CN113848956A - Unmanned vehicle system and unmanned method - Google Patents
Unmanned vehicle system and unmanned method Download PDFInfo
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- CN113848956A CN113848956A CN202111319589.8A CN202111319589A CN113848956A CN 113848956 A CN113848956 A CN 113848956A CN 202111319589 A CN202111319589 A CN 202111319589A CN 113848956 A CN113848956 A CN 113848956A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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Abstract
The invention discloses an unmanned vehicle system and an unmanned method, comprising an unmanned vehicle module, a driving module and a driving module, wherein the unmanned vehicle module is used for driving in a specified unmanned lane; the acquisition module is used for acquiring images around the unmanned vehicle in real time; a navigation module to determine navigation information from a current location to a destination location of the unmanned vehicle; the interaction module is used for man-machine interaction between a driver and the unmanned vehicle; and the execution module is used for receiving the control instruction and controlling the vehicle. According to the invention, through the mutual cooperation of the unmanned vehicle module, the acquisition module, the navigation module, the interaction module and the execution module, the sensor in the unmanned vehicle module detects the position of the driven vehicle, the driving direction of the unmanned vehicle and the obstacle information in the surrounding environment in real time, and the controller calculates a control instruction by using the information detected by the sensor and sends the instruction to the execution module to control the operation of the unmanned vehicle.
Description
Technical Field
The invention relates to the technical field of unmanned driving, in particular to an unmanned vehicle system and an unmanned driving method.
Background
The birth of automobiles brings great convenience to the lives of people, and in the civil field, the automobile industry is developing towards safety, comfort and relaxation. With the development of science and technology, especially the rapid development of intelligent computing technology and automation technology, the unmanned technology has become one of the hot spots of current research, the unmanned technology just conforms to the trend of automobile development, the unmanned technology can liberate the hands of a driver, liberate the driver from heavy driving operation, reduce traffic accidents caused by driving fatigue and human factors, and enable the automobile to be easy and safe.
The unmanned vehicle is an intelligent vehicle which senses the road environment through a vehicle-mounted sensing system, automatically plans a driving route and controls the vehicle to reach a preset target. The intelligent control system integrates a plurality of technologies such as automatic control, a system structure, artificial intelligence, visual calculation and the like, is a product of high development of computer science, mode recognition and intelligent control technologies, is an important mark for measuring national scientific research strength and industrial level, and has wide application prospect in the fields of national defense and national economy.
In the related art, when the unmanned technology runs on a road, the unmanned vehicle has low navigation precision due to the fact that a good navigation positioning and acquisition system is not provided, and meanwhile, the surrounding environment cannot be well recognized, and the experience of unmanned driving is influenced.
Disclosure of Invention
The present invention is directed to an unmanned vehicle system and an unmanned method to solve the problems of the background art.
In order to achieve the purpose, the invention provides the following technical scheme: an unmanned vehicle system comprising the following:
the unmanned vehicle module is used for driving in a specified unmanned lane;
the acquisition module is used for acquiring images around the unmanned vehicle in real time;
a navigation module to determine navigation information from a current location to a destination location of the unmanned vehicle;
the interaction module is used for man-machine interaction between a driver and the unmanned vehicle;
and the execution module is used for receiving the control instruction and controlling the vehicle.
Preferably, the unmanned vehicle module comprises a sensor and a controller, the sensor is used for the position of the unmanned vehicle, the driving direction of the unmanned vehicle and the obstacle information in the surrounding environment; the controller calculates a control command by using the information detected by the sensor and sends the command to the execution module.
Preferably, the sensor comprises a laser sensor and a radar sensor.
Preferably, the acquisition module acquires images around the unmanned vehicle in real time by using an image acquisition device arranged on the unmanned vehicle.
Preferably, the navigation module collects feature information of a target area through the collection module, and the target area includes an area between a current position and a destination position of the unmanned vehicle.
Preferably, the interaction module is used for generating an interaction term, and when a driver interacts with the unmanned vehicle, a control instruction is formed through the interaction term and is transmitted to the execution module to control the driving vehicle.
An unmanned method of an unmanned vehicle, comprising the steps of:
step 1: the navigation module is used for positioning an unmanned lane area where the unmanned vehicle runs and confirming navigation information from the current position to the destination position of the unmanned vehicle;
step 2: a sensor in the unmanned vehicle module detects the position of the unmanned vehicle, the driving direction of the unmanned vehicle and the obstacle information in the surrounding environment in real time, and transmits the detected external information to the controller in cooperation with an image acquisition device in the acquisition module;
and step 3: the controller receives the information detected by the sensor, calculates a control instruction by using the information and then sends the instruction to the execution module;
and 4, step 4: and the user interacts with the unmanned vehicle according to the interaction terms stored in the interaction module of the unmanned vehicle to form a control instruction which is transmitted to the execution module, and the control instruction controls the speed and/or the steering of the unmanned vehicle.
Preferably, in step 2, the image acquisition device in the acquisition module comprises an acquisition camera and a monitoring display terminal, the camera acquires image information of the environment around the unmanned vehicle in real time, remotely transmits the acquired image information to the monitoring display terminal, and finally displays the image information acquired by the acquisition camera on the monitoring display terminal.
Compared with the prior art, the invention has the beneficial effects that:
the invention designs an unmanned vehicle system, through mutual cooperation among an unmanned vehicle module, an acquisition module, a navigation module, an interaction module and an execution module, a sensor in the unmanned vehicle module detects the position of a driven vehicle, the driving direction of the unmanned vehicle and obstacle information in the surrounding environment in real time, and a controller calculates a control instruction by utilizing the information detected by the sensor and sends the instruction to the execution module to control the operation of the unmanned vehicle; meanwhile, by adding the navigation module, the current position of the unmanned vehicle can be well positioned, and the navigation information from the current position to the destination position is set, so that the free driving of the route is realized; meanwhile, the problem that interaction cannot be performed in the driving process of the existing unmanned vehicle is solved by adding the interaction module, and the operation efficiency is improved.
Drawings
FIG. 1 is a block diagram of the overall architecture of an unmanned vehicle system;
FIG. 2 is a flow chart of an unmanned method.
Detailed Description
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.
Referring to fig. 1 and fig. 2, the present invention provides a technical solution: an unmanned vehicle system comprising the following:
the unmanned vehicle module is used for driving in a specified unmanned lane and comprises sensors and a controller, wherein the sensors are used for the position of the unmanned vehicle, the driving direction of the unmanned vehicle and obstacle information in the surrounding environment, and the sensors comprise a laser sensor and a radar sensor; the controller calculates a control command by using the information detected by the sensor and sends the command to the execution module.
The system comprises an acquisition module, a monitoring display terminal and a display module, wherein the acquisition module is used for acquiring images around the unmanned vehicle in real time, the acquisition module is used for acquiring the images around the unmanned vehicle in real time by utilizing image acquisition equipment arranged on the unmanned vehicle, the image acquisition equipment in the acquisition module comprises an acquisition camera and the monitoring display terminal, the camera acquires image information of the environment around the unmanned vehicle in real time, remotely transmits the acquired image information to the monitoring display terminal, and finally displays the image information acquired by the acquisition camera on the monitoring display terminal.
The navigation module is used for determining navigation information from the current position to the destination position of the unmanned vehicle, and the navigation module acquires the ground feature information of a target area through the acquisition module, wherein the target area comprises an area between the current position and the destination position of the unmanned vehicle.
The interaction module is used for performing man-machine interaction between a driver and the unmanned vehicle, and is used for generating interaction terms, and when the driver interacts with the unmanned vehicle, control instructions are formed through the interaction terms and are transmitted to the execution module to control the driving vehicle.
And the execution module is used for receiving the control instruction and controlling the vehicle.
Through the mutual cooperation among the unmanned vehicle module, the acquisition module, the navigation module, the interaction module and the execution module, the sensor in the unmanned vehicle module detects the position of a driven vehicle, the driving direction of the unmanned vehicle and the obstacle information in the surrounding environment in real time, the controller calculates a control instruction by utilizing the information detected by the sensor, and sends the instruction to the execution module to control the operation of the unmanned vehicle; meanwhile, by adding the navigation module, the current position of the unmanned vehicle can be well positioned, and the navigation information from the current position to the destination position is set, so that the free driving of the route is realized; meanwhile, the problem that interaction cannot be performed in the driving process of the existing unmanned vehicle is solved by adding the interaction module, and the operation efficiency is improved.
Application method
An unmanned method of an unmanned vehicle, comprising the steps of:
step 1: the navigation module is used for positioning an unmanned lane area where the unmanned vehicle runs and confirming navigation information from the current position to the destination position of the unmanned vehicle;
step 2: a sensor in the unmanned vehicle module detects the position of the unmanned vehicle, the driving direction of the unmanned vehicle and the obstacle information in the surrounding environment in real time, and transmits the detected external information to the controller in cooperation with an image acquisition device in the acquisition module;
and step 3: the controller receives the information detected by the sensor, calculates a control instruction by using the information and then sends the instruction to the execution module;
and 4, step 4: and the user interacts with the unmanned vehicle according to the interaction terms stored in the interaction module of the unmanned vehicle to form a control instruction which is transmitted to the execution module, and the control instruction controls the speed and/or the steering of the unmanned vehicle.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (8)
1. An unmanned vehicle system, comprising:
the unmanned vehicle module is used for driving in a specified unmanned lane;
the acquisition module is used for acquiring images around the unmanned vehicle in real time;
a navigation module to determine navigation information from a current location to a destination location of the unmanned vehicle;
the interaction module is used for man-machine interaction between a driver and the unmanned vehicle;
and the execution module is used for receiving the control instruction and controlling the vehicle.
2. The unmanned vehicle system of claim 1, wherein: the unmanned vehicle module comprises a sensor and a controller, wherein the sensor is used for the position of the unmanned vehicle, the driving direction of the unmanned vehicle and the obstacle information in the surrounding environment; the controller calculates a control command by using the information detected by the sensor and sends the command to the execution module.
3. The unmanned vehicle system of claim 2, wherein: the sensor includes utilizing a laser sensor and a radar sensor.
4. The unmanned vehicle system of claim 1, wherein: the acquisition module is used for acquiring images around the unmanned vehicle in real time by utilizing image acquisition equipment arranged on the unmanned vehicle.
5. The unmanned vehicle system of claim 1, wherein: the navigation module collects the ground feature information of a target area through the collection module, and the target area comprises an area between the current position and the destination position of the unmanned vehicle.
6. The unmanned vehicle system of claim 1, wherein: the interaction module is used for generating an interaction term, and when a driver interacts with the unmanned vehicle, a control instruction is formed through the interaction term and is transmitted to the execution module to control the driving vehicle.
7. An unmanned method of an unmanned vehicle, employing an unmanned vehicle system of claims 1-6, comprising the steps of:
step 1: the navigation module is used for positioning an unmanned lane area where the unmanned vehicle runs and confirming navigation information from the current position to the destination position of the unmanned vehicle;
step 2: a sensor in the unmanned vehicle module detects the position of the unmanned vehicle, the driving direction of the unmanned vehicle and the obstacle information in the surrounding environment in real time, and transmits the detected external information to the controller in cooperation with an image acquisition device in the acquisition module;
and step 3: the controller receives the information detected by the sensor, calculates a control instruction by using the information and then sends the instruction to the execution module;
and 4, step 4: and the user interacts with the unmanned vehicle according to the interaction terms stored in the interaction module of the unmanned vehicle to form a control instruction which is transmitted to the execution module, and the control instruction controls the speed and/or the steering of the unmanned vehicle.
8. The unmanned method of an unmanned vehicle of claim 1, wherein: in step 2, the image acquisition device in the acquisition module comprises an acquisition camera and a monitoring display end, the camera acquires image information of the surrounding environment of the unmanned vehicle in real time, remotely transmits the acquired image information to the monitoring display end, and finally displays the image information acquired by the acquisition camera on the monitoring display end.
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| CN114265394A (en) * | 2022-02-28 | 2022-04-01 | 徐州徐工重型车辆有限公司 | Wire control system for construction machine and construction machine |
| CN114941710A (en) * | 2022-05-12 | 2022-08-26 | 上海伯镭智能科技有限公司 | Gear switching control method for unmanned mine car |
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