CN112677996A - Vehicle driving system and vehicle - Google Patents
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Abstract
The invention discloses a vehicle driving system and a vehicle. Wherein, this vehicle driving system includes: the system comprises a finished automobile sensing system, a finished automobile positioning system, a finished automobile drive-by-wire chassis and a central control unit, wherein the input end of the central control unit is respectively connected with the finished automobile sensing system and the finished automobile positioning system, the output end of the central control unit is connected with the finished automobile drive-by-wire chassis, and the central control unit is used for acquiring and processing environmental information collected by the finished automobile sensing system and positioning information collected by the finished automobile positioning system and controlling the finished automobile drive-by-wire chassis to execute a dynamic driving task. The invention solves the technical problem that the automatic driving of the large vehicle cannot be realized because the chassis of the large vehicle adopts mechanical transmission to control the vehicle in the prior art.
Description
Technical Field
The invention relates to the field of automatic driving, in particular to a vehicle driving system and a vehicle.
Background
With the rapid development of new-generation information technologies such as internet of things, artificial intelligence, big data, cloud computing and 5G, intellectualization has become a trend and trend of various industries. Under the large background of industrial 4.0, smart city and internet +, the automobile industry is developing rapidly towards intellectualization and networking. At present, the technical development of the intelligent networked automobile in China is still in a starting stage, and a large promotion space is provided in the technical fields of perception, decision, execution and the like. The automatic driving technology is limited by factors such as the size and the weight of a passenger car, the passenger car with the high-level automatic driving function is mostly concentrated on a 4-5 m minibus, a chassis system is mostly designed according to the standard of a passenger car, the number of the passenger cars with the height of more than 6 m is relatively small, and the application and the popularization of the automatic technology on the bus are greatly limited. In addition, in a large vehicle with a vehicle size of more than 6 meters, the chassis is still controlled by mechanical transmission, and automatic driving cannot be realized.
Aiming at the problem that the automatic driving of the large vehicle cannot be realized due to the fact that the chassis of the large vehicle in the related technology adopts mechanical transmission to control the vehicle, an effective solution is not provided at present.
Disclosure of Invention
The embodiment of the invention provides a vehicle driving system and a vehicle, which at least solve the technical problem that the automatic driving of a large vehicle cannot be realized because a chassis of the large vehicle adopts mechanical transmission to control the vehicle in the related technology.
According to an aspect of an embodiment of the present invention, there is provided a vehicle driving system including: the system comprises a whole vehicle sensing system, a whole vehicle positioning system, a whole vehicle drive-by-wire chassis and a central control unit, wherein the input end of the central control unit is respectively connected with the whole vehicle sensing system and the whole vehicle positioning system, the output end of the central control unit is connected with the whole vehicle drive-by-wire chassis, and the central control unit is used for acquiring and processing environment information collected by the whole vehicle sensing system and positioning information collected by the whole vehicle positioning system and controlling the whole vehicle drive-by-wire chassis to execute a dynamic driving task.
Optionally, the central control unit comprises: the system comprises an information fusion module, a task decision module, a track planning module and a motion control module, wherein the information fusion module is used for receiving environmental information acquired by the whole vehicle sensing system and/or positioning information acquired by the whole vehicle positioning system and outputting first vehicle data; the task decision module is connected with the information fusion module and is used for receiving the first vehicle data output by the information fusion module and outputting second vehicle data; the track planning module is connected with the task decision module and is used for receiving the second vehicle data output by the task decision module and outputting a control instruction; the motion control module is connected with the track planning module and used for receiving the control instruction output by the track planning module and executing the control instruction to control the whole vehicle drive-by-wire chassis to execute a dynamic driving task.
Optionally, the vehicle sensing system includes: the system comprises a first preset number of laser radars, a second preset number of long-distance millimeter wave radars, a third preset number of short-distance millimeter wave radars, a fourth preset number of ultrasonic radars and a fifth preset number of cameras; the laser radars with the first preset number are respectively arranged on the same horizontal height below the front left corner car light and the front right corner car light of the vehicle, and the distance between the laser radars with the first preset number and the ground is a first preset distance; the long-distance millimeter wave radars in the second preset number are arranged at the front bumper of the vehicle, are at a second preset distance from the ground and are superposed with the longitudinal center line of the vehicle; the short-moment millimeter wave radars in the third preset number are installed at the same height on the bumpers at the four corners of the vehicle, and the plane angle between the short-moment millimeter wave radars and the doors of the vehicle is a preset angle; the ultrasonic radars with the fourth preset number are arranged on the side face of the vehicle body of the vehicle; the fifth preset number of cameras are mounted on the inner side of a front windshield of the vehicle and coincide with the longitudinal axis of the vehicle.
Optionally, the vehicle positioning system includes: a global positioning system and/or an inertial navigation unit, wherein the global positioning system and/or the inertial navigation unit is used to provide real-time positioning information for a vehicle.
Optionally, two antennas of the global positioning system are mounted on a roof of the vehicle, and a connection line of the two antennas coincides with a central axis of the vehicle.
Optionally, the inertial navigation unit comprises: the vehicle-mounted system comprises a sixth preset number of mutually interactive single-axis accelerometers and a seventh preset number of mutually orthogonal single-axis gyroscopes, wherein the single-axis accelerometers and the single-axis gyroscopes are respectively installed in an electrical cabinet of the vehicle and are parallel to a vehicle-mounted coordinate system of the vehicle.
Optionally, the entire drive-by-wire chassis includes: and the execution module controller is respectively connected with the drive-by-wire system, the drive-by-wire system and the steer-by-wire system and is used for controlling the speed, braking and steering of the vehicle.
Optionally, the drive-by-wire system comprises: the system comprises a vehicle control unit and a motor controller, wherein one end of the vehicle control unit is connected with the execution module controller, and the other end of the vehicle control unit is connected with the motor controller.
Optionally, the brake-by-wire system comprises: the pneumatic-electric double-control linear proportional relay valve comprises an electronic braking system, a pneumatic-electric double-control linear proportional relay valve, a front wheel braking system and a rear wheel braking system, wherein the input end of the pneumatic-electric double-control linear proportional relay valve is connected with the electronic braking system, the output end of the pneumatic-electric double-control linear proportional relay valve is respectively connected with the front wheel braking system and the rear wheel braking system, and the electronic braking system is connected with the execution module controller.
Optionally, the steer-by-wire system comprises: the electric power-assisted steering system is respectively connected with the execution module controller and the steering wheel, and the electric power-assisted steering system, the power-assisted steering system and the steering gear adopt mechanical transmission.
According to another aspect of the embodiment of the present invention, there is also provided a vehicle including the vehicle driving system described in any one of the above.
In the embodiment of the invention, the vehicle driving system adopts a whole vehicle sensing system, a whole vehicle positioning system, a whole vehicle drive-by-wire chassis and a central control unit, wherein the input end of the central control unit is respectively connected with the whole vehicle sensing system and the whole vehicle positioning system, the output end of the central control unit is connected with the whole vehicle drive-by-wire chassis, the central control unit is used for acquiring and processing environmental information acquired by the whole vehicle sensing system and positioning information acquired by the whole vehicle positioning system and controlling the whole vehicle drive-by-wire chassis to execute dynamic driving tasks, the purposes of chassis drive-by-wire and vehicle intelligent sensing are achieved through the vehicle driving system, so that the technical effects of automatic driving and intelligent degree of a large vehicle are realized, and the problem that the chassis of the large vehicle in the related technology adopts mechanical transmission to control the vehicle is solved, the technical problem that automatic driving of large vehicles cannot be achieved is caused.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
FIG. 1 is a schematic diagram of a vehicle driving system according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a vehicle integrity perception system according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a drive-by-wire system according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a brake-by-wire system according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a steer-by-wire system according to an embodiment of the present invention.
Wherein the figures include the following reference numerals:
11. a vehicle sensing system; 13. a whole vehicle positioning system; 15. a vehicle drive-by-wire chassis; 17. a central control unit; 21. a laser radar; 23. a camera; 25. a long range millimeter wave radar; 27. short-moment millimeter wave radar; 29. a GPS antenna; 31. an execution module controller; 33. a vehicle control unit; 35. a motor controller; 41. an electronic brake system; 43. a gas-electric double-control linear proportional relay valve; 45. a front wheel braking system; 47. a rear wheel braking system; 51. a steering wheel; 53. an electric power steering system; 55. a power steering system; 57. a steering gear.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example 1
According to an embodiment of the present invention, there is provided a vehicle driving system, and fig. 1 is a schematic view of a vehicle driving system according to an embodiment of the present invention, as shown in fig. 1, including: the driving system comprises a whole vehicle sensing system 11, a whole vehicle positioning system 13, a whole vehicle drive-by-wire chassis 15 and a central control unit 17, wherein the input end of the central control unit 17 is respectively connected with the whole vehicle sensing system 11 and the whole vehicle positioning system 13, the output end of the central control unit 17 is connected with the whole vehicle drive-by-wire chassis 15, and the central control unit 17 is used for acquiring and processing environmental information acquired by the whole vehicle sensing system 11 and positioning information acquired by the whole vehicle positioning system 13 and controlling the whole vehicle drive-by-wire chassis 15 to execute a dynamic driving task.
In the embodiment of the invention, the vehicle driving system adopts a whole vehicle sensing system, a whole vehicle positioning system, a whole vehicle drive-by-wire chassis and a central control unit, wherein, the input end of the central control unit is respectively connected with the whole vehicle sensing system and the whole vehicle positioning system, the output end of the central control unit is connected with the whole vehicle drive-by-wire chassis, the central control unit is used for acquiring and processing the environmental information collected by the whole vehicle sensing system and the positioning information collected by the whole vehicle positioning system, and controlling the whole vehicle drive-by-wire chassis to execute dynamic driving tasks, the vehicle driving system achieves the purposes of chassis wire control and vehicle intelligent perception, thereby realizing the technical effects of automatic driving and intelligent degree of large vehicles, and further, the technical problem that automatic driving of the large-sized vehicle cannot be realized due to the fact that the chassis of the large-sized vehicle adopts mechanical transmission to control the vehicle in the related art is solved.
In an optional implementation manner, the whole vehicle sensing system senses environmental information, and in combination with positioning information given by the whole vehicle positioning system, the environmental information and the positioning information are input to a central control unit of an automatic driving brain of the vehicle for processing, and then the central control unit controls a whole vehicle drive-by-wire chassis to execute a dynamic driving task according to a processing result.
In an optional embodiment, the automatic driving of the target vehicle may be implemented by the vehicle driving system, and optionally, in a case where the automatic driving is conditional automation, that is, in a defined Design operating area (ODD), according to a collected high-precision map, the regular driving speed is maintained between 0km/h and 40km/h, and in severe weather conditions such as non-rain, snow, storm, sand, haze, and the like, the vehicle may complete a typical dynamic driving task, where the dynamic driving task includes, but is not limited to, automatic driving, temporary stopping, and the like, deceleration avoidance, lane change avoidance, and the like. In the specific implementation process, the vehicle of the vehicle driving system has the functions of cruising, vehicle following driving, dynamic obstacle avoidance, automatic emergency braking, automatic lane changing and station parking. In addition, when the automatic driving fails or exceeds the ODD range, a take-over request is sent out, a driver makes necessary corresponding measures, and meanwhile, the vehicle networking function is supported, the vehicle networking function is interconnected with the background cloud platform, and the running state of the vehicle is monitored.
In an optional implementation mode, the perception capability of the vehicle is greatly improved by using a higher-configuration perception sensor, the automatic driving grade of the whole vehicle is improved by combining optimization and upgrade of an algorithm, the method has stronger functions, and an applied scene can be expanded to an urban public road.
In an alternative embodiment, the vehicle driving system described above may be applied to large vehicles, for example, vehicles having a size of more than 6 meters.
Optionally, the central control unit includes: the system comprises an information fusion module, a task decision module, a track planning module and a motion control module, wherein the information fusion module is used for receiving environmental information collected by a whole vehicle sensing system and/or positioning information collected by a whole vehicle positioning system and outputting first vehicle data; the task decision module is connected with the information fusion module and is used for receiving the first vehicle data output by the information fusion module and outputting the second vehicle data; the track planning module is connected with the task decision module and used for receiving second vehicle data output by the task decision module and outputting a control command; the motion control module is connected with the track planning module and is used for receiving the control instruction output by the track planning module and executing the control instruction to control the whole vehicle drive-by-wire chassis to execute a dynamic driving task.
In an alternative embodiment, the first vehicle data includes, but is not limited to, current vehicle behavior, vehicle motion target point, target vehicle speed, and the like; the second vehicle data includes, but is not limited to, a vehicle movement target point, a target vehicle speed, and the like.
In an optional implementation manner, the central control unit is not limited to an information fusion module, a task decision module, a trajectory planning module, a motion control module, and the like, wherein the task decision module receives environmental information, outputs a current vehicle behavior, a vehicle motion target point, and a target vehicle speed, and transmits the data to the planning decision module; the planning decision module receives the information of the task decision module and outputs a vehicle motion target point and a target vehicle speed; the motion control module receives the information of the planning decision module, outputs a control instruction issued to the motion control module, and then the motion control module controls the drive-by-wire chassis to execute a dynamic driving task. It should be noted that the drive-by-wire chassis can feed back the running state of the drive-by-wire chassis to the upper-level module, thereby realizing closed-loop feedback control.
Optionally, the vehicle sensing system includes: the system comprises a first preset number of laser radars, a second preset number of long-distance millimeter wave radars, a third preset number of short-distance millimeter wave radars, a fourth preset number of ultrasonic radars and a fifth preset number of cameras; the laser radars with the first preset number are respectively arranged on the same horizontal height below a front left corner car light and a front right corner car light of the vehicle, and the distance between the laser radars with the first preset number and the ground is a first preset distance; the long-distance millimeter wave radars in the second preset number are arranged at the front bumper of the vehicle, are at a second preset distance from the ground and are superposed with the longitudinal center line of the vehicle; the short-moment millimeter wave radars with the third preset number are arranged at the same height on the bumpers at the four corners of the vehicle, and the plane angle between the short-moment millimeter wave radars and the door of the vehicle is a preset angle; a fourth preset number of ultrasonic radars are arranged on the side face of the vehicle body of the vehicle; the fifth preset number of cameras are mounted on the inner side of a front windshield of the vehicle and coincide with the longitudinal axis of the vehicle.
In an optional implementation manner, the first preset number, the second preset number, the third preset number, the fourth preset number, and the fifth preset number may be set according to a requirement of an application scenario.
Fig. 2 is a schematic diagram of a vehicle sensing system according to an embodiment of the present invention, and as shown in fig. 2, the vehicle sensing system includes: laser radar 21, camera 23, long-range millimeter wave radar 25, short-range millimeter wave radar 27, GPS antenna 29. Optionally, the sensing sensors mounted on the target vehicle include, but are not limited to, 2 lidar, 1 long-range millimeter wave radar, 4 short-range millimeter wave radar, 4 ultrasonic radar, and 1 camera. Wherein, the laser radar includes but is not limited to 16 line laser radar, 32 line laser radar, 40 line laser radar, etc.; the camera includes, but is not limited to, a monocular camera, a binocular camera, and the like. The whole vehicle sensing system can realize the collection and processing of environmental information and vehicle-mounted information by additionally arranging a laser radar, a millimeter wave radar, a camera, a high-precision map, a GPS satellite positioning unit, an inertial navigation unit and the like.
In an alternative embodiment, 2 laser radars are respectively arranged on the same horizontal height below the left front corner lamp and the right front corner lamp of the vehicle, and the ground clearance can be 120 cm; the long-distance millimeter wave radar is arranged close to the front bumper, has the height from the ground of 60cm and is superposed with the longitudinal center line of the vehicle; the 4 short-moment millimeter wave radars are arranged at the same height on bumpers at four corners of the vehicle, and the angle between the radar and the plane of the vehicle door can be 25-30 degrees; the camera is arranged on the inner side of the front windshield and is superposed with the longitudinal axis of the vehicle; 4 ultrasonic waves are installed at the side of the vehicle. Through the arrangement of the perception sensors and the fusion of intelligent algorithms, the perception of 360 degrees of no dead angles around the whole vehicle is realized.
In the above embodiment, an advanced sensing sensor is added to the target vehicle, and the laser radar and the vision sensor are used as the main sensor, and other sensors are used as the auxiliary sensors, so that the vehicle has 360-degree blind-corner-free environment sensing and positioning capability, and the maximum sensing distance can reach 150 m.
In an optional implementation mode, the whole vehicle sensing system can be provided with advanced sensing sensors according to scene requirements, so that the vehicle can sense the environment with high reliability and no blind area in 360 degrees.
Optionally, the whole vehicle positioning system includes: a global positioning system and/or an inertial navigation unit, wherein the global positioning system and/or the inertial navigation unit is used for providing real-time positioning information for the vehicle.
In an optional implementation mode, the scheme adopted by the whole vehicle positioning system is a global positioning system and/or an inertial navigation unit, and high-precision-level positioning is provided for the vehicle in an automatic driving mode through algorithm fusion. It should be noted that the positioning with high precision level includes, but is not limited to, centimeter positioning and the like.
Optionally, the two antennas of the global positioning system are mounted on the roof of the vehicle, and the connection line of the two antennas coincides with the central axis of the vehicle.
In an alternative embodiment, the two antennas of the global positioning system may be installed on a roof, the two antennas are connected to ensure that the two antennas coincide with a central axis of the vehicle, and the antenna on the roof may receive positioning signals from satellites, and provide real-time position information for the vehicle by using a differential positioning technology in combination with a ground reference station.
Optionally, the inertial navigation unit comprises: the mutual interactive single-axis accelerometer of sixth default quantity and the mutual quadrature's of seventh default quantity single-axis gyroscope, single-axis accelerometer, single-axis gyroscope install respectively in the regulator cubicle of vehicle, are parallel with the on-vehicle coordinate system of vehicle simultaneously.
In an alternative embodiment, the sixth preset number includes but is not limited to 3, and the seventh preset number includes but is not limited to 3. The inertial navigation unit can comprise 3 mutually interactive X/Y/Z single-axis accelerometers and 3 mutually orthogonal single-axis gyroscopes, and is installed in an electrical cabinet in a vehicle and is parallel to a vehicle-mounted coordinate system. The inertial navigation unit is an inertial navigation system established on the basis of Newton's law, can not generate any photoelectric connection with the outside, can continuously perform three-dimensional positioning and three-dimensional orientation on the vehicle only by the system, and can acquire pose data of the vehicle, wherein the pose data comprises but is not limited to position, speed, posture information and the like.
Optionally, the vehicle drive-by-wire chassis includes: and the execution module controller is respectively connected with the drive-by-wire system, the drive-by-wire system and the steer-by-wire system and is used for controlling the speed, braking and steering of the vehicle.
In an optional embodiment, the execution module controller may be connected to the drive-by-wire system, the brake-by-wire system, and the steer-by-wire system through a CAN bus, wherein corresponding control signals are transmitted between the execution module controller and the drive-by-wire system, between the execution module controller and the brake-by-wire system, and between the execution module controller and the steer-by-wire system, so as to control the speed, braking, and steering of the vehicle. The control signals include, but are not limited to, speed control signals, brake control signals, steering control signals, and the like.
In the embodiment, the factors of high front axle load, large steering torque, large pressure of a pneumatic braking system and the like of a target vehicle can be broken through, the drive-by-wire transformation of a traditional passenger car chassis system is realized by relying on the advantages of pure electric automobile driving, and the electric signal is used for replacing mechanical transmission to control the vehicle.
In an optional implementation mode, the entire drive-by-wire chassis can meet the requirement that an upper-layer automatic driving software system controls the vehicle to execute through necessary transformation on the basis of a traditional chassis system.
Optionally, the drive-by-wire system comprises: the system comprises a vehicle control unit and a motor controller, wherein one end of the vehicle control unit is connected with an execution module controller, and the other end of the vehicle control unit is connected with the motor controller.
Fig. 3 is a schematic diagram of a drive-by-wire system according to an embodiment of the present invention, and as shown in fig. 3, a vehicle control unit 33 is respectively connected to an execution module controller 31 and a motor controller 35 through a CAN bus, wherein corresponding control signals may be transmitted between the vehicle control unit 33 and the execution module controller 31, and between the vehicle control unit 33 and the motor controller 35.
In an optional implementation mode, a vehicle controller control protocol and a communication protocol of a vehicle can be combined, a target vehicle carrying an intelligent driving algorithm can directly output vehicle operation decision information to the vehicle controller through an execution module controller, and the vehicle controller controls a motor controller to adjust the rotating speed of a motor, so that the speed control of the vehicle is realized.
Optionally, the brake-by-wire system comprises: the brake system comprises an electronic brake system, a pneumatic-electric double-control linear proportional relay valve, a front wheel brake system and a rear wheel brake system, wherein the input end of the pneumatic-electric double-control linear proportional relay valve is connected with the electronic brake system, the output end of the pneumatic-electric double-control linear proportional relay valve is respectively connected with the front wheel brake system and the rear wheel brake system, and the electronic brake system is connected with an execution module controller.
Fig. 4 is a schematic diagram of a brake-by-wire system according to an embodiment of the present invention, as shown in fig. 4, an electronic brake system 41 is connected to an execution module controller 31 and a pneumatic-electric double-control linear proportional relay valve 43 through a CAN bus, respectively, wherein corresponding control signals CAN be transmitted between the electronic brake system 41 and the execution module controller 31 and between the electronic brake system 41 and the pneumatic-electric double-control linear proportional relay valve 43. And air pressure passages are respectively formed between the output end of the pneumatic-electric double-control linear proportional relay valve 43 and the front wheel braking system 45 and between the output end of the pneumatic-electric double-control linear proportional relay valve 43 and the rear wheel braking system 47.
In an alternative embodiment, since the braking system of the target vehicle uses mechanical air pressure braking, an Electronic braking system 41(Electronic Brake Systems, abbreviated as EBS) is added to the braking system of the target vehicle, and the relay valve of the target vehicle is replaced by an EBS valve, wherein the EBS valve at least includes a pneumatic-electric double-control linear proportional relay valve 43, and the pneumatic-electric double-control linear proportional relay valve 43 includes a pressure sensor therein. The electronic brake system 41 includes at least an EBS controller.
In an optional implementation mode, when the target vehicle brakes, the execution module controller sends a control command to the EBS controller, and the EBS controller directly controls the EBS valve after receiving the signal to adjust the brake pressure, so as to realize the brake-by-wire function of the whole vehicle. It should be noted that, the braking system of the target vehicle is air pressure braking with higher pressure, and linear control of the air pressure type braking system can be realized by the above method of the present application, so that the accuracy of braking control is greatly improved.
Optionally, the steer-by-wire system comprises: the electric power-assisted steering system is respectively connected with the execution module controller and the steering wheel, and the electric power-assisted steering system, the power-assisted steering system and the steering device adopt mechanical transmission.
Fig. 5 is a schematic diagram of a steer-by-wire system according to an embodiment of the present invention, and as shown in fig. 5, the electric power steering system 53 is connected to the executive module controller 31 and the steering wheel 51 through CAN buses, respectively, wherein corresponding control signals CAN be transmitted between the electric power steering system 53 and the executive module controller 31 and between the electric power steering system 53 and the steering wheel 51. Mechanical transmission is adopted between the electric power steering system 53 and the power steering system 55, and between the power steering system 55 and the steering gear 57.
In an alternative embodiment, since the Steering system of the target vehicle is of a mechanical hydraulic Power Steering type, an Electric Power Steering system 53 (EPS) is incorporated in the Steering system. Alternatively, the above-described electric power steering system 53 may be mounted on a steering column of the target vehicle; the electric power steering system 53 includes, but is not limited to, a power steering motor, an EPS controller, a steering angle/torque sensor, and the like; the power steering system 55 includes, but is not limited to, an electric motor and the like.
In an optional implementation manner, the EPS controller may directly receive a steering angle/steering angular velocity signal transmitted from the execution module controller through the CAN bus, so as to control the motor to drive the steering gear to rotate, so that the vehicle makes a corresponding steering action, thereby implementing the entire vehicle steer-by-wire function. In addition, the EPS controller CAN also directly receive a steering angle/steering angular velocity signal transmitted from a steering wheel through a CAN bus, so that a motor is controlled to drive a steering machine to rotate, a vehicle is enabled to make corresponding steering action, and the function of steering by wire of the whole vehicle is achieved.
Example 2
According to another aspect of the embodiments of the present invention, there is also provided a vehicle including the vehicle driving system of any one of the above.
In an alternative embodiment, the vehicle includes, but is not limited to, a new energy vehicle, such as a pure electric vehicle, a hybrid vehicle, and the like. Of course, the present invention can also be applied to conventional automobiles, for example, automobiles using gasoline or diesel oil as fuel. Specifically, the vehicle driving system of any one of the above may be installed or deployed in the above vehicle.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
In the above embodiments of the present invention, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (11)
1. A vehicle driving system, comprising: the system comprises a whole vehicle sensing system, a whole vehicle positioning system, a whole vehicle drive-by-wire chassis and a central control unit, wherein the input end of the central control unit is respectively connected with the whole vehicle sensing system and the whole vehicle positioning system, the output end of the central control unit is connected with the whole vehicle drive-by-wire chassis, and the central control unit is used for acquiring and processing environment information collected by the whole vehicle sensing system and positioning information collected by the whole vehicle positioning system and controlling the whole vehicle drive-by-wire chassis to execute a dynamic driving task.
2. The system of claim 1, wherein the central control unit comprises: the system comprises an information fusion module, a task decision module, a track planning module and a motion control module, wherein the information fusion module is used for receiving environmental information acquired by the whole vehicle sensing system and/or positioning information acquired by the whole vehicle positioning system and outputting first vehicle data; the task decision module is connected with the information fusion module and is used for receiving the first vehicle data output by the information fusion module and outputting second vehicle data; the track planning module is connected with the task decision module and is used for receiving the second vehicle data output by the task decision module and outputting a control instruction; the motion control module is connected with the track planning module and used for receiving the control instruction output by the track planning module and executing the control instruction to control the whole vehicle drive-by-wire chassis to execute a dynamic driving task.
3. The system of claim 2, wherein the full vehicle sensing system comprises: the system comprises a first preset number of laser radars, a second preset number of long-distance millimeter wave radars, a third preset number of short-distance millimeter wave radars, a fourth preset number of ultrasonic radars and a fifth preset number of cameras; the laser radars with the first preset number are respectively arranged on the same horizontal height below the front left corner car light and the front right corner car light of the vehicle, and the distance between the laser radars with the first preset number and the ground is a first preset distance; the long-distance millimeter wave radars in the second preset number are arranged at the front bumper of the vehicle, are at a second preset distance from the ground and are superposed with the longitudinal center line of the vehicle; the short-moment millimeter wave radars in the third preset number are installed at the same height on the bumpers at the four corners of the vehicle, and the plane angle between the short-moment millimeter wave radars and the doors of the vehicle is a preset angle; the ultrasonic radars with the fourth preset number are arranged on the side face of the vehicle body of the vehicle; the fifth preset number of cameras are mounted on the inner side of a front windshield of the vehicle and coincide with the longitudinal axis of the vehicle.
4. The system of claim 2, wherein the cart positioning system comprises: a global positioning system and/or an inertial navigation unit, wherein the global positioning system and/or the inertial navigation unit is used to provide real-time positioning information for a vehicle.
5. The system of claim 4, wherein two antennas of the global positioning system are mounted on a roof of the vehicle, and wherein a line connecting the two antennas coincides with a central axis of the vehicle.
6. The system of claim 4, wherein the inertial navigation unit comprises: the vehicle-mounted system comprises a sixth preset number of mutually interactive single-axis accelerometers and a seventh preset number of mutually orthogonal single-axis gyroscopes, wherein the single-axis accelerometers and the single-axis gyroscopes are respectively installed in an electrical cabinet of the vehicle and are parallel to a vehicle-mounted coordinate system of the vehicle.
7. The system of claim 2, wherein the full vehicle drive-by-wire chassis comprises: and the execution module controller is respectively connected with the drive-by-wire system, the drive-by-wire system and the steer-by-wire system and is used for controlling the speed, braking and steering of the vehicle.
8. The system of claim 7, wherein the drive-by-wire system comprises: the system comprises a vehicle control unit and a motor controller, wherein one end of the vehicle control unit is connected with the execution module controller, and the other end of the vehicle control unit is connected with the motor controller.
9. The system of claim 7, wherein the brake-by-wire system comprises: the pneumatic-electric double-control linear proportional relay valve comprises an electronic braking system, a pneumatic-electric double-control linear proportional relay valve, a front wheel braking system and a rear wheel braking system, wherein the input end of the pneumatic-electric double-control linear proportional relay valve is connected with the electronic braking system, the output end of the pneumatic-electric double-control linear proportional relay valve is respectively connected with the front wheel braking system and the rear wheel braking system, and the electronic braking system is connected with the execution module controller.
10. The system of claim 7, wherein the steer-by-wire system comprises: the electric power-assisted steering system is respectively connected with the execution module controller and the steering wheel, and the electric power-assisted steering system, the power-assisted steering system and the steering gear adopt mechanical transmission.
11. A vehicle characterized in that it comprises a vehicle driving system according to any one of claims 1 to 10.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110045138.3A CN112677996A (en) | 2021-01-13 | 2021-01-13 | Vehicle driving system and vehicle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110045138.3A CN112677996A (en) | 2021-01-13 | 2021-01-13 | Vehicle driving system and vehicle |
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| CN112677996A true CN112677996A (en) | 2021-04-20 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114132308A (en) * | 2021-11-26 | 2022-03-04 | 东风悦享科技有限公司 | PRT-based anti-collision control system and method |
| CN115123385A (en) * | 2022-06-24 | 2022-09-30 | 中科领航智能科技(苏州)有限公司 | Unmanned bus drive-by-wire chassis and automatic driving system thereof |
-
2021
- 2021-01-13 CN CN202110045138.3A patent/CN112677996A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114132308A (en) * | 2021-11-26 | 2022-03-04 | 东风悦享科技有限公司 | PRT-based anti-collision control system and method |
| CN115123385A (en) * | 2022-06-24 | 2022-09-30 | 中科领航智能科技(苏州)有限公司 | Unmanned bus drive-by-wire chassis and automatic driving system thereof |
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