CN111994068A - Intelligent driving automobile control system based on intelligent tire touch perception - Google Patents
Intelligent driving automobile control system based on intelligent tire touch perception Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/02—Control of vehicle driving stability
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/182—Selecting between different operative modes, e.g. comfort and performance modes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
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- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
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Abstract
The invention provides an intelligent driving automobile control system based on intelligent tire touch perception, which comprises a perception system (1), a control system (2), an execution system (3), an electronic circuit (4) and a wireless data transmission device (5), wherein the perception system (1) consists of intelligent tires, a visual perception system and radar equipment; the vision perception system is positioned at the top of the vehicle body and collects surrounding environment images and road traffic information in real time, the radar equipment perceives the three-dimensional environment map in real time and carries out obstacle distance measurement and speed measurement, the intelligent tire, the vision perception system and the radar equipment are connected with the control system through an electronic circuit (4), and the control system is positioned in the vehicle electronic control unit and controls and makes decisions on the vehicle.
Description
Technical Field
The invention belongs to the technical field of unmanned driving, particularly relates to the technical field of intelligent automobile control systems, and particularly relates to an intelligent driving automobile control system based on intelligent tire touch perception.
Background
In recent years, the field of intelligent automobiles in China is rapidly developed, and the intelligent automobile is expected to be widely applied in the future. Technologies used for intelligent driving include environment perception, navigation positioning, path planning, automatic control and the like. The decision control is equivalent to the brain of an intelligent automobile, and a motion instruction is issued to the power system by combining with the environmental information acquired by the sensing system to control the dynamics of the automobile and finish the operations of overtaking, changing lanes and the like of the automobile. The power performance, stability and safety of the intelligent driving vehicle are determined by the quality of the control system, and the control system is an important component in the intelligent vehicle technology. The optimization of the control system depends to a large extent on the environmental information acquired by the sensing system. The road surface is a provider of driving force and braking force during vehicle running, and the state of the road surface plays an important role in vehicle automatic control and is an indispensable part in the vehicle environment. When the road surface conditions are severe, such as ice and snow road surface, ponding road surface and the like, the adhesion rate between the tire and the road surface is greatly reduced, and the dynamic property and the stability of the vehicle are greatly influenced. Therefore, if the road surface state can be taken into consideration in the vehicle control system, the dynamic property, stability and safety of the vehicle will be improved.
At present, in an environment perception system, a camera, a radar and a laser radar are generally combined, so that an intelligent automobile has vision and hearing, and the surrounding environment of the automobile is perceived. The method mainly focuses on identification and distance measurement of obstacles on the road, such as surrounding vehicles, pedestrians and the like, and the perception of road surface information is relatively lacking. Although researchers in the past realize the identification of weather such as snowy days, rainy days and the like by combining a camera with a computer vision technology, the method still has the defects of poor accuracy, weather influence of an illuminating lamp and the like. Research has shown that by installing a sensor in a tire and analyzing and processing signals, the state of a road surface can be sensed, an ice surface and a cement road surface can be distinguished, the slip ratio of the tire and the like can be obtained, and then the vehicle can be provided with touch sensing.
Disclosure of Invention
Aiming at the problems in the prior art, the intelligent driving automobile control system based on intelligent tire touch perception is provided, based on the intelligent tire, the control system is subjected to optimization control, the intelligent tire is introduced into the perception system of the intelligent automobile, the state of the current road surface is perceived in real time, and the ambient environment is perceived together with a camera, a radar, a laser radar and the like. The vehicle control unit is used for implementing different driving strategies such as a driving strategy on a normal road, a driving strategy on a rainy or snowy road, a driving strategy on an uneven road and the like according to different road surfaces sensed by the tire touch sense, the driving strategies further control different execution units of the vehicle such as a power system, a braking system, vehicle body electronic equipment and the like, and when the environmental information collected by the sensing system is received, the driving strategies can be timely adjusted, and the whole vehicle control is optimized.
The invention aims to provide an intelligent driving automobile control system based on intelligent tire touch perception, which comprises a perception system 1, a control system 2, an execution system 3, an electronic circuit 4 and a wireless data transmission device 5, wherein the perception system 1 consists of an intelligent tire, a visual perception system and radar equipment, and different sensors of the perception system 1 collect surrounding environment information in real time when an intelligent vehicle runs, wherein the intelligent tire is positioned inside four tires, is used for perceiving the state of a road surface, and is connected with the intelligent driving automobile control system through the wireless data transmission device 5; the vision perception system is positioned at the top of the vehicle body and used for collecting surrounding environment images and road traffic information in real time, the radar equipment is used for perceiving a three-dimensional environment map in real time and carrying out obstacle distance measurement and speed measurement, and the intelligent tire, the vision perception system and the radar equipment are connected with the control system through the electronic circuit 4; the control system 2 is located in the vehicle electronic control unit and used for controlling and deciding the vehicle.
Preferably, still including sensor and the acceleration sensor that is used for accelerator pedal signal and brake pedal signal to gather, whole car control system according to the accelerator pedal signal that gathers, brake pedal signal and acceleration sensor judges the present mode of vehicle, work as perception system 1 with information feedback to behind the intelligent driving car control system, intelligent driving car control system takes different driving strategies, and then control actuating system 3 makes corresponding feedback.
Preferably, the intelligent tire is used for tactile perception of a road surface and providing real-time three-dimensional road surface information perception for a vehicle, and comprises:
collecting road surface signals by a plurality of strain sensors at different positions;
preprocessing the road surface signal, including:
performing principal component analysis on the road surface signal to eliminate noise and drift of the signal caused by tire vibration;
filtering and wavelet transformation processing are carried out on the road surface signals obtained after principal component analysis, and the road surface signals are converted to a time domain and a frequency domain to carry out multi-scale detailed analysis;
carrying out sensor position marking on the preprocessed signals to generate input quantity required by a deep learning network;
carrying out supervised training on deep network learning implemented by the deep learning network to obtain current road surface parameters, wherein the road surface comprises road surface types, friction factors and/or road surface gradients, and the carrying out supervised training on the deep network learning implemented by the deep learning network to obtain the current road surface parameters comprises the following steps: carrying out a tire bench test and a real vehicle test, carrying out a stress test on the tire, acquiring strain data of the inner wall of the tire at different positions under different stress states in real time by a plurality of strain sensors, and carrying out supervised training on deep network learning implemented by the deep learning network;
the method comprises the steps that the current motion state of a vehicle is obtained by comparing the time domain difference values of peak signals of strain sensors at different positions and combining the spatial distribution of a plurality of strain sensors through a deep learning algorithm, wherein the motion state of the vehicle comprises the rotating speed, the vehicle speed and/or the slip ratio of the vehicle;
the current tire pressure state of the tire is sensed by comparing the peak value change of the signals acquired by the strain sensors in a time domain and combining a deep learning algorithm;
and (4) alarming: if the average peak value of the peak value signals of the plurality of strain sensors increases along with the increase of time, the tire is considered to be in a state of increased tire pressure currently, and when the average peak value of the peak value signals of the plurality of strain sensors is larger than a threshold value, an alarm of overlarge tire pressure is sent to a whole vehicle control unit; if the average peak value of the peak value signals of the plurality of strain sensors is reduced along with the increase of time, the current state of the tire pressure reduction is considered, and when the average peak value of the peak value signals of the plurality of strain sensors is smaller than a threshold value, an alarm that the tire pressure is too small is sent to a whole vehicle control unit;
and (3) controlling and adjusting: responding to the situation that the intelligent tire senses that the current road surface is the ice surface, and enabling a whole vehicle control unit to timely respond, wherein the response comprises the reduction of the vehicle speed and/or the adjustment of the oil pressure of a braking system; and responding to the fact that the intelligent tire acquires the current road surface friction factor, feeding the current road surface friction factor back to a whole vehicle control unit, and optimizing and adjusting the dynamic control.
Preferably, the intelligent tire can sense three road surface types, namely a normal road, a rainy and snowy road and an uneven road.
Preferably, the vision perception system includes vehicle-mounted camera, vehicle-mounted camera includes 6 cameras, is two leading binocular cameras respectively, controls two side cameras and two rearmounted binocular cameras for carry out the omnidirectional environmental perception. When the vehicle runs, the vehicle-mounted camera monitors the conditions of surrounding roads in real time, sends images to the computer vision unit in real time, and utilizes the images to perform vehicle positioning and object identification;
the method for positioning the vehicle by using the image is to position the current position of the vehicle by using a visual SLAM algorithm, and comprises the following steps of: reading surrounding environment data through a vehicle-mounted camera; estimating relative motion between the front time and the rear time by using a visual odometer; processing the accumulated error estimated by the visual odometer by using a filter and a graph optimization algorithm at the back end; constructing a three-dimensional map and eliminating space accumulated errors through loop detection so as to position the current position of the vehicle;
the method for object recognition by using images comprises the following steps: identifying an object in the image by using a convolutional neural network; after an image candidate frame is set, extracting a feature vector of the image by using a convolutional neural network; identifying objects in the image using an SVM algorithm, the objects including vehicles, pedestrians, and/or obstacles; transmitting the identified things in the traffic environment into the sensor fusion unit.
Preferably, the radar device comprises a radar and a laser radar, wherein the laser radar is used for high-precision map drawing, the laser radar comprises a scanning component, an optical component and a photosensitive component, the laser radar transmits laser to the surroundings in real time while rotating at a constant speed, the scanning component and the optical component continuously collect the distance between a reflection point and the time and horizontal angle of the reflection point, and the photosensitive component continuously detects the intensity of return light, generates a cloud map of the surrounding environment and synthesizes to form a 3D map; the radar is used for estimating the distance and the speed of pedestrians and vehicles through frequency modulation continuous waves, the radar transmits high-frequency continuous waves with variable frequency and receives reflected signals, Fourier transformation is carried out on frequency difference values, the frequency and the phase angle of obtained frequency spectrums are analyzed, therefore distance measurement and speed measurement are carried out on the pedestrians and the vehicles, and data obtained by sensing the environment are sent to the sensor fusion unit through the radar equipment.
Preferably, the actuating system 3 comprises a power system, a braking system, a steering system and body electronics, wherein the power system comprises a battery pack, an inverter, a motor and a transmission, and is used for outputting power to a driving wheel; the brake system is used for braking the vehicle in a deceleration way and stopping the vehicle; the steering system is used for steering and changing lanes of the vehicle; the vehicle body electronic equipment comprises a vehicle lamp and an in-vehicle air conditioning device, and is adjusted to remind passing vehicles and improve the comfort of passengers in the vehicle.
Preferably, the control system 2 sets different driving strategies for different road surfaces, including a driving strategy for a normal road surface, a driving strategy for a rainy or snowy road surface, and a driving strategy for an uneven road surface; when the vehicle senses different road surface states, a corresponding driving strategy is adopted, and an instruction corresponding to the driving strategy is transmitted to the execution system 3 through the electronic circuit 4.
Preferably, the driving strategy has four driving modes, namely a parking mode, a starting mode, a driving mode and a braking mode, wherein the parking mode and the driving mode are the same as a common control system, and the road surface touch perception is introduced into the driving mode and the braking mode.
Preferably, when the intelligent tire senses that the current road surface is a normal road, the control system adopts a normal road driving strategy: if the vehicle is in the driving mode at present, outputting an instruction to a driving system to enable a power system to output larger power and keep a normal vehicle distance with surrounding vehicles; if the brake is in the brake mode at present, outputting an instruction to the brake system to keep the oil pressure and the response time of the brake system in a normal range; simultaneously, stopping torque output of the motor, and entering a braking energy recovery mode; the steering angle of the steering system maintains a normal steering angle range, and the electronic equipment of the vehicle body keeps normal;
when intelligent tire perception arrived current road for ponding road surface or ice and snow road surface often, control system takes the sleet road surface control strategy, and the automatic demand that reduces vehicle dynamic nature adjusts braking system simultaneously, prevents to appear emergency braking and leads to the condition that the vehicle skidded: if the vehicle is in a driving mode, the power system receives a speed reduction command, reduces the driving force output, enables the motor to slow down the vehicle speed, and keeps a longer vehicle distance with surrounding vehicles by combining radar ranging sensing; when the vehicle is in a braking mode, in order to avoid emergency braking, the braking system brakes in times after receiving a braking instruction, and simultaneously reduces the oil pressure, improves the response time and prevents the vehicle from skidding; after the steering system receives the instruction, the steering angle is reduced, and the steering is carried out in advance; if the visibility of the current road surface is poor, a car light system in the electronic equipment is controlled, the road visibility is improved, and meanwhile, passing vehicles are reminded; meanwhile, the air conditioning system in the vehicle can be properly adjusted in rainy and snowy weather;
when the intelligent tire senses that the current road surface is uneven, the control system adopts a corresponding uneven road surface control strategy to improve the stability of the vehicle: when the vehicle is in a driving mode, after the power system receives an instruction, the power system keeps going forward at a low speed and a uniform speed, and simultaneously improves the output torque of the motor and the driving force of the vehicle; when the vehicle is in a braking mode, the braking system receives an instruction, the braking oil pressure is properly increased, the response time is shortened, and meanwhile, emergency braking is avoided; after receiving the instruction, the steering system avoids steering at a large corner, and adopts a steering strategy of a small corner and a large turning radius to prevent the vehicle from turning over; meanwhile, the intelligent tire collects the tire state in real time, and when the tire pressure of the tire is too high or too low and the temperature is abnormal, the control system timely makes a response to perform deceleration and slow running or side parking operation.
The invention has the beneficial technical effects that:
1. the intelligent automobile control system provided by the invention considers the touch perception of the tires on the road surface and the influence of the road surface on vehicle control, adopts different control strategies aiming at different road surfaces, and improves the accuracy of the control system on the surrounding environment.
2. The intelligent automobile control system based on the intelligent tire provided by the invention takes the abnormal road surfaces such as rain and snow road surfaces, uneven road surfaces and the like into consideration, adjusts the driving strategy in a targeted manner, and improves the driving safety and stability of the intelligent automobile.
3. The control system provided by the invention brings the road surface parameters sensed by the tire touch into the driving strategy, and provides different driving strategies aiming at different road surface states.
4. The intelligent automobile control system considers the control strategies under different geographic environments, so that the intelligent automobile can safely run under different terrains, and the application range of the intelligent automobile is widened.
Drawings
Some specific embodiments of the invention are described in detail with reference to the accompanying drawings by way of illustration and not limitation. The same reference numbers in the drawings identify the same or similar elements or components. Those skilled in the art will appreciate that the drawings are not necessarily drawn to scale. The objects and features of the present invention will become more apparent in view of the following description taken in conjunction with the accompanying drawings, in which:
fig. 1 is a schematic structural diagram of an intelligent vehicle control system based on intelligent tires according to an embodiment of the invention.
Detailed Description
The following detailed description of the embodiments of the present invention is provided with reference to the accompanying drawings, but the present invention is not limited thereto.
The intelligent driving automobile control system based on intelligent tire touch perception of the embodiment is shown in fig. 1 and comprises a perception system 1, a control system 2, an execution system 3, an electronic circuit 4 and a wireless data transmission device 5, wherein the perception system 1 consists of an intelligent tire, a visual perception system and radar equipment, and different sensors of the perception system 1 collect surrounding environment information in real time when an intelligent vehicle runs, wherein the intelligent tire is positioned inside four tires and used for perceiving the state of a road surface and is connected with the intelligent driving automobile control system through the wireless data transmission device 5; the intelligent tire, the visual perception system and the radar equipment are connected with the control system through an electronic circuit 4; the control system 2 is positioned in the vehicle electronic control unit and used for controlling and deciding the vehicle; the intelligent driving vehicle control system is characterized by further comprising a sensor and an acceleration sensor for collecting an accelerator pedal signal and a brake pedal signal, the whole vehicle control system judges the current mode of the vehicle according to the collected accelerator pedal signal, the collected brake pedal signal and the collected acceleration sensor, and after the sensing system 1 feeds information back to the intelligent driving vehicle control system, the intelligent driving vehicle control system adopts different driving strategies, and then the execution system 3 is controlled to make corresponding feedback.
The intelligent tire is used for the tactile perception to the road surface, provides real-time three-dimensional road surface information perception for the vehicle, includes:
1. collecting road surface signals by a plurality of strain sensors at different positions;
2. preprocessing a road surface signal, comprising:
21. performing principal component analysis on the road surface signal to eliminate noise and drift of the signal caused by tire vibration;
22. filtering and wavelet transformation processing are carried out on the road surface signals obtained after principal component analysis, and the road surface signals are converted to a time domain and a frequency domain to carry out multi-scale detailed analysis;
3. carrying out sensor position marking on the preprocessed signals to generate input quantity required by the deep learning network;
4. the method for carrying out supervised training on the deep network learning implemented by the deep learning network to obtain the current road surface parameters, wherein the road surface comprises road surface types, friction factors and/or road surface gradients, and the method for carrying out supervised training on the deep network learning implemented by the deep learning network to obtain the current road surface parameters comprises the following steps: carrying out a tire bench test and a real vehicle test, carrying out a stress test on the tire, acquiring strain data of the inner wall of the tire at different positions under different stress states in real time by using a strain sensor, and carrying out supervised training on deep network learning implemented by a deep learning network;
5. comparing the time domain difference values of peak signals of the strain sensors at different positions, combining the spatial distribution of each sensor, and obtaining the current motion state of the vehicle by using a deep learning algorithm, wherein the motion state of the vehicle comprises the rotating speed, the vehicle speed and/or the slip ratio of the vehicle;
6. the current tire pressure state of the tire is sensed by comparing the peak value change of the signals acquired by the strain sensors in a time domain and combining a deep learning algorithm;
7. and (4) alarming: if the average peak value of the peak value signal of the strain sensor increases along with the increase of time, the tire is considered to be in a state of increasing tire pressure currently, and when the average peak value of the peak value signal of the strain sensor is larger than a threshold value, an alarm of overlarge tire pressure is sent to a whole vehicle control unit; if the average peak value of the peak value signal of the strain sensor is reduced along with the increase of time, the strain sensor is considered to be in a state of reducing the tire pressure at present, and when the average peak value of the peak value signal of the strain sensor is smaller than a threshold value, an alarm that the tire pressure is too small is sent to a whole vehicle control unit;
8. and (3) controlling and adjusting: responding to the situation that the intelligent tire senses that the current road surface is the ice surface, and enabling a whole vehicle control unit to timely respond, wherein the response comprises the reduction of the vehicle speed and/or the adjustment of the oil pressure of a braking system; and responding to the current road surface friction factor acquired by the intelligent tire, feeding the current road surface friction factor back to the whole vehicle control unit, and optimizing and adjusting the dynamic control.
The intelligent tire can sense three road surface types, namely a normal road, a rainy and snowy road and an uneven road.
The vision perception system comprises a vehicle-mounted camera, the vehicle-mounted camera comprises 6 cameras, namely two front binocular cameras, a left side camera, a right side camera and two rear binocular cameras, and is used for realizing all-round environment perception. When the vehicle runs, the vehicle-mounted camera monitors the conditions of surrounding roads in real time, sends images to the computer vision unit in real time, and utilizes the images to perform vehicle positioning and object identification.
The method for positioning the vehicle by using the image is to position the current position of the vehicle by using a visual SLAM algorithm, and comprises the following steps of:
1. reading surrounding environment data through a vehicle-mounted camera;
2. estimating relative motion between the front time and the rear time by using a visual odometer;
3. processing the accumulated error estimated by the visual odometer by using a filter and a graph optimization algorithm at the back end;
4. constructing a three-dimensional map and eliminating space accumulated errors through loop detection so as to position the current position of the vehicle;
the method for object recognition by using the image comprises the following steps:
1. identifying an object in the image by using a convolutional neural network;
2. after setting an image candidate frame, extracting a feature vector of the image by using a convolutional neural network;
3. identifying objects in the image by using an SVM algorithm, wherein the objects comprise vehicles, pedestrians and/or obstacles;
4. and transmitting the identified things in the traffic environment to the sensor fusion unit.
The radar equipment comprises a radar and a laser radar, wherein the laser radar is used for high-precision map drawing, the laser radar comprises a scanning component, an optical component and a photosensitive component, the laser radar transmits laser to the surroundings in real time while rotating at a constant speed, meanwhile, the scanning component and the optical component continuously collect the distance of a reflection point and the time and horizontal angle of the reflection point, and the photosensitive component continuously detects the intensity of return light to generate a cloud map of the surrounding environment and synthesize the cloud map to form a 3D map; the radar is used for carrying out the estimation of distance and speed to pedestrian, vehicle through the frequency modulation continuous wave, and the high frequency continuous wave that the radar transmission frequency changes receives the reflected signal, through carrying out Fourier transform to the frequency difference, and frequency and the phase angle of the frequency spectrum that the analysis is obtained to carry out range finding and speed measuring to pedestrian, vehicle, radar equipment will be to in the sensor fusion unit the data transmission that the environmental perception obtained.
The control system 2 sets different driving strategies aiming at different road surfaces, wherein the driving strategies comprise driving strategies on normal road surfaces, driving strategies on rain and snow road surfaces and driving strategies on uneven road surfaces; when the vehicle senses different road surface states, a corresponding driving strategy is adopted, and an instruction corresponding to the driving strategy is transmitted to the execution system 3 through the electronic circuit 4.
The driving strategy has four driving modes, namely a parking mode, a starting mode, a driving mode and a braking mode, wherein the parking mode and the driving mode are the same as a common control system, and are not described again. The intelligent vehicle control system based on the road surface tactile sensation mainly introduces the road surface tactile sensation in a driving mode and a braking mode, and is described in detail below.
When the intelligent tire senses that the current road is a normal road, such as a cement road and an asphalt road, the control system adopts a normal road driving strategy. If the vehicle is in the driving mode at present, outputting an instruction to a driving system to enable the power system to output larger power and keep a normal vehicle distance with surrounding vehicles, enabling the output torque of a motor to be the product of the opening degree of an accelerator pedal and the rated torque of the motor, and measuring the distance between the vehicle and a front vehicle by using a radar at the speed of the vehicle, wherein the distance between the vehicle and the front vehicle is preferably kept about 1.5 meters; if the brake is in the brake mode at present, outputting an instruction to the brake system to keep the oil pressure and the response time of the brake system in a normal range; simultaneously, stopping torque output of the motor, and entering a braking energy recovery mode; the steering angle of the steering system maintains a normal steering angle range, and the electronic equipment of the vehicle body keeps normal without other adjustment.
When the intelligent tire senses that the current road is a water accumulation road surface or a snow and ice road surface, in order to ensure the driving safety of the vehicle, the control system adopts a rain and snow road surface control strategy, so that the requirement on the dynamic property of the vehicle can be automatically reduced, and the driving safety is ensured. Meanwhile, a brake system is adjusted to prevent the vehicle from slipping caused by emergency braking. If the vehicle is in a driving mode, the power system receives a speed reduction command, reduces the driving force output, and enables the motor to slow down the vehicle speed, negative feedback is adopted to control the vehicle speed to be not more than 70 kilometers per hour, radar ranging sensing is combined, a long vehicle distance is kept between the vehicle and surrounding vehicles, and accidents such as rear-end collision are prevented; when the vehicle is in a braking mode, in order to avoid emergency braking, the braking system brakes in several times after receiving a braking instruction, and simultaneously reduces the oil pressure to a certain extent, improves the response time and prevents the vehicle from skidding; after receiving the instruction, the steering system needs to avoid emergency steering, properly reduce the steering angle, and simultaneously steer in advance to prevent the vehicle from drifting and the like; if the visibility of the current road surface is poor, a car lamp system in the electronic equipment can be controlled, the road visibility is improved, and meanwhile, passing vehicles are reminded; meanwhile, the air conditioning system in the automobile can be properly adjusted in rainy and snowy weather, so that the comfort of passengers is ensured.
When the intelligent tire senses that the current road surface is the uneven road surface, the control system adopts a corresponding uneven road surface control strategy so as to improve the stability of the vehicle. When the vehicle is in a driving mode, after the power system receives an instruction, the power system keeps going forward at a low speed and a uniform speed, and simultaneously improves the output torque of the motor and the driving force of the vehicle; when the vehicle is in a braking mode, the braking system receives an instruction, the braking oil pressure is properly increased, the response time is shortened, and meanwhile, emergency braking is avoided; after receiving the instruction, the steering system avoids steering at a large corner, and adopts a steering strategy of a small corner and a large turning radius to prevent the vehicle from turning over; meanwhile, the intelligent tire can also acquire the tire state in real time, and when the tire pressure of the tire is too high or too low and the temperature is abnormal, the control system timely makes a response to perform operations such as slowing down, slowing down or parking beside.
The execution system 3 comprises a power system, a brake system, a steering system and vehicle body electronic equipment, wherein the power system comprises a battery pack, an inverter, a motor and a transmission and is used for outputting power to driving wheels, and the road surface state has great influence on the power output of the driving wheels; the brake system is used for braking the vehicle in a deceleration way and stopping the vehicle; the steering system is used for steering and changing lanes of the vehicle, and the difference of steering angles on different road surfaces plays an important role in the stability of the vehicle; the vehicle body electronic equipment comprises vehicle lamps and an in-vehicle air conditioning device, and is adjusted when necessary to remind passing vehicles and improve the comfort of passengers in the vehicle.
The intelligent automobile control system of the embodiment considers the touch perception of the tires on the road surface and the influence of the road surface on vehicle control, adopts different control strategies aiming at different road surfaces, and improves the accuracy of the control system on the surrounding environment. The driving strategy is adjusted in a targeted manner by taking abnormal road surfaces such as rain and snow road surfaces, uneven road surfaces and the like into consideration, so that the driving safety and stability of the intelligent vehicle are improved; the method has the advantages that road surface parameters sensed by tire touch are brought into driving strategies, different driving strategies are provided for different road surface states, and compared with the driving strategy applying deep learning, the structure of a control system is simplified, and calculation burden is reduced; the intelligent automobile control system considers control strategies under different geographic environments, so that the intelligent automobile can safely run under different terrains, and the application range of the intelligent automobile is widened.
The technical solutions provided by the embodiments of the present invention are described in detail above, and the principles and embodiments of the present invention are explained herein by using specific examples, and the descriptions of the embodiments are only used to help understanding the principles of the embodiments of the present invention; meanwhile, a person skilled in the art may change the embodiments and the application scope according to the embodiments of the present invention, and in summary, the content of the present description should not be construed as limiting the present invention.
Claims (10)
1. The utility model provides an intelligence driving automobile control system based on intelligence tire touch perception which characterized in that: the intelligent driving vehicle comprises a sensing system (1), a control system (2), an execution system (3), an electronic circuit (4) and a wireless data transmission device (5), wherein the sensing system (1) consists of an intelligent tire, a visual sensing system and radar equipment, and different sensors of the sensing system (1) collect surrounding environment information in real time when an intelligent vehicle runs, wherein the intelligent tire is positioned inside four tires, is used for sensing the state of a road surface and is connected with an intelligent driving vehicle control system through the wireless data transmission device (5); the vision perception system is positioned at the top of the vehicle body and used for collecting surrounding environment images and road traffic information in real time, the radar equipment is used for perceiving a three-dimensional environment map in real time and carrying out obstacle distance measurement and speed measurement, and the intelligent tire, the vision perception system and the radar equipment are connected with the control system through the electronic circuit (4); the control system (2) is positioned in the vehicle electronic control unit and is used for controlling and deciding the vehicle.
2. The intelligent driving automobile control system based on intelligent tire tactile perception according to claim 1, wherein: still including the sensor and the acceleration sensor that are used for accelerator pedal signal and brake pedal signal to gather, whole car control system according to the accelerator pedal signal of gathering, brake pedal signal and acceleration sensor judges the present mode of vehicle, works as perception system (1) feeds back information to behind the intelligent driving car control system, the intelligent driving car control system takes different driving strategies, and then control actuating system (3) makes corresponding feedback.
3. The intelligent driving automobile control system based on intelligent tire tactile perception according to claim 1, wherein: the intelligent tire is used for the tactile perception to the road surface, provides real-time three-dimensional road surface information perception for the vehicle, includes:
collecting road surface signals by a plurality of strain sensors at different positions;
preprocessing the road surface signal, including:
performing principal component analysis on the road surface signal to eliminate noise and drift of the signal caused by tire vibration;
filtering and wavelet transformation processing are carried out on the road surface signals obtained after principal component analysis, and the road surface signals are converted to a time domain and a frequency domain to carry out multi-scale detailed analysis;
carrying out sensor position marking on the preprocessed signals to generate input quantity required by a deep learning network;
carrying out supervised training on deep network learning implemented by the deep learning network to obtain current road surface parameters, wherein the road surface comprises road surface types, friction factors and/or road surface gradients, and the carrying out supervised training on the deep network learning implemented by the deep learning network to obtain the current road surface parameters comprises the following steps: carrying out a tire bench test and a real vehicle test, carrying out a stress test on the tire, acquiring strain data of the inner wall of the tire at different positions under different stress states in real time by a plurality of strain sensors, and carrying out supervised training on deep network learning implemented by the deep learning network;
the method comprises the steps that the current motion state of a vehicle is obtained by comparing the time domain difference values of peak signals of strain sensors at different positions and combining the spatial distribution of a plurality of strain sensors through a deep learning algorithm, wherein the motion state of the vehicle comprises the rotating speed, the vehicle speed and/or the slip ratio of the vehicle;
the current tire pressure state of the tire is sensed by comparing the peak value change of the signals acquired by the strain sensors in a time domain and combining a deep learning algorithm;
and (4) alarming: if the average peak value of the peak value signals of the plurality of strain sensors increases along with the increase of time, the tire is considered to be in a state of increased tire pressure currently, and when the average peak value of the peak value signals of the plurality of strain sensors is larger than a threshold value, an alarm of overlarge tire pressure is sent to a whole vehicle control unit; if the average peak value of the peak value signals of the plurality of strain sensors is reduced along with the increase of time, the current state of the tire pressure reduction is considered, and when the average peak value of the peak value signals of the plurality of strain sensors is smaller than a threshold value, an alarm that the tire pressure is too small is sent to a whole vehicle control unit;
and (3) controlling and adjusting: responding to the situation that the intelligent tire senses that the current road surface is the ice surface, and enabling a whole vehicle control unit to timely respond, wherein the response comprises the reduction of the vehicle speed and/or the adjustment of the oil pressure of a braking system; and responding to the fact that the intelligent tire acquires the current road surface friction factor, feeding the current road surface friction factor back to a whole vehicle control unit, and optimizing and adjusting the dynamic control.
4. The intelligent driving automobile control system based on intelligent tire tactile perception according to claim 3, wherein: the intelligent tire can sense three road surface types, namely a normal road, a rainy and snowy road and an uneven road.
5. The intelligent driving automobile control system based on intelligent tire tactile perception according to claim 1, wherein: the vision perception system comprises a vehicle-mounted camera, wherein the vehicle-mounted camera comprises 6 cameras which are respectively two front binocular cameras, a left side camera, a right side camera and two rear binocular cameras and are used for carrying out omnibearing environment perception, when a vehicle runs, the vehicle-mounted camera monitors the condition of the surrounding road in real time, sends an image to a computer vision unit in real time, and utilizes the image to carry out vehicle positioning and object recognition;
the method for positioning the vehicle by using the image is to position the current position of the vehicle by using a visual SLAM algorithm, and comprises the following steps of: reading surrounding environment data through a vehicle-mounted camera; estimating relative motion between the front time and the rear time by using a visual odometer; processing the accumulated error estimated by the visual odometer by using a filter and a graph optimization algorithm at the back end; constructing a three-dimensional map and eliminating space accumulated errors through loop detection so as to position the current position of the vehicle;
the method for object recognition by using images comprises the following steps: identifying an object in the image by using a convolutional neural network; after an image candidate frame is set, extracting a feature vector of the image by using a convolutional neural network; identifying objects in the image using an SVM algorithm, the objects including vehicles, pedestrians, and/or obstacles; transmitting the identified things in the traffic environment into the sensor fusion unit.
6. The intelligent driving automobile control system based on intelligent tire tactile perception according to claim 1, wherein: the radar equipment comprises a radar and a laser radar, wherein the laser radar is used for high-precision map drawing, the laser radar comprises a scanning component, an optical component and a photosensitive component, the laser radar transmits laser to the surroundings in real time while rotating at a constant speed, the scanning component and the optical component continuously collect the distance between a reflection point and the time and horizontal angle of the reflection point, and the photosensitive component continuously detects the intensity of return light, generates a cloud map of the surrounding environment and synthesizes to form a 3D map; the radar is used for estimating the distance and the speed of pedestrians and vehicles through frequency modulation continuous waves, the radar transmits high-frequency continuous waves with variable frequency and receives reflected signals, Fourier transformation is carried out on frequency difference values, the frequency and the phase angle of obtained frequency spectrums are analyzed, therefore distance measurement and speed measurement are carried out on the pedestrians and the vehicles, and data obtained by sensing the environment are sent to the sensor fusion unit through the radar equipment.
7. The intelligent driving automobile control system based on intelligent tire tactile perception according to claim 1, wherein: the execution system (3) comprises a power system, a braking system, a steering system and vehicle body electronic equipment, wherein the power system comprises a battery pack, an inverter, a motor and a transmission and is used for outputting power to a driving wheel; the brake system is used for braking the vehicle in a deceleration way and stopping the vehicle; the steering system is used for steering and changing lanes of the vehicle; the vehicle body electronic equipment comprises a vehicle lamp and an in-vehicle air conditioning device, and is adjusted to remind passing vehicles and improve the comfort of passengers in the vehicle.
8. The intelligent driving automobile control system based on intelligent tire tactile perception according to claim 1, wherein: the control system (2) sets different driving strategies aiming at different road surfaces, wherein the driving strategies comprise driving strategies on normal road surfaces, driving strategies on rain and snow road surfaces and driving strategies on uneven road surfaces; and when the vehicle senses different road surface states, a corresponding driving strategy is adopted, and a command corresponding to the driving strategy is transmitted to the execution system (3) through the electronic circuit (4).
9. The intelligent driving automobile control system based on intelligent tire tactile perception according to claim 8, wherein: the driving strategy has four driving modes, namely a parking mode, a starting mode, a driving mode and a braking mode, wherein the parking mode and the driving mode are the same as a common control system, and the road surface touch perception is introduced into the driving mode and the braking mode.
10. The intelligent driving automobile control system based on intelligent tire tactile perception according to claim 9, wherein: when the intelligent tire senses that the current road surface is a normal road, the control system adopts a normal road surface driving strategy: if the vehicle is in the driving mode at present, outputting an instruction to a driving system to enable a power system to output larger power and keep a normal vehicle distance with surrounding vehicles; if the brake is in the brake mode at present, outputting an instruction to the brake system to keep the oil pressure and the response time of the brake system in a normal range; simultaneously, stopping torque output of the motor, and entering a braking energy recovery mode; the steering angle of the steering system maintains a normal steering angle range, and the electronic equipment of the vehicle body keeps normal;
when intelligent tire perception arrived current road for ponding road surface or ice and snow road surface often, control system takes the sleet road surface control strategy, and the automatic demand that reduces vehicle dynamic nature adjusts braking system simultaneously, prevents to appear emergency braking and leads to the condition that the vehicle skidded: if the vehicle is in a driving mode, the power system receives a speed reduction command, reduces the driving force output, enables the motor to slow down the vehicle speed, and keeps a longer vehicle distance with surrounding vehicles by combining radar ranging sensing; when the vehicle is in a braking mode, in order to avoid emergency braking, the braking system brakes in times after receiving a braking instruction, and simultaneously reduces the oil pressure, improves the response time and prevents the vehicle from skidding; after the steering system receives the instruction, the steering angle is reduced, and the steering is carried out in advance; if the visibility of the current road surface is poor, a car light system in the electronic equipment is controlled, the road visibility is improved, and meanwhile, passing vehicles are reminded; meanwhile, the air conditioning system in the vehicle can be properly adjusted in rainy and snowy weather;
when the intelligent tire senses that the current road surface is uneven, the control system adopts a corresponding uneven road surface control strategy to improve the stability of the vehicle: when the vehicle is in a driving mode, after the power system receives an instruction, the power system keeps going forward at a low speed and a uniform speed, and simultaneously improves the output torque of the motor and the driving force of the vehicle; when the vehicle is in a braking mode, the braking system receives an instruction, the braking oil pressure is properly increased, the response time is shortened, and meanwhile, emergency braking is avoided; after receiving the instruction, the steering system avoids steering at a large corner, and adopts a steering strategy of a small corner and a large turning radius to prevent the vehicle from turning over; meanwhile, the intelligent tire collects the tire state in real time, and when the tire pressure of the tire is too high or too low and the temperature is abnormal, the control system timely makes a response to perform deceleration and slow running or side parking operation.
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