CN111915955A - Intelligent networking automobile experiment teaching system - Google Patents
Intelligent networking automobile experiment teaching system Download PDFInfo
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- CN111915955A CN111915955A CN202010958327.5A CN202010958327A CN111915955A CN 111915955 A CN111915955 A CN 111915955A CN 202010958327 A CN202010958327 A CN 202010958327A CN 111915955 A CN111915955 A CN 111915955A
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- G09B9/00—Simulators for teaching or training purposes
- G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
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Abstract
The invention relates to an intelligent networking automobile experiment teaching system. The system comprises a simulation lane and a simulation experiment vehicle running on the simulation lane; laying pre-buried guide lines on the simulation lane, wherein the simulation lane also comprises a crossroad lane with signal lamps and a vehicle-road cooperative controller for controlling each signal lamp; the vehicle road cooperative controller comprises a road cooperative controller, a simulation experiment vehicle and a router, and is characterized by further comprising the router and an upper computer, wherein the upper computer, the road cooperative controller and the simulation experiment vehicle are in wireless communication connection with the router. The invention provides an intelligent networking automobile experiment teaching system with reasonable structural design, which improves the development and experiment capacity of an intelligent networking automobile and simultaneously improves the practical ability and innovation consciousness of students by dynamically simulating and verifying the running condition, control algorithm, component performance and comprehensive performance of the intelligent networking automobile in a real environment.
Description
Technical Field
The invention belongs to the technical field of experiment teaching systems, and particularly relates to an intelligent networking automobile experiment teaching system.
Background
At present, with the great development of automobile technology and internet of things technology, automobiles become more and more intelligent, through the deep combination with the internet of things technology, the automatic driving function of the automobiles is more and more perfect, and the automobiles with the automatic driving function gradually enter the lives of people. Among them, C-V2X (Cellular Vehicle-to-event, supporting communication between networked vehicles and other "networked" road users and infrastructure) is an essential technical route for achieving high-level automated driving. Research and development mechanisms, internet and telecommunication companies of all automobile enterprises are dedicated to research and development of intelligent networked automobiles, and professional construction and laboratory construction of the intelligent networked automobiles are also very important for all colleges and universities.
The research and development or experimental teaching of the intelligent networked automobile requires an experiment and verification system of the intelligent networked automobile, and the demonstration and evolution of the technical scheme are realized by simulating and verifying the automatic driving technology (including obstacle identification, autonomous route planning and the like) in the system. To the aspect of teaching, through setting up experiment teaching system, can increase the student to the understanding of autopilot technique, simulate the real situation through experiment teaching system, will help promoting the student to the mastery ability of relevant knowledge such as autopilot theory, real control and thing networking.
At present, an experimental system of an intelligent internet automobile is generally single experimental equipment with a camera or a radar (a laser radar or a millimeter wave radar), the experimental equipment is static, comprehensive experimental verification can not be carried out on the intelligent internet automobile dynamically under the environment of vehicle-road cooperation, and the difference between the experimental system and the intelligent internet automobile in a real environment is large. Therefore, it is necessary to develop and design an intelligent networked automobile experiment system with more real and comprehensive experiment functions, which improves the development and experiment capabilities of the intelligent networked automobile and simultaneously improves the practical ability and innovation consciousness of the trainees by dynamically simulating and verifying the operation condition, control algorithm, component performance and comprehensive performance of the intelligent networked automobile in a real environment.
Disclosure of Invention
The invention provides an intelligent networked automobile experiment teaching system for solving the technical problems in the known technology, which improves the development and experiment capacity of an intelligent networked automobile and simultaneously improves the practical ability and innovation consciousness of trainees by dynamically simulating and verifying the running condition, control algorithm, device performance and comprehensive performance of the intelligent networked automobile in a real environment.
The technical scheme adopted by the invention for solving the technical problems in the prior art is as follows: an intelligent networked automobile experiment teaching system comprises a simulation lane and a simulation experiment vehicle running on the simulation lane; laying pre-buried guide lines on the simulation lane, wherein the simulation lane also comprises a crossroad lane with signal lamps and a vehicle-road cooperative controller for controlling each signal lamp; the vehicle road cooperative controller comprises a road cooperative controller, a simulation experiment vehicle and a router, and is characterized by further comprising the router and an upper computer, wherein the upper computer, the road cooperative controller and the simulation experiment vehicle are in wireless communication connection with the router.
The invention has the advantages and positive effects that: compared with the existing experiment teaching system, the intelligent network-connected automobile experiment teaching system with reasonable structural design is provided, the lane simulation device with the vehicle-road cooperative controller and the simulation experiment vehicle are arranged, the router is used as an information relay, and the autonomous function of the vehicle is combined with the control function of an upper computer, so that the dynamic simulation and verification of the running condition, the control algorithm, the component performance, the comprehensive performance and the like of the intelligent network-connected automobile in a real environment are realized, the teaching demonstration effect is good, the comprehension of a student on the internet of things technology, the automatic driving technology and the like is improved, and the practical ability and the innovation consciousness of the student are improved. The experiment teaching system is used in the industrial development process, and is helpful for promoting the research and development speed and the research and development capability of the intelligent networked unmanned automobile.
Preferably: the simulation lane comprises a first closed-loop lane and a second closed-loop lane; the first closed-loop lane is composed of a straight lane, an ascending ramp, a viaduct and a descending ramp, the second closed-loop lane is composed of a straight lane, an annular lane, a connecting lane and the crossroad lane, and the crossroad lane is located at the closed position of the annular lane.
Preferably: the embedded guide line is a single guide line, and the single guide line extends and is laid along the middle positions of the first closed-loop lane and the second closed-loop lane and is overlapped on the straight lane; the end part of the embedded guide wire is connected to a sine wave electromagnetic signal generator with the frequency of 20 kHz.
Preferably: the simulation lane is formed by a plurality of lane sections; the lane section comprises a lane matrix, two sides of the lane matrix are provided with side plates, the top of the lane matrix is paved with a pavement slab, and the embedded guide line is positioned between the lane matrix and the middle part of the pavement slab; the side plate is provided with a connecting piece, the adjacent two lane sections are connected through the connecting piece in an assembling mode, the side plate is further provided with a wiring terminal, the embedded guide line is electrically connected with the wiring terminal, and the wiring terminals of the adjacent two lane sections are electrically connected through jumper wires.
Preferably: and three identification lines are arranged on the surface of the road panel of each lane section and are respectively arranged at the positions close to the edges in the middle and at the two sides.
Preferably: the vehicle-road cooperative controller comprises a control module, and each signal lamp is electrically connected with the control module; the wireless communication module is electrically connected with the control module; the sine wave electromagnetic signal generator is arranged in the vehicle-road cooperative controller.
Preferably: the simulation experiment vehicle comprises a vehicle chassis, wherein a rear wheel, a driving motor, a front wheel, a vehicle body steering engine and a rechargeable power supply are arranged on the vehicle chassis; the vehicle front-view image acquisition system further comprises a control module, a laser radar sensor, a cruising electromagnetic sensor, a camera image sensor and a power management module, wherein the laser radar sensor is electrically connected with the control module and used for detecting front obstacles, the cruising electromagnetic sensor is used for detecting pre-buried guide wires, and the wireless communication module is electrically connected with the control module.
Preferably: the simulated experiment vehicle also comprises a rotating platform, and the laser radar sensor is arranged on the rotating platform; the radar steering device further comprises a radar steering engine for driving the rotating platform to rotate, and the radar steering engine is electrically connected with a control module of the vehicle.
Preferably: still be equipped with photoelectric coupler between the control module of simulation experiment vehicle and driving motor, still install the encoder that is used for detecting the speed of a motor vehicle on the rear wheel shaft of simulation experiment vehicle, the encoder is connected with the control module electricity of vehicle.
Preferably: the simulated experiment vehicle further comprises a human-computer interaction module and an LED color screen display module, and the human-computer interaction module and the LED color screen display module are electrically connected with a control module of the vehicle.
Drawings
FIG. 1 is a system block diagram of the present invention;
FIG. 2 is a schematic structural view of the present invention;
FIG. 3 is a schematic view of a segmented construction of the simulated roadway of FIG. 1;
FIG. 4 is a schematic end view of the roadway section of FIG. 3;
fig. 5 is a block diagram of the structure of the simulation test vehicle in fig. 1.
In the figure:
1. simulating a lane; 1-1, straight lane; 1-2, a circular lane; 1-3, descending ramp; 1-4, signal lamp; 1-5, a vehicle-road cooperative controller; 1-6, an up ramp; 1-7, viaduct; 1-8, crossroad lanes; 1-9, connecting lanes; 1-10, embedding a guide line; 1-11, identifying lines; 1-12, road slab; 1-13, side plates; 1-14, connecting piece; 1-15, lane matrix; 1-16, a connecting terminal; 2. simulating an experimental vehicle; 3. a router; 4. and (4) an upper computer.
Detailed Description
In order to further understand the contents, features and effects of the present invention, the following embodiments are described in detail.
Referring to fig. 1 and 2, the intelligent networked automobile experiment teaching system of the present invention includes a simulation lane 1 and a simulation experiment vehicle 2 running on the simulation lane 1, wherein the simulation lane 1 is used for simulating a lane in a real environment, the simulation experiment vehicle 2 is used for simulating an automatic driving automobile in the real environment, and one or two simulation experiment vehicles can be arranged on the simulation lane 1 according to actual requirements during teaching demonstration.
The simulation lane 1 is paved with pre-embedded guide lines 1-10, and the simulation lane 1 also comprises crossroad lanes 1-8 with signal lamps 1-4 (red, green and yellow signal lamps) and vehicle-road cooperative controllers 1-5 for controlling the signal lamps 1-4. Under the control of the vehicle-road cooperative controller 1-5, the signal lamps 1-4 arranged at the positions of the lanes 1-8 of the crossroad simulate the change condition of the traffic lights in a real scene for the trainees to check.
The vehicle-road cooperative controller further comprises a router 3 and an upper computer 4, wherein the upper computer 4, the vehicle-road cooperative controllers 1-5 and the simulation experiment vehicle 2 are in wireless communication connection with the router 3. The router 3 is used as an information relay of the whole experiment teaching system, communication between the vehicle-road cooperative controllers 1-5 and the upper computer 4 and communication between the simulation experiment vehicle 2 and the upper computer 4 are both performed through the router 3, and communication between the simulation experiment vehicles 2 (when two vehicles exist on the road) is directly performed between the vehicles.
Referring to fig. 2 and 3, it can be seen that:
the simulated lane 1 comprises a first closed loop lane and a second closed loop lane, wherein: the first closed loop lane is composed of a straight lane 1-1, an ascending ramp 1-6, an viaduct 1-7 and a descending ramp 1-3, the second closed loop lane is composed of a straight lane 1-1, an annular lane 1-2, a connecting lane 1-9 and an intersection lane 1-8, and the intersection lane 1-8 is located at the closed position of the annular lane 1-2. As can be seen from the figure, the straight lanes 1-1 of both the first closed-loop lane and the second closed-loop lane are overlapped, that is, the two closed-loop lanes share the straight lane 1-1.
As can be seen from the foregoing, the simulated lane 1 basically includes all the components of the road in the real environment: the simulation experiment vehicle 2 comprises a straight road part, an uphill road part, an elevated bridge part, a downhill road part, a crossroad part, an annular road part, a bifurcation road part and a confluent road part, so that when the simulation experiment vehicle 2 runs on a simulation lane 1, the simulation closer to the real road condition is realized through various road components.
The embedded guide lines 1-10 are used for the simulation experiment vehicle 2 to perform line patrol running, and the detection assembly arranged on the simulation experiment vehicle 2 detects the line patrol path constructed by the embedded guide lines 1-10. In the embodiment, the pre-buried guide lines 1-10 are single guide lines which extend and are laid along the middle positions of the first closed-loop lane and the second closed-loop lane and are overlapped on the straight lane 1-1; the end parts of the embedded guide lines 1-10 are connected to a sine wave electromagnetic signal generator with the frequency of 20kHz, the sine wave electromagnetic signal generator generates high-frequency alternating current, therefore, an alternating magnetic field is generated along the extending path of the embedded guide lines 1-10, and a detection assembly arranged on the simulation experiment vehicle 2 adopts the principle of electromagnetic induction to carry out line patrol.
The pre-embedded guide lines 1-10 are single guide lines, which means that the pre-embedded guide lines 1-10 and the sine wave electromagnetic signal generator with the frequency of 20kHz only form a single conduction path. Therefore, the embedded guide wires 1 to 10 are opened at the positions connected with the sine wave electromagnetic signal generator, and the whole body forms a closed loop.
The vehicle-road cooperative controller 1-5 comprises a control module, and each signal lamp 1-4 is electrically connected with the control module; the wireless communication module is electrically connected with the control module. As shown in the figure, the number of the signal lamps 1-4 is four, the signal lamps are arranged around the lanes 1-8 of the crossroad, and the road condition that the traffic lights are arranged in four directions under the real traffic environment is simulated. A control module of the vehicle-road cooperative controller 1-5 is built based on a PLC chip, and the vehicle-road cooperative controller 1-5 is in communication connection with the router 3 through a wireless communication module of the vehicle-road cooperative controller.
The sine wave electromagnetic signal generator with the frequency of 20kHz is an existing commercially available component, can be obtained by market, and is small in size. In the embodiment, the sine wave electromagnetic signal generator with the frequency of 20kHz and the road cooperative controller 1-5 can be installed together, namely, the sine wave electromagnetic signal generator and the road cooperative controller are all installed at the side position of the crossroad lanes 1-8, so that the structural compactness of the simulated lane 1 is improved.
Therefore, as shown in fig. 2, the extending and laying manner of the embedded guide lines 1-10 is specifically as follows: starting from the position of the vehicle-road cooperative controller 1-5, the vehicle-road cooperative controller extends in the anticlockwise direction, firstly passes through a crossroad lane 1-8, then passes through a connecting lane 1-9 on the outer side, then passes through a straight lane 1-1, then passes through an ascending ramp 1-6 viaduct 1-7 and a descending ramp 1-3, then passes through the straight lane 1-1 again, then enters a branched auxiliary road, then passes through an internal connecting lane 1-9, then passes through the crossroad lane 1-8, then passes through an annular lane 1-2, and finally returns to the vehicle-road cooperative controller 1-5. On the straight lane 1-1, the pre-buried guide lines 1-10 are placed in an attaching manner (left-right attaching manner or up-down attaching manner).
In the actual installation construction, the experiment teaching system is built on the ground of a teaching laboratory, namely, the simulation lane 1 is transferred and installed on the ground of the laboratory, the router 3 and the upper computer 4 are arranged in the laboratory, the wireless communication network is constructed in the laboratory based on the router 3, and the lane cooperative controllers 1-5 of the simulation lane 1, the simulation experiment vehicle 2 and the upper computer 4 are connected into the wireless communication network.
Therefore, the present experimental teaching system is also generally concerned with the problem of the transfer and installation of the simulated lane 1. It is conceivable that the integrated simulation lane 1 is not convenient for the transfer movement and the installation and debugging, and the convenience of the transfer movement and the installation and debugging can be improved by disassembling and reassembling the simulation lane 1.
In this embodiment, the simulation lane 1 is formed by a plurality of lane segments, that is, the simulation lane 1 is formed by splicing a plurality of lane segments, is in a split and dispersed state before a position to be transferred or before assembly, and is assembled and debugged after being transferred to a laboratory.
Fig. 3 shows a way of setting a lane segment, specifically: according to the anticlockwise direction, the first closed-loop lane comprises a straight lane a, a straight lane b, a Y-shaped lane c, an arc-shaped lane d, an uphill straight lane e, an arc-shaped lane f, a straight bridge lane g, a straight bridge lane h, a straight bridge lane i, an arc-shaped lane j, a straight lane k and a Y-shaped lane l; according to the anticlockwise direction, the second closed-loop lane comprises a straight lane m, an arc-shaped lane n, a cross-to-o, an arc-shaped lane p, an arc-shaped lane q, an arc-shaped lane r (the arc-shaped lane p, the arc-shaped lane q and the arc-shaped lane r form an annular lane 1-2), an arc-shaped lane s, a straight lane t, an arc-shaped lane u, a straight lane v, a straight lane w and an arc-shaped lane x which are connected with the Y-shaped lane c, wherein the arc-shaped lane x is connected with the Y-shaped lane l. When the simulated driveway 1 is disassembled, the simulated driveway is disassembled along the dotted line position in fig. 3 to form a plurality of sections, and the sections are respectively protectively transferred and then assembled and restored in a laboratory.
Referring to fig. 4, it can be seen that:
the lane section comprises lane matrixes 1-15, side plates 1-13 are arranged on two sides of the lane section, road panels 1-12 are laid on the top of the lane section, and the embedded guide lines 1-10 are located between the lane matrixes 1-15 and the road panels 1-12. The lane matrix 1-15 can be made of wood, the side plates 1-13 can be made of metal plates, and the road slab 1-12 can be made of flexible plastic plates, rubber plates, foam plates and the like.
Connecting pieces 1-14 are arranged on the side plates 1-13, and the adjacent two lane sections are assembled and connected by the connecting pieces 1-14. Specifically, the connecting pieces 1-14 on each lane segment are provided with a front group and a rear group, and when the connecting pieces are assembled, the connecting pieces 1-14 on the front part of the lane segment are connected with the connecting pieces 1-14 on the rear part of the front lane segment, and the connecting pieces 1-14 on the rear part are connected with the connecting pieces 1-14 on the front part of the rear lane segment. The connecting pieces 1-14 belong to quick-release and quick-assembly adapter pieces, and convenience in disassembly and assembly of the simulation lane 1 is guaranteed.
The side plates 1-13 are also provided with connecting terminals 1-16, and the connecting terminals 1-16 on each lane section are two in front and back and can be arranged on the outer side or the inner side of the lane section. Two ends of the embedded guide line 1-10 are electrically connected with the front connecting terminal 1-16 and the rear connecting terminal 1-16 of the lane section, and after the embedded guide line is assembled, the connecting terminals 1-16 of the two adjacent lane sections are electrically connected by adopting a jumper wire. It is worth noting that the embedded guide lines 1-10 extend in a straight direction in the middle of each lane segment and extend from the middle of one end to the middle of the other end, the outer ends of the embedded guide lines 1-10 are bent outwards from the end face of the lane segment and connected with the connecting terminals 1-16, so that after the lane segments are assembled in sequence, the embedded guide lines 1-10 of two adjacent lane segments extend downwards, namely extend straight at the junction of the lane segments, and therefore the smooth moving path of the simulated experiment vehicle 2 is guaranteed.
Furthermore, considering the problem of electromagnetic interference, the pre-embedded guide lines 1-10 should be routed in a vertical manner after extending from the end of the lane segment, that is, the pre-embedded guide lines are routed outwards in a vertical manner, then are routed downwards in a vertical manner after reaching the edge position, and then are routed outwards in a vertical manner and electrically connected with the connecting terminals 1-16.
In the embodiment, three identification lines 1-11 are arranged on the surface of the road panel 1-12 of each lane section, the three identification lines 1-11 are respectively arranged in the middle and at the positions close to the edges at the two sides, and after the lane sections are assembled, the identification lines 1-11 of the two adjacent lane sections are also connected in a straight-line manner to form the complete identification lines 1-11. The identification lines 1-11 are used for image recognition of the simulated experimental vehicle 2, and in a normal case, the road surface of the simulated lane 1 is dark (simulated asphalt color), and the identification lines 1-11 can be white with a large contrast, which is beneficial for image recognition of the vehicle.
Referring to fig. 5, it can be seen that:
the simulation experiment vehicle 2 comprises a vehicle chassis, rear wheels, a driving motor, front wheels, a vehicle body steering engine and a rechargeable power supply are mounted on the vehicle chassis, the driving motor drives the rear wheels to rotate for advancing/retreating, the vehicle body steering engine drives the front wheels to swing left and right, the vehicle steering is controlled, and the rechargeable power supply provides electric energy for the vehicle and can be selected as a polymer lithium ion battery.
The vehicle front-view image acquisition system further comprises a control module, a laser radar sensor, a cruising electromagnetic sensor, a camera image sensor and a power management module, wherein the laser radar sensor is electrically connected with the control module and used for detecting front obstacles, the cruising electromagnetic sensor is used for detecting pre-buried guide wires, and the wireless communication module is electrically connected with the control module. A control module of the simulation experiment vehicle 2 is built based on a PLC chip, and a laser radar sensor detects a front obstacle in the running process of the vehicle. The cruise electromagnetic sensor is arranged in front of a vehicle chassis and used for detecting a magnetic field generated by the embedded guide lines 1-10, and the embedded guide lines 1-10 are single guide lines and are located in the middle of a road surface, so that the embedded guide lines 1-10 are always located on the left side of the vehicle in the driving process of the vehicle, and the cruise electromagnetic sensor is arranged at a left position to ensure the detection accuracy. The camera image sensor is used for acquiring images in front, and the identification lines 1-11, the obstacle in front of the vehicle and another vehicle in front of the vehicle can be known by the camera image sensor.
The power management module is used for managing the rechargeable power supply to perform charging and discharging, voltage stabilization and other processing, the wireless communication module is used for performing wireless communication with the router 3, and when two front and rear vehicles run on the simulation lane 1, the communication between the two vehicles is also performed by the respective wireless communication modules.
In this embodiment, the simulation experiment vehicle 2 further includes a rotating platform on which the laser radar sensor is mounted; the radar steering device further comprises a radar steering engine for driving the rotating platform to rotate, and the radar steering engine is electrically connected with a control module of the vehicle. This kind of structural design provides follow-up function for the laser radar sensor of vehicle, and when the vehicle took place to turn to, the radar turned to steering wheel drive laser radar sensor and made the deflection with turning to the angle adaptation, and laser radar sensor just so can more accurately detect the barrier that is located vehicle direction of travel the place ahead.
Still be equipped with photoelectric coupler between the control module of simulation experiment vehicle 2 and driving motor, provide the effect that the opto-coupler was kept apart, avoid producing harmful effects to control module. And an encoder for detecting the speed of the vehicle is also arranged on a rear wheel axle of the simulation experiment vehicle 2, and the encoder is electrically connected with a control module of the vehicle.
In this embodiment, the simulation experiment vehicle 2 further includes a human-computer interaction module and an LED color screen display module, and both the human-computer interaction module and the LED color screen display module are electrically connected to the control module of the vehicle. The human-computer interaction module can be a touch display screen, an operator selects and sets modes on the touch display screen, and the LED color screen display module can display vehicle parameter information, image information detected by the sensor and the like.
The upper computer 4 is provided with control software with a human-computer interface, and the control software can be used for carrying out control input on the simulated experiment vehicle 2, such as control of turning, overtaking, parking, accelerating/decelerating and the like.
The experimental teaching system has the demonstration processes in various modes:
(1) cruise demonstration mode
After the simulation experiment vehicle passes through the router and succeeds in networking with the host computer, the host computer can show the information of networking vehicle, selects the simulation experiment vehicle that needs to be controlled, plans well driving method and route, clicks the start button, and the host computer sends for the simulation experiment vehicle through the router, and the simulation experiment vehicle cruises according to planning the orbit and traveles on the simulation lane.
(2) Overtaking demonstration mode
In the process of cruising on the same lane of the two vehicles (simulation experiment vehicles A and B), after an operator selects the overtaking function in the upper computer 4, the simulation experiment vehicle starts to evaluate the overtaking environment after receiving overtaking information, and the rear vehicle turns to the opposite lane to finish the acceleration running under the condition that the overtaking environment is allowed, at the moment, the two vehicles carry out environment evaluation and mutual communication, and then the rear vehicle turns back to the original running lane under the condition that the environment is allowed, so that the overtaking function demonstration is realized.
(3) Demonstration by crossroad mode
When the simulated experiment vehicle approaches the crossroad, the camera image sensor can identify the pedestrian crossroad, the simulated experiment vehicle sends an instruction for requesting the traffic light state to the upper computer at the moment, then the upper computer sends an inquiry instruction to the lane cooperative controller, the lane cooperative controller sends the current traffic light information to the upper computer in real time, the upper computer analyzes the information and then sends a control instruction to the simulated experiment vehicle in real time, after the simulated experiment vehicle passes through the crossroad, the communication between the lane cooperative controller and each node is finished, and the next triggering is waited.
Claims (10)
1. The utility model provides an intelligence networking car experiment teaching system which characterized by: comprises a simulation lane (1) and a simulation experiment vehicle (2) running on the simulation lane (1); the simulation lane (1) is paved with pre-buried guide lines (1-10), and the simulation lane (1) also comprises a crossroad lane (1-8) with signal lamps (1-4) and a vehicle-road cooperative controller (1-5) for controlling each signal lamp (1-4); the road simulation experiment system is characterized by further comprising a router (3) and an upper computer (4), wherein the upper computer (4), the road coordination controllers (1-5) and the simulation experiment vehicle (2) are in wireless communication connection with the router (3).
2. The intelligent networked automobile experiment teaching system as claimed in claim 1, wherein: the simulation lane (1) comprises a first closed loop lane and a second closed loop lane; the first closed loop lane is composed of a straight lane (1-1), an ascending ramp (1-6), an viaduct (1-7) and a descending ramp (1-3), the second closed loop lane is composed of a straight lane (1-1), an annular lane (1-2), a connecting lane (1-9) and an intersection lane (1-8), and the intersection lane (1-8) is located at the closed position of the annular lane (1-2).
3. The intelligent networked automobile experiment teaching system as claimed in claim 2, wherein: the embedded guide lines (1-10) are single guide lines, and the single guide lines extend and are laid along the middle positions of the first closed-loop lane and the second closed-loop lane and are overlapped on the straight lane (1-1); the end parts of the pre-buried guide wires (1-10) are connected to a sine wave electromagnetic signal generator with the frequency of 20 kHz.
4. The intelligent networked automobile experiment teaching system as claimed in claim 3, wherein: the simulation lane (1) is formed by a plurality of lane sections; the lane section comprises lane matrixes (1-15), side plates (1-13) are arranged on two sides of the lane section, road panels (1-12) are laid on the top of the lane section, and the embedded guide lines (1-10) are positioned between the lane matrixes (1-15) and the middle parts of the road panels (1-12); the side plates (1-13) are provided with connecting pieces (1-14), two adjacent lane sections are assembled and connected through the connecting pieces (1-14), the side plates (1-13) are further provided with wiring terminals (1-16), the embedded guide lines (1-10) are electrically connected with the wiring terminals (1-16), and the wiring terminals (1-16) of the two adjacent lane sections are electrically connected through jumper wires.
5. The intelligent networked automobile experiment teaching system as claimed in claim 4, wherein: the surface of the road panel (1-12) of each lane section is provided with three identification lines (1-11), and the three identification lines (1-11) are respectively arranged in the middle and at the positions close to the edges at the two sides.
6. The intelligent networked automobile experiment teaching system as claimed in claim 5, wherein: the vehicle-road cooperative controller (1-5) comprises a control module, and each signal lamp (1-4) is electrically connected with the control module; the wireless communication module is electrically connected with the control module; the sine wave electromagnetic signal generator is arranged in the vehicle-road cooperative controller (1-5).
7. The intelligent networked automobile experiment teaching system as claimed in claim 6, wherein: the simulation experiment vehicle (2) comprises a vehicle chassis, wherein rear wheels, a driving motor, front wheels, a vehicle body steering engine and a rechargeable power supply are arranged on the vehicle chassis; the vehicle front-view image acquisition system further comprises a control module, a laser radar sensor, a cruise electromagnetic sensor, a camera image sensor and a power management module, wherein the laser radar sensor is electrically connected with the control module and used for detecting front obstacles, the cruise electromagnetic sensor is used for detecting pre-embedded guide wires (1-10), the camera image sensor is used for acquiring front images of vehicles, and the wireless communication module is electrically connected with the control module.
8. The intelligent networked automobile experiment teaching system as claimed in claim 7, wherein: the simulation experiment vehicle (2) also comprises a rotating platform, and the laser radar sensor is arranged on the rotating platform; the radar steering device further comprises a radar steering engine for driving the rotating platform to rotate, and the radar steering engine is electrically connected with a control module of the vehicle.
9. The intelligent networked automobile experiment teaching system of claim 8, wherein: still be equipped with photoelectric coupler between the control module of simulation experiment vehicle (2) and driving motor, still install the encoder that is used for detecting the speed of a motor vehicle on the rear wheel shaft of simulation experiment vehicle (2), the encoder is connected with the control module electricity of vehicle.
10. The intelligent networked automobile experiment teaching system as claimed in claim 9, wherein: the simulation experiment vehicle (2) further comprises a human-computer interaction module and an LED color screen display module, and the human-computer interaction module and the LED color screen display module are electrically connected with a control module of the vehicle.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113110169A (en) * | 2021-04-14 | 2021-07-13 | 合肥工业大学 | Vehicle-road cooperative algorithm verification platform based on intelligent miniature vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113110169A (en) * | 2021-04-14 | 2021-07-13 | 合肥工业大学 | Vehicle-road cooperative algorithm verification platform based on intelligent miniature vehicle |
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