CN111610784A - Special range finding system of unmanned - Google Patents
Special range finding system of unmanned Download PDFInfo
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- CN111610784A CN111610784A CN202010429455.0A CN202010429455A CN111610784A CN 111610784 A CN111610784 A CN 111610784A CN 202010429455 A CN202010429455 A CN 202010429455A CN 111610784 A CN111610784 A CN 111610784A
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- 241001127637 Plantago Species 0.000 claims description 4
- 238000005259 measurement Methods 0.000 abstract description 9
- 238000000034 method Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000035484 reaction time Effects 0.000 description 1
- 238000006467 substitution reaction Methods 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
- B60R16/0231—Circuits relating to the driving or the functioning 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
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Mechanical Engineering (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The invention discloses a distance measuring system special for unmanned driving, which comprises a distance measuring module, a driving computer and a control module, wherein the distance measuring module comprises a vehicle front distance measuring module, a vehicle body distance measuring module and a vehicle rear distance measuring module, the vehicle front distance measuring module comprises a front main distance measuring module, a front distance measuring module and a front side distance measuring module, the vehicle body distance measuring module is a rearview mirror main distance measuring module, the vehicle rear distance measuring module comprises a vehicle rear main distance measuring module, a rear distance measuring module and a rear side distance measuring module, and the control module comprises a brake-by-wire module, an electronic hydraulic power steering module and a hub motor module. Compared with the prior art, the invention has the advantages that: the method can measure road conditions around the vehicle and vehicle conditions around the unmanned vehicle, and maintain a safe vehicle distance with the adjacent vehicle, including the vehicle distance and the vehicle speed of the rear side surface of the front side surface of the vehicle, in a measuring range, and can carry out operation after distance measurement after operation, and can directly carry out corresponding simple operation of unmanned driving according to measured parameters after distance measurement.
Description
Technical Field
The invention relates to the field of unmanned driving, in particular to a distance measuring system special for unmanned driving.
Background
The unmanned automobile is one of intelligent automobiles, is also called a wheeled mobile robot, and mainly achieves the purpose of unmanned driving by means of an intelligent driver which is mainly a computer system in the automobile. The main purpose of unmanned driving is to drive the security, and enough advanced ranging system just can bring safe unmanned driving, and the direction of current unmanned driving range finding is less, leaks the road conditions analysis of blind area easily when carrying out unmanned driving on complicated road conditions, and factor of safety is lower under the unmanned circumstances, therefore a can carry out all-round distance measurement's ranging system and await urgent study.
Disclosure of Invention
The invention aims to solve the technical problem of providing a distance measuring system special for unmanned driving, which is used for multi-angle all-road condition analysis.
In order to solve the technical problems, the technical scheme provided by the invention is as follows: the utility model provides a special ranging system of unmanned driving, includes ranging module, driving computer and control module, ranging module includes plantago ranging module, automobile body ranging module and car rear ranging module, plantago ranging module includes the main ranging module in place ahead, place ahead ranging module and front side ranging module, automobile body ranging module is the main ranging module of rear-view mirror, car rear ranging module includes main ranging module in car rear, rear ranging module and rear side ranging module, control module includes brake-by-wire module, electron hydraulic pressure power-assisted steering module and in-wheel motor module.
Compared with the prior art, the invention has the advantages that: the method can measure road conditions around the vehicle and vehicle conditions around the unmanned vehicle, keep a safe vehicle distance with the adjacent vehicle, provide enough reaction time for the unmanned system, include the vehicle distance and the vehicle speed of the rear side surface of the front side surface of the vehicle, and can perform operation after distance measurement after operation, and can directly perform corresponding simple operation of unmanned according to measured parameters after distance measurement, and the priority is lower than manual operation, so that the error operation of the distance measurement system can be corrected.
As the improvement, the main range module in place ahead, the main range module of rear-view mirror and the main range module in car back all adopt the multisensor to carry out the range finding, mainly include vision class camera and radar class range sensor, vision class camera includes monocular camera, binocular stereoscopic vision camera, panorama vision camera and infrared camera, radar class range sensor includes laser radar, millimeter wave radar and ultrasonic radar, and main range module is responsible for calculating the distance and the speed of vehicle, can carry out the discernment of road surface and vehicle, also can discern the road sign.
As the improvement, the both sides in vehicle the place ahead are located to the side of the front side range finding module for analysis overtaking route, when the current car speed is less than expected value, if there is the car on the overtaking route, perhaps is in the solid line region, then can cancel the overtaking instruction, if the path of overtaking is unobstructed, then can carry out the side of the back range finding instruction.
As an improvement, the rear lateral distance measuring module is divided into two sides behind the vehicle and used for analyzing whether the vehicle behind the two side lanes allows passing, and when the rear lateral vehicle is far away, is in a constant-speed driving state and has a vehicle speed lower than the vehicle speed of the vehicle, the passing instruction is executed.
As an improvement, the measurement data of the distance measurement module is directly connected with a traveling crane computer, and the traveling crane computer transmits the instruction to the control module.
As an improvement, the brake-by-wire module is a pure electric control electronic mechanical brake system, does not contain a mechanical structure at all, generates brake force by a motor, controls the brake to brake, and receives brake signals provided by a running computer through a signal line to provide the brake force.
As an improvement, the electronic hydraulic power steering module adopts electronic hydraulic power, and the difference from mechanical hydraulic power mainly lies in the driving mode of an oil pump, the hydraulic pump of mechanical hydraulic power is directly driven by an engine belt, and the electronic hydraulic power steering module utilizes an ECU to detect the steering angle of a steering wheel and drives the electronic pump to apply force to the hydraulic cylinder by electric power.
As an improvement, the in-wheel motor module has the characteristic of independent driving of a single wheel, so that the in-wheel motor module can be easily realized in a front-driving mode, a rear-driving mode or a four-driving mode, and the full-time four-driving mode is very easy to realize on an in-wheel motor driven vehicle.
As an improvement, the priority of the unmanned special distance measuring system is lower than that of the manual operation instruction, and the unmanned special distance measuring system is automatically closed after the manual operation is intervened.
Drawings
Fig. 1 is a schematic structural diagram of an unmanned dedicated distance measuring system.
Fig. 2 is a system configuration diagram of an unmanned exclusive ranging system.
As shown in the figure: 1. the main range finding module in place ahead, 2, the range finding module in place ahead, 3, the front side range finding module, 4, the main range finding module of rear-view mirror, 5, the main range finding module behind the car, 6, the rear range finding module, 7, the rear side range finding module.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
The invention relates to a distance measuring system special for unmanned driving, which comprises a distance measuring module, a traveling computer and a control module, wherein the distance measuring module comprises a vehicle front distance measuring module, a vehicle body distance measuring module and a vehicle rear distance measuring module, the vehicle front distance measuring module comprises a front main distance measuring module, a front distance measuring module and a front side distance measuring module, the vehicle body distance measuring module is a rearview mirror main distance measuring module, the vehicle rear distance measuring module comprises a vehicle rear main distance measuring module, a rear distance measuring module and a rear side distance measuring module, and the control module comprises a brake-by-wire module, an electronic hydraulic power steering module and a hub motor module.
The front main ranging module, the rearview mirror main ranging module and the vehicle rear main ranging module all adopt a plurality of sensors to measure the distance, mainly comprise a vision camera and a radar ranging sensor, the vision camera comprises a monocular camera, a binocular stereo vision camera, a panoramic vision camera and an infrared camera, the radar ranging sensor comprises a laser radar, a millimeter wave radar and an ultrasonic radar, the main ranging module is responsible for calculating the distance and the speed of a vehicle, can identify a road surface and the vehicle, and can also identify a road sign.
The both sides in vehicle the place ahead are located to the side of the front side range finding module for when analysis overtaking route, current car speed were less than expected value, if there is the car on the overtaking route, perhaps be in the solid line region, then can cancel the overtaking instruction, if the path of overtaking is unobstructed, then can carry out the rear side range finding instruction.
The rear side distance measuring module is divided into two sides behind the vehicle and used for analyzing whether the vehicles behind the lanes on the two sides allow overtaking or not, and when the rear side vehicle is far away, is in a constant-speed running state and has a vehicle speed lower than the vehicle speed of the vehicle, the overtaking instruction is executed.
The measuring data of the distance measuring module is directly connected with a traveling crane computer, and the traveling crane computer transmits the instruction to the control module.
The brake-by-wire module is a pure electric control electronic mechanical brake system, does not contain a mechanical structure at all, generates braking force by a motor, controls a brake to brake, and receives braking signals provided by a running computer through a signal wire to provide braking force.
The electronic hydraulic power-assisted steering module adopts electronic hydraulic power assistance, and is different from mechanical hydraulic power assistance mainly in the driving mode of an oil pump, the hydraulic pump of the mechanical hydraulic power assistance is directly driven by an engine belt, and the electronic hydraulic power assistance utilizes an ECU to detect the steering angle of a steering wheel and drives the electronic pump to apply force to the hydraulic cylinder by electric power.
The wheel hub motor module has the characteristic of independent driving of a single wheel, so that the wheel hub motor module can be easily realized in a front-driving mode, a rear-driving mode or a four-driving mode, and the full-time four-driving mode is very easy to realize on a vehicle driven by the wheel hub motor.
The priority of the unmanned special distance measuring system is lower than that of the manual operation instruction, and the unmanned special distance measuring system is automatically closed after manual operation intervenes.
The working principle of the invention is as follows: the method comprises the steps of comprehensively calculating measured data of the vehicle distance and the vehicle speed through measurement of multiple cameras and sensors to obtain accurate measured data, feeding the measured data back to a vehicle computer, distributing next-step instructions by the vehicle computer, and adopting an auxiliary driving mode.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature, and in the description of the invention, "plurality" means two or more unless explicitly specifically defined otherwise.
In the present invention, unless otherwise specifically stated or limited, the terms "mounted," "connected," "fixed," and the like are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly above and obliquely above the second feature, or simply meaning that the first feature is at a lesser level than the second feature.
In the description herein, reference to the terms "one embodiment," "some embodiments," "an example," "a specific example," or "some examples" or the like means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made in the above embodiments by those of ordinary skill in the art without departing from the principle and spirit of the present invention.
Claims (9)
1. The utility model provides a special ranging system of unmanned driving, includes ranging module, driving computer and control module, its characterized in that: the range finding module includes plantago range finding module, automobile body range finding module and car rear ranging module, plantago range finding module includes the main range finding module in the place ahead, place ahead range finding module and front side range finding module, automobile body range finding module is the main range finding module of rear-view mirror, car rear ranging module includes main range finding module, rear range finding module and rear side range finding module behind the car, control module includes brake-by-wire module, electron hydraulic pressure power assisted steering module and in-wheel motor module.
2. The unmanned aerial vehicle-specific ranging system of claim 1, wherein: the front main ranging module, the rearview mirror main ranging module and the vehicle rear main ranging module all adopt a plurality of sensors to measure the distance, mainly comprise a vision camera and a radar ranging sensor, the vision camera comprises a monocular camera, a binocular stereo vision camera, a panoramic vision camera and an infrared camera, the radar ranging sensor comprises a laser radar, a millimeter wave radar and an ultrasonic radar, the main ranging module is responsible for calculating the distance and the speed of a vehicle, can identify a road surface and the vehicle, and can also identify a road sign.
3. The unmanned aerial vehicle-specific ranging system of claim 1, wherein: the both sides in vehicle the place ahead are located to the side of the front side range finding module for when analysis overtaking route, current car speed were less than expected value, if there is the car on the overtaking route, perhaps be in the solid line region, then can cancel the overtaking instruction, if the path of overtaking is unobstructed, then can carry out the rear side range finding instruction.
4. The unmanned aerial vehicle-specific ranging system of claim 1, wherein: the rear side distance measuring module is divided into two sides behind the vehicle and used for analyzing whether the vehicles behind the lanes on the two sides allow overtaking or not, and when the rear side vehicle is far away, is in a constant-speed running state and has a vehicle speed lower than the vehicle speed of the vehicle, the overtaking instruction is executed.
5. The unmanned aerial vehicle-specific ranging system of claim 1, wherein: the measuring data of the distance measuring module is directly connected with a traveling crane computer, and the traveling crane computer transmits the instruction to the control module.
6. The unmanned aerial vehicle-specific ranging system of claim 1, wherein: the brake-by-wire module is a pure electric control electronic mechanical brake system, does not contain a mechanical structure at all, generates braking force by a motor, controls a brake to brake, and receives braking signals provided by a running computer through a signal wire to provide braking force.
7. The unmanned aerial vehicle-specific ranging system of claim 1, wherein: the electronic hydraulic power-assisted steering module adopts electronic hydraulic power assistance, and is different from mechanical hydraulic power assistance mainly in the driving mode of an oil pump, the hydraulic pump of the mechanical hydraulic power assistance is directly driven by an engine belt, and the electronic hydraulic power assistance utilizes an ECU to detect the steering angle of a steering wheel and drives the electronic pump to apply force to the hydraulic cylinder by electric power.
8. The unmanned aerial vehicle-specific ranging system of claim 1, wherein: the wheel hub motor module has the characteristic of independent driving of a single wheel, so that the wheel hub motor module can be easily realized in a front-driving mode, a rear-driving mode or a four-driving mode, and the full-time four-driving mode is very easy to realize on a vehicle driven by the wheel hub motor.
9. The unmanned aerial vehicle-specific ranging system of claim 1, wherein: the priority of the unmanned special distance measuring system is lower than that of the manual operation instruction, and the unmanned special distance measuring system is automatically closed after manual operation intervenes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010429455.0A CN111610784A (en) | 2020-05-20 | 2020-05-20 | Special range finding system of unmanned |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010429455.0A CN111610784A (en) | 2020-05-20 | 2020-05-20 | Special range finding system of unmanned |
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| CN111610784A true CN111610784A (en) | 2020-09-01 |
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Citations (7)
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| US20160039411A1 (en) * | 2014-08-08 | 2016-02-11 | Hyundai Motor Company | Method and apparatus for avoiding a vehicle collision with low power consumption based on conversed radar sensors |
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| CN107351785A (en) * | 2017-07-12 | 2017-11-17 | 奇瑞汽车股份有限公司 | Vehicle-periphery sensory perceptual system |
| CN107458361A (en) * | 2017-08-10 | 2017-12-12 | 南京超靖界智能科技有限公司 | Vehicle safety accessory system and its control method |
| CN107685683A (en) * | 2016-08-03 | 2018-02-13 | 桂林电子科技大学 | A kind of automobile distance prompt system based on multi-direction ranging and laser assisted lamp |
| CN108490941A (en) * | 2018-03-29 | 2018-09-04 | 奇瑞汽车股份有限公司 | Applied to the automated driving system and its control method of road sweeper, device |
-
2020
- 2020-05-20 CN CN202010429455.0A patent/CN111610784A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20130208119A1 (en) * | 2012-02-14 | 2013-08-15 | Ken Sean Industries Co., Ltd. | Vehicle video recording apparatus |
| US20160039411A1 (en) * | 2014-08-08 | 2016-02-11 | Hyundai Motor Company | Method and apparatus for avoiding a vehicle collision with low power consumption based on conversed radar sensors |
| CN107685683A (en) * | 2016-08-03 | 2018-02-13 | 桂林电子科技大学 | A kind of automobile distance prompt system based on multi-direction ranging and laser assisted lamp |
| CN106708040A (en) * | 2016-12-09 | 2017-05-24 | 重庆长安汽车股份有限公司 | Sensor module of automatic driving system, automatic driving system and automatic driving method |
| CN107351785A (en) * | 2017-07-12 | 2017-11-17 | 奇瑞汽车股份有限公司 | Vehicle-periphery sensory perceptual system |
| CN107458361A (en) * | 2017-08-10 | 2017-12-12 | 南京超靖界智能科技有限公司 | Vehicle safety accessory system and its control method |
| CN108490941A (en) * | 2018-03-29 | 2018-09-04 | 奇瑞汽车股份有限公司 | Applied to the automated driving system and its control method of road sweeper, device |
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Application publication date: 20200901 |