The detection of obstacles module includes laser radar, millimetre-wave radar,
The laser radar is connect by power/data converter with host computer, and the millimetre-wave radar is converted by Ethernet-CAN
Device is connect with host computer；The host computer is connect with chassis embedded control panel, and the chassis embedded control panel is separately connected
Gear, throttle and the brake system of vehicle, and host computer connects the electric powered steering of vehicle by Ethernet-CAN converter
Device.
Further, the 4G-DTU is connect by RS232 interface with inertia/satellite combined guidance system；The inertia/
Satellite combined guidance system is connect by RS232 interface with host computer；The power/data converter passes through RJ45 and host computer
Connection.
Further, the 4G-DTU model MD-649；The inertia/satellite combined guidance system model XW-
GI5651。
Further, the satellite earth antenna includes GSP primary antenna and GPS auxiliary antenna.
Further, the chassis embedded control panel include CAN bus drive module, controller, gear switch module,
Brake actuators, simulation throttle signal generation module, throttle signal switching module, power module；The CAN bus drive module
External host computer, to receive PC control instruction；The external former car stop bit switch of the gear switch module, to cut off original
The gear signal of vehicle, and gear signal is exported to vehicle；The external former vehicle gas pedal of the throttle signal switching module, to cut
The throttle signal of disconnected original vehicle, and throttle signal is exported to vehicle；The external brake pedal push-rod electric machine of brake actuators, certainly
Vehicle brake pedal is pushed under dynamic driving mode, realizes control for brake；The external vehicle battery of power module is that chassis is embedding
Enter formula control panel and electric energy is provided.
Further, controller include single-chip microcontroller U8, current-limiting resistance R11, power supply instruction diode D1, filter inductance L1,
Filter capacitor C25, decoupling capacitance C26, short-circuit resistance R12, short-circuit resistance R13, filter capacitor C28, decoupling capacitance C27, filtering
Capacitor C30, decoupling capacitance C29, filter capacitor C32, decoupling capacitance C31, crystal oscillator Y3, corrective capacity C33, corrective capacity
C34, impedance matching resistor R14, it resets charging resistor R15, reset charging capacitor C35, reset key S1, pull-up resistor R17, limit
Leakage resistance R16, program download interface P8, decoupling capacitance C36, decoupling capacitance C37, decoupling capacitance C38, decoupling capacitance C39；Monolithic
The model MC9S12XS128MAA of machine U8；The 15th foot of single-chip microcontroller U8 connect with one end of current-limiting resistance R16, resistance in addition
One end is connect with the 3rd foot of program download interface P8；The port PM0, PM1 of single-chip microcontroller U8 respectively with CAN network interface module
Bus driver is connected；The port PT0, PT1, PT2, PT3, PT4, PT5 of single-chip microcontroller U8 is produced with gas pedal analog signal respectively
The communication port of the analog-digital chip of raw module is connected；The PP3 mouth and the three of accelerator pedal signal switching module of single-chip microcontroller U8
Pole pipe base stage current-limiting resistance is connected；The port PP0, PP1 of single-chip microcontroller U8 is connected with the control signal input of brake respectively；It is single
PT6, PT7, PP2 of piece machine U8 is connected with the base stage of gear switch module drive triode respectively, controls gear switch.
Further, the gear switch module includes current-limiting resistance R18, current-limiting resistance R19, current-limiting resistance R20, driving
Triode Q2, driving triode Q3, driving triode Q4, gear switch relay K2, gear switch relay K3, gear switch
Relay K4, automobile gear level switch interface P3, sustained diode 2, sustained diode 3, sustained diode 4；The current limliting electricity
One end of resistance R18 is connected with the PP2 of single-chip microcontroller in controller, and the other end is connected with the base stage of driving triode Q2, to control
Gear switch relay K2；One end of the current-limiting resistance R19 is connected with the PT7 of single-chip microcontroller in controller, the other end and driving
The base stage of triode Q3 is connected, to control gear switch relay K3；Single-chip microcontroller in one end of current-limiting resistance R20 and controller
PT6 be connected, the other end is connected with the base stage of driving triode Q4, to control gear switch relay K4；Automobile gear level is opened
Close the external automobile gear level switch of interface P3.
Further, the brake actuators include analog line driver U9, analog line driver U10, pull-up resistor R21, on
Pull-up resistor R25, current-limiting resistance R22, current-limiting resistance R26, pull down resistor R23, pull down resistor R24, pull down resistor R28, drop-down electricity
Hinder R29, motor interface P4；The model BTS7960 of analog line driver；The INH pin of the analog line driver passes through pull-up electricity
Resistance connection power supply, IS pin and SR pin are grounded by pull down resistor respectively, the control signal input of two analog line drivers
It is connected respectively with the port PP0, PP1 of single-chip microcontroller in controller, two analog line driver output ends are connected with motor interface P4.
Further, the laser radar is located at the top of millimetre-wave radar, is all set in immediately ahead of car body.
Further, the satellite earth antenna includes GPS primary antenna and the auxiliary antenna of GPS, is respectively arranged at car body top
Both ends；The mobile communication antenna is set to car body top middle position.
Compared with prior art, beneficial effects of the present invention are as follows:
The invention proposes a kind of high-precision vehicle based on carrier phase differential positioning technology and 4G mobile communication technology
Positioning and control system, it can be achieved that the movement station under Differential positioning mode positioning, be automobile automatic Pilot realize Centimeter Level
Positioning, for automobile automatic Pilot trajectory planning and travel route control foundation is provided.Melting for multisensor can be realized simultaneously
It closes, barrier is detected and is positioned, the automatic Pilot avoidance of automobile is realized.In addition it is horizontal and vertical that automobile can be achieved
Control is that the automatic Pilot of automobile realizes the control of vehicle.
In the present invention, vehicle location and control system are based on carrier phase differential positioning technology, and relevant device and accessory hold
Easily buying has the characteristics that precision is high, structure is simple, production is integrated and is easy.
The transmission of differential phase correction amount data is realized based on 4G mobile communication technology, 4G mobile communication technology is mature
Wireless communication technique wide coverage, technology and product are mature, have communication range is wide, does not need additional frame differential phase to correct
Measure communication equipment, have the characteristics that structure simply, Yi Shixian.
Obstacle avoidance system is formed by laser radar and millimetre-wave radar, it can be achieved that closely and remote obstacle detection,
Have the characteristics that detection range is remote, high sensitivity.
Detailed description of the invention
Fig. 1 is automatic Pilot positioning and control system architecture schematic diagram of the embodiment 1 for tour bus.
Fig. 2 is automatic Pilot positioning and control system Controlling model schematic diagram of the embodiment 1 for tour bus.
Fig. 3 is 1 carrier phase differential positioning system structure diagram of embodiment.
Fig. 4 is 1 chassis embedded control panel structural schematic diagram of embodiment.
Fig. 5 is 1 low-speed electronic tour bus gear switch schematic illustration of embodiment.
Fig. 6 is 1 gear switch schematic illustration of embodiment.
Fig. 7 is 1 gear switch modular circuit schematic illustration of embodiment.
Fig. 8 is 1 control for brake schematic illustration of embodiment.
Fig. 9 is 1 brake actuators circuit theory schematic diagram of embodiment.
Figure 10 is 1 power module circuitry schematic illustration of embodiment.
Figure 11 is 1 controller circuitry schematic illustration of embodiment.
Figure 12 is embodiment 1CAN bus driver block circuit theory schematic diagram.
Figure 13 is that embodiment 1 simulates throttle signal generation module circuit theory schematic diagram.
Figure 14 is 1 throttle signal switching module circuit theory schematic diagram of embodiment.
Specific embodiment
The attached figures are only used for illustrative purposes and cannot be understood as limitating the patent；
In order to better illustrate this embodiment, the certain components of attached drawing have omission, zoom in or out, and do not represent actual product
Size；To those skilled in the art, the omitting of some known structures and their instructions in the attached drawings are understandable.
For the ordinary skill in the art, above-mentioned term can be understood in concrete meaning of the invention with concrete condition.Below
The following further describes the technical solution of the present invention in conjunction with the accompanying drawings and embodiments.
Embodiment 1
As shown in Figure 1, the automatic Pilot positioning and control system that the present embodiment provides a kind of for tour bus, including it is vehicle-mounted
Differential positioning movement station, detection of obstacles module, chassis embedded control panel, host computer；The vehicle-mounted Differential positioning movement station
Including inertia/satellite combined guidance system, mobile communication antenna, satellite earth antenna, 4G-DTU, the satellite earth antenna with
Inertia/satellite combined guidance system connection, the mobile communication antenna are connect with 4G-DTU, the 4G-DTU and inertia/satellite
Integrated navigation system connection, the inertia/satellite combined guidance system are connect with host computer；The detection of obstacles module includes
Laser radar, millimetre-wave radar, the laser radar are connect by power/data converter with host computer, the millimeter wave thunder
It is connect up to by Ethernet-CAN converter with host computer；The host computer is connect with chassis embedded control panel, the chassis
Embedded control panel is separately connected the gear, throttle and brake system of vehicle, and host computer is converted by Ethernet-CAN
The electric direction varying device of device connection vehicle.
In the present embodiment, satellite earth antenna includes GPS primary antenna, the auxiliary antenna of GPS.The auxiliary antenna of GPS primary antenna, GPS,
4G-DTU is connected with inertia/satellite combined guidance system, by serial between 4G-DTU and inertia/satellite combined guidance system
Communication interface is realized, the high accuracy positioning for realizing vehicle is cooperated with differential positioning reference station.Inertia/satellite combined guidance system is logical
It crosses serial communication interface to be communicated with host computer, the precise position information of vehicle is sent to host computer, to realize vehicle
Trajectory planning and track route control.Power/data converter provides working power for laser radar, while by laser radar
The obstacle information detected is sent to the port LAN2 of host computer by Ethernet interface, to realize the detection of barrier,
Detection and the barrier avoiding function of barrier are realized in automatic Pilot.Ethernet-CAN converter realizes that Ethernet and CAN bus are logical
Believe the conversion of agreement.Millimetre-wave radar is connected by CAN bus with Ethernet-CAN converter, and millimetre-wave radar is detected
Obstacle information is sent to host computer through Ethernet-CAN converter, provides in automatic driving mode for upper traveling control
Decision-making foundation.Ethernet-CAN converter passes through the electric direction varying device of the external vehicle of CAN bus, to vehicle under the control of host computer
Steering controlled；Chassis embedded control panel distinguishes the gear, throttle, brake system of external vehicle, in host computer
The gear of vehicle, throttle, brake are controlled under control.In the present embodiment, serial communication interface uses RS232, Ethernet
Interface uses RJ45.
As shown in Fig. 2, the working principle of the system are as follows: before starting Function for Automatic Pilot, preset driving trace and
Travel speed is given to decision and control module, starts Function for Automatic Pilot；Decision and control module are to chassis control module
Vehicle control target value is sent, horizontal and vertical control is realized to vehicle by chassis control module, chassis control module is to vehicle
Control include steering, braking, gear, throttle；By the detection of obstacles module being installed on vehicle, the module is by laser radar
It is formed with millimetre-wave radar, millimetre-wave radar detects remote barrier, laser radar is to the barrier of short distance
The accurate detection that shapes is carried out, the situation of real-time acquisition vehicle front with the two, and decision and control module offer are provided
Decision-making foundation；The traveling-position and speed of vehicle are acquired by the satellite navigation module being installed on vehicle simultaneously, and anti-
Decision of feeding and control module provide decision-making foundation；Decision and control module by the value of feedback of comparison driving trace and speed,
Setting value, adjustment in real time is given to the control amount of chassis control module, then changes vehicle by the related executing agency of control vehicle
Driving trace and speed, to realize the automatic Pilot control of closed loop.In the present embodiment, decision and control module are host computer,
Chassis control module is embedded chassis control plate, and satellite navigation module is vehicle-mounted Differential positioning movement station.
In the specific implementation process, as follows in the exemplary configurations position of low-speed electronic tour bus: laser radar and millimeter wave
The position in about 50 centimetres away from ground of radar installation car body front, laser radar are arranged in the top of millimetre-wave radar；GPS primary antenna
The top for being installed on car body is longitudinally intermediate, position of 40 centimetres away from rear portion；The top that the auxiliary antenna of GPS is installed on car body longitudinally occupies
In, position of 40 centimetres away from front；Mobile communication antenna 3 is installed on car body top longitudinally, laterally middle position.
The operator seat under-seat of Vehicular body front is equipped with host computer, inertia/satellite combined guidance system, Ethernet-CAN
Converter, chassis embedded control panel；The lower section of brake pedal is equipped with push-rod electric machine, push-rod electric machine suspension chassis embedded control panel
Control；Accelerator pedal position sensor is provided with below gas pedal, which is connected with chassis embedded control panel.
As shown in figures 1 and 3, the automatic Pilot positioning of the present embodiment and control system are based on carrier phase differential positioning skill
Art and 4G mobile communication technology realize high-precision vehicle location.As shown in figure 3, carrier phase differential positioning system by satellite 1,
Differential positioning reference station 2, vehicle-mounted Differential positioning movement station 3, mobile communication base station 4 form.Differential positioning reference station 2 includes movement
Communication antenna 21, satellite receiver 22,4G-DTU23, satellite earth antenna 24.Vehicle-mounted Differential positioning movement station 3 include inertia/
Satellite combined guidance system 31, satellite earth antenna 32, mobile communication antenna 33,4G-DTU34.In the present embodiment, satellite reception
The model of machine are as follows: the model of XW-GNSS1061,4G-DTU are as follows: MD-649, inertia/satellite combined guidance system model are as follows:
XW-GI5651。
The working principle of the positioning system is to dispose a satellite receiver on base station, continuously seen to satellite
It surveys, using 4G-DTU (mobile communication 4G data transmission module) and mobile communication antenna, the correction amount of carrier phase is passed through into shifting
Dynamic communication base station sends vehicle-mounted Differential positioning movement station in real time, and vehicle-mounted Differential positioning movement station is logical by 4G-DTU and movement
The correction amount of Iflytech's line reception carrier phase.Vehicle-mounted Differential positioning movement station passes through mobile communication while receiving satellite-signal
Module receives the difference positioning information of base station, provides vehicle according to relative positioning principle real-time processing data and with a centimetre class precision
The three-dimensional coordinate of Differential positioning movement station is carried, and the automatic Pilot positioning control for tour bus is sent to by serial communication interface
Host computer in system processed.
As a specific embodiment, as shown in figure 4, the present embodiment provides a kind of chassis embedded control panels, including
Gear switch module, brake actuators, power module, controller, CAN bus drive module, simulation throttle signal generation module,
Throttle signal switching module.The external host computer of CAN bus drive module, to receive PC control instruction.Gear switch mould
The external former car stop bit switch of block, exports gear signal to cut off the gear signal of former vehicle, and to vehicle.Throttle signal switches mould
The external former vehicle gas pedal of block, exports throttle signal to cut off the throttle signal of former vehicle, and to vehicle.Brake actuators are external
Brake pedal push-rod electric machine pushes vehicle brake pedal under automatic driving mode, realizes control for brake.Power module picks up outside
Battery, provides electric energy for chassis embedded control panel.
As shown in figure 5, in the prior art, being modified automatic driving vehicle low-speed electronic tour bus gear switch principle is,
Automobile gear level switch is connected by three signal wires with vehicle control module, wherein a signal wire is common signal line, is
The grounding point of vehicle control module, voltage value 0V.Other two signal wires are forward signal detection line and retrogressing respectively
Gear signal detection line, when automobile gear level switch is in intermediate halted state, the electricity of the gear signal that moves forward and backward detection line
Pressure is all high level 5V.When automobile gear level switch is in forward, common is connected with advance contact, forward
Signal is by by force down for 0V, and when vehicle control module detects the signal at this time, control vehicle traction motor rotates forward (advance).
When automobile gear level switch, which is in, retreats gear, common is connected with contact is retreated, and retreats gear signal and is dragged down by force
For 0V, when vehicle control module detects the signal at this time, control vehicle traction motor reversal (retrogressing).
As shown in fig. 6, chassis embedded control panel, which switches automobile gear level, realizes that the principle automatically controlled is, by former vehicle vehicle
It the forward signal of driving switch and retreats gear signal cut and forms 4 signal wires, and draw one from common signal line
Root line accesses chassis embedded control panel together.Three control relays are set in the embedded control panel of chassis, and relay 1 has
Two groups of switches, relay 2 and 3 only have one group of switch.The common of 1 two groups of switches of relay respectively with vehicle control module
Forward signal wire with retreat gear signal wire be connected, the normally-closed contact of two groups of switches respectively and automobile gear level switch before
It is connected into retrogressing control point.The common of relay 2 normally opened contact relevant to control of advancing in relay 1 is connected, after
The normally opened contact of electric appliance 2 is connected with the common signal of vehicle control module；It is retreated in the common of relay 3 and relay 1
It controls relevant normally opened contact to be connected, 3 normally opened contact of relay is connected with the common signal of vehicle control module；
The control principle of its gear switch is, when vehicle is in manual drive mode, control signal 1 is invalid, relay 1
Do not work, contact is in normally off, chassis embedded control panel on the gear control function of former vehicle without influence, by the vehicle of former vehicle
The control of driving switch；
When vehicle is in automatic driving mode, when vehicle needs to advance, effectively, relay 1 works control signal 1, normally closed
Contact disconnects, and has cut off the control signal of former car stop bit switch, normally opened contact closure；Controlling signal 2 effectively, relay 2 works,
Normally opened contact closure, the common signal line of vehicle control module is connected with forward signal at this time, and vehicle is in advancement function；
It is invalid to control signal 3, relay 3 does not work, and fallback function is invalid.
When vehicle is in automatic driving mode, when vehicle needs to retreat, effectively, relay 1 works control signal 1, normally closed
Contact disconnects, and has cut off the control signal of former car stop bit switch, normally opened contact closure；Controlling signal 3 effectively, relay 3 works,
Normally opened contact closure, the common signal line of vehicle control module is connected with gear signal is retreated at this time, and vehicle is in fallback function；
It is invalid to control signal 2, relay 2 does not work, and advancement function is invalid.
It is as shown in table 1 below that chassis embedded control panel controls semiotic function.
Table 1 controls semiotic function table
As shown in fig. 7, the gear switch module of chassis embedded control panel include current-limiting resistance R18, current-limiting resistance R19,
Current-limiting resistance R20, driving triode Q2, driving triode Q3, driving triode Q4, gear switch relay K2, gear switch
Relay K3, gear switch relay K4, automobile gear level switch interface P3, sustained diode 2, sustained diode 3, afterflow two
Pole pipe D4.One end of current-limiting resistance R18 is connected with the PP2 of single-chip microcontroller in controller, the base stage of the other end and driving triode Q2
It is connected, to control gear switch relay K2；One end of current-limiting resistance R19 is connected with the PT7 of single-chip microcontroller in controller, is another
End is connected with the base stage of driving triode Q3, to control gear switch relay K3；One end of current-limiting resistance R20 and controller
The PT6 of middle single-chip microcontroller is connected, the other end is connected with the base stage of driving triode Q4, to control gear switch relay K4；Vehicle
Driving switch interface P3 passes through the external automobile gear level switch of connecting wire.
The control principle of the circuit is that, when the port PT6, PT7, PP2 of single-chip microcontroller exports high level, three relays are equal
It does not work, the contact of relay is in normally off, and gear switch module does not influence the work of former vehicle gear control switch；
When the port single-chip microcontroller PP2 exports low level, the port PT7 output low level, the port PT6 output high level, relay
Device K2 and K3 work, K4 do not work, and the normally-closed contact of K2 disconnects at this time, the gear control switch disabler of former vehicle, normally opened touching
Point closure vehicle is advanced to control and be controlled by chassis embedded control panel, its normally opened contact closure, former vehicle vehicle control after K3 work
The common signal line of molding block is connected with forward signal detection line, and vehicle is in advancement function, and K4 does not work and retreats function
It can be invalid；
When the port single-chip microcontroller PP2 exports low level, the port PT7 output high level, the port PT6 output low level, relay
Device K2 and K4 work, K3 do not work, and the normally-closed contact of K2 disconnects at this time, the gear control switch disabler of former vehicle, normally opened touching
Point closure vehicle is advanced to control and be controlled by chassis embedded control panel, its normally opened contact closure, former vehicle vehicle control after K4 work
The common signal line of molding block is connected with gear signal detection line is retreated, and vehicle is in fallback function, and K3 does not work the function that advances
It can be invalid.
As shown in figure 8, chassis embedded control panel is to the control principle of low-speed electronic tour bus braking system, push rod electricity
The telescopic rod of machine and the brake pedal of vehicle are rigidly connected, and chassis embedded control panel controls push-rod electric machine, by push rod
The telescopic rod of motor carries out control for brake to the braking system of vehicle.
As shown in figure 9, the brake actuators of chassis embedded control panel include analog line driver U9, U10, pull-up resistor
R21, R25, current-limiting resistance R22, R26, pull down resistor R23, R24, R28, R29, motor interface P4；The model of analog line driver
BTS7960；Two analog line drivers constitute a H bridge, and the control of revolving speed, direction is carried out to external direct current push rod motor；Function
The control signal input of rate driver U9, U10 are connected with the port PP0, PP1 of single-chip microcontroller in controller respectively, in single-chip microcontroller
Under the PWM wave control of output, push-rod electric machine can realize fast braking, brake at a slow speed.
As shown in Figure 10, power module include battery interface P2, three port voltage-stablizer U4 and U7, filter capacitor C11 and
C21, decoupling capacitance C12 and C22, filter capacitor C13 and C23, decoupling capacitance C14 and C24；The type of three port voltage-stablizer U4 and U7
Number be ASM1117-5；The 1st foot power input of three terminal regulator U4 passes through battery interface P2 external automobile battery, will
12V voltage is converted into the DC voltage of 5V as control relay circuit power supply；The 1st foot power input of three terminal regulator U7 is logical
Battery interface P2 external automobile battery is crossed, is other low current load supplyings by the DC voltage that 12V voltage is converted into 5V；
As shown in figure 11, controller includes single-chip microcontroller U8, current-limiting resistance R11, power supply instruction diode D1, filter inductance
L1, filter capacitor C25, decoupling capacitance C26, short-circuit resistance R12, short-circuit resistance R13, filter capacitor C28, decoupling capacitance C27, filter
Wave capacitor C30, decoupling capacitance C29, filter capacitor C32, decoupling capacitance C31, crystal oscillator Y3, corrective capacity C33, correction electricity
Hold C34, impedance matching resistor R14, reset charging resistor R15, reset charging capacitor C35, reset key S1, pull-up resistor R17,
Current-limiting resistance R16, program download interface P8, decoupling capacitance C36, decoupling capacitance C37, decoupling capacitance C38, decoupling capacitance C39；It is single
The model MC9S12XS128MAA of piece machine U8；The 15th foot of single-chip microcontroller U8 connect with one end of current-limiting resistance R16, resistance it is another
Outer one end is connect with the 3rd foot of program download interface P8；The port PM0, PM1 of single-chip microcontroller U8 respectively with CAN network interface module
Bus driver be connected；The port PT0, PT1, PT2, PT3, PT4, PT5 of single-chip microcontroller U8 respectively with gas pedal analog signal
The communication port of the analog-digital chip of generation module is connected；PP3 mouth and the accelerator pedal signal switching module of single-chip microcontroller U8
Transistor base current-limiting resistance is connected；The port PP0, PP1 of single-chip microcontroller U8 is connected with the control signal input of brake respectively；
PT6, PT7, PP2 of single-chip microcontroller U8 is connected with the base stage of gear switch module drive triode respectively, controls to gear switch
System.
As shown in figure 12, CAN bus drive module includes bus driver U5, bus termination resistance R7, bus termination electricity
Hinder R8, bus termination resistance R9, bus termination resistance R10, CAN interface P5, decoupling capacitance C15, shunt capacitance C9 and
C10；The model TJA1050 of bus driver U5；The 1st foot of bus driver U5 and the 4th foot respectively with micro controller module
The PM0 of middle single-chip microcontroller is connected with PM1；The 7th foot of bus driver U5 and the 6th foot pass through CAN interface P5 and automobile respectively
CAN network bus is connected；Bus termination resistance R7 and R8 be serially connected in a manner of end to end bus driver U5 the 7th foot and
Between 6th foot, its midpoint is connected to the ground by shunt capacitance C9；Bus termination resistance R9 and the R10 string in a manner of end to end
It connects between the 7th foot of bus driver U5 and the 6th foot, its midpoint is connected to the ground by shunt capacitance C10.
As shown in figure 13, simulation throttle signal generation module includes digital analog converter U1 and U2, pull-up resistor R2 and R3, side
Road capacitor C1 and C4, decoupling capacitance C2 and C5, filter capacitor C3 and C6, current-limiting resistance R4, filter capacitor C7, accurate regulated power supply
U3, divider resistance R5 and R6, filter capacitor C8；The model DAC7512 of digital analog converter U1 and U2；Accurate regulated power supply U3's
Model TL431；The data communication interface of digital analog converter U1 and U2 are connected with the port single-chip microcontroller PT in controller respectively；Digital-to-analogue
The analog voltage output port of converter U1 and U2 are connected with the normally opened contact of the relay of throttle signal switching module respectively；Limit
One end of leakage resistance R4 is connected with the positive 12V power supply of power module, other end is connected with the 2nd foot of accurate regulated power supply U3；
Divider resistance R5 and R6 be serially connected between the 2nd foot and the 3rd foot of accurate regulated power supply U3 in a manner of end to end, its midpoint with
The 1st foot of regulated power supply U3 is connected.
As shown in figure 14, throttle signal switching module includes driving triode Q1, current-limiting resistance R1, signal switching relay
K1, sustained diode 5, accelerator pedal signal interface P1；One end of current-limiting resistance R1 and single-chip microcomputer output mouth phase in controller
Even, other end is connected with the base stage of driving triode Q1；Coil one end of signal switching relay K1 is connected, in addition with power supply
One end is connected with the emitter of driving triode Q1；The common that signal switches relay K1 passes through accelerator pedal signal interface
The accelerator pedal signal line of P1 external automobile electronic engine control module；The normally-closed contact of signal switching relay K1 is stepped on by throttle
The signal wire of partitioned signal interface P1 external automobile accelerator pedal position sensor；The normally opened contact and mould of signal switching relay K1
The digital analog converter analog voltage output port of quasi- throttle signal generation module is connected；Accelerator pedal signal interface P1 and automobile oil
Door pedal position sensor is connected.
Obviously, the above embodiment of the present invention be only to clearly illustrate example of the present invention, and not be pair
The restriction of embodiments of the present invention.For those of ordinary skill in the art, may be used also on the basis of the above description
To make other variations or changes in different ways.There is no necessity and possibility to exhaust all the enbodiments.It is all this
Made any modifications, equivalent replacements, and improvements etc., should be included in the claims in the present invention within the spirit and principle of invention
Protection scope within.
Claims (9)
1. a kind of automatic Pilot positioning and control system for tour bus, which is characterized in that mobile including vehicle-mounted Differential positioning
It stands, detection of obstacles module, chassis embedded control panel, host computer；The vehicle-mounted Differential positioning movement station includes inertia/satellite
Integrated navigation system, mobile communication antenna, satellite earth antenna, 4G-DTU, the satellite earth antenna and inertia/combinations of satellites
Navigation system connection, the mobile communication antenna are connect with 4G-DTU, and the 4G-DTU and inertia/satellite combined guidance system connect
It connects, the inertia/satellite combined guidance system is connect with host computer；The detection of obstacles module includes laser radar, millimeter
Wave radar, the laser radar are connect by power/data converter with host computer, and the millimetre-wave radar passes through Ethernet-
CAN converter is connect with host computer；The host computer is connect with chassis embedded control panel, the chassis embedded control panel point
Not Lian Jie vehicle gear, throttle and brake system, and host computer by Ethernet-CAN converter connect vehicle electricity
Dynamic diverter.
2. the automatic Pilot positioning and control system according to claim 1 for tour bus, which is characterized in that described
4G-DTU is connect by RS232 interface with inertia/satellite combined guidance system；Inertia/the satellite combined guidance system passes through
RS232 interface is connect with host computer；The power/data converter is connect by RJ45 with host computer.
3. the automatic Pilot positioning and control system according to claim 2 for tour bus, which is characterized in that described
4G-DTU model MD-649；The inertia/satellite combined guidance system model XW-GI5651.
4. the automatic Pilot positioning and control system according to claim 3 for tour bus, the embedded control in chassis
Making sheet include CAN bus drive module, controller, gear switch module, brake actuators, simulation throttle signal generation module,
Throttle signal switching module, power module；The external host computer of CAN bus drive module, refers to receive PC control
It enables；The external former car stop bit switch of the gear switch module is believed to cut off the gear signal of former vehicle, and to vehicle output gear
Number；The external former vehicle gas pedal of the throttle signal switching module, exports oil to cut off the throttle signal of former vehicle, and to vehicle
Gate signal；The external brake pedal push-rod electric machine of brake actuators pushes vehicle brake pedal under automatic driving mode, real
Existing control for brake；The external vehicle battery of power module, provides electric energy for chassis embedded control panel.
5. the automatic Pilot positioning and control system according to claim 4 for tour bus, which is characterized in that the control
Device processed includes single-chip microcontroller U8, current-limiting resistance R11, power supply instruction diode D1, filter inductance L1, filter capacitor C25, decoupling capacitance
C26, short-circuit resistance R12, short-circuit resistance R13, filter capacitor C28, decoupling capacitance C27, filter capacitor C30, decoupling capacitance C29,
Filter capacitor C32, decoupling capacitance C31, crystal oscillator Y3, corrective capacity C33, corrective capacity C34, impedance matching resistor R14,
Charging resistor R15, reset charging capacitor C35, reset key S1, pull-up resistor R17, current-limiting resistance R16, program is resetted to download and connect
Mouth P8, decoupling capacitance C36, decoupling capacitance C37, decoupling capacitance C38, decoupling capacitance C39；The model of single-chip microcontroller U8
MC9S12XS128MAA；The 15th foot of single-chip microcontroller U8 is connect, under the other end and program of resistance with one end of current-limiting resistance R16
Carry the 3rd foot connection of interface P8；The port PM0, PM1 of single-chip microcontroller U8 respectively with the bus driver phase of CAN network interface module
Even；The port PT0, PT1, PT2, PT3, PT4, PT5 of the single-chip microcontroller U8 digital-to-analogue with gas pedal analog signal generation module respectively
The communication port of conversion chip is connected；The PP3 mouth and the transistor base current limliting of accelerator pedal signal switching module of single-chip microcontroller U8
Resistance is connected；The port PP0, PP1 of single-chip microcontroller U8 is connected with the control signal input of brake respectively；The PT6 of single-chip microcontroller U8,
PT7, PP2 are connected with the base stage of gear switch module drive triode respectively, control gear switch.
6. the automatic Pilot positioning and control system according to claim 5 for tour bus, which is characterized in that the shelves
Position switching module include current-limiting resistance R18, current-limiting resistance R19, current-limiting resistance R20, driving triode Q2, driving triode Q3,
Driving triode Q4, gear switch relay K2, gear switch relay K3, gear switch relay K4, automobile gear level switch
Interface P3, sustained diode 2, sustained diode 3, sustained diode 4；In one end and controller of the current-limiting resistance R18
The PP2 of single-chip microcontroller is connected, and the other end is connected with the base stage of driving triode Q2, to control gear switch relay K2；It is described
One end of current-limiting resistance R19 is connected with the PT7 of single-chip microcontroller in controller, and the other end is connected with the base stage of driving triode Q3, uses
To control gear switch relay K3；One end of current-limiting resistance R20 is connected with the PT6 of single-chip microcontroller in controller, the other end and drive
The base stage of dynamic triode Q4 is connected, to control gear switch relay K4；The external automobile gear level of automobile gear level switch interface P3
Switch.
7. the automatic Pilot positioning and control system according to claim 5 or 6 for tour bus, which is characterized in that institute
Stating brake actuators includes analog line driver U9, analog line driver U10, pull-up resistor R21, pull-up resistor R25, current-limiting resistance
R22, current-limiting resistance R26, pull down resistor R23, pull down resistor R24, pull down resistor R28, pull down resistor R29, motor interface P4；Function
The model BTS7960 of rate driver；The INH pin of the analog line driver by pull-up resistor connect power supply, IS pin and
SR pin respectively by pull down resistor be grounded, the control signal input of two analog line drivers respectively with single-chip microcontroller in controller
The port PP0, PP1 be connected, two analog line driver output ends are connected with motor interface P4.
8. the automatic Pilot positioning and control system according to claim 7 for tour bus, which is characterized in that described to swash
Optical radar is located at the top of millimetre-wave radar, is all set in immediately ahead of car body.
9. the automatic Pilot positioning and control system according to claim 8 for tour bus, which is characterized in that described to defend
Star receiving antenna includes GPS primary antenna and the auxiliary antenna of GPS, is respectively arranged at the both ends of car body top；The mobile communication antenna
It is set to car body top middle position.
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| CN201910513701.8A CN110162064A (en) | 2019-06-14 | 2019-06-14 | A kind of automatic Pilot positioning and control system for tour bus |
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| CN201910513701.8A CN110162064A (en) | 2019-06-14 | 2019-06-14 | A kind of automatic Pilot positioning and control system for tour bus |
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| CN112902949A (en) * | 2021-01-20 | 2021-06-04 | 上海华测导航技术股份有限公司 | Small, portable and low-cost integrated navigation system device |
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