CN204679856U - A kind of Vehicular automatic driving system - Google Patents
A kind of Vehicular automatic driving system Download PDFInfo
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- CN204679856U CN204679856U CN201520107730.1U CN201520107730U CN204679856U CN 204679856 U CN204679856 U CN 204679856U CN 201520107730 U CN201520107730 U CN 201520107730U CN 204679856 U CN204679856 U CN 204679856U
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Abstract
The utility model provides a kind of Vehicular automatic driving system, contributes to improving travel safety.Described system comprises: be fixedly installed in the light source between headstock and front and back wheel, camera head, central controller, vehicle speed measurement instrument and turn to measuring instrument, described camera head, vehicle speed measurement instrument and turn to measuring instrument to be connected with described central controller respectively; Described light source, forms a wordline shape light for sending a wordline shape light beam irradiation ground; Described camera head, forms traffic information when described vehicle is advanced for catching a described wordline shape light and described vehicle-surroundings environmental information; Described vehicle speed measurement instrument, for sensing speed of a motor vehicle when described vehicle is advanced; Describedly turn to measuring instrument, for detecting wheel turning angle degree when described vehicle is advanced caused by steering operation; Described central controller, for controlling the speed of a motor vehicle and the wheel turning angle degree of described vehicle.The utility model embodiment is applicable to Advanced Automotive Automatic Control field.
Description
Technical field
The utility model relates to Advanced Automotive Automatic Control field, refers to a kind of Vehicular automatic driving system especially.
Background technology
Driver keeps an ability of posture control gas pedal for a long time, the comfortableness of driving has no to ensure, and easily produce fatigue, be unfavorable for safelying travel, thus, facilitate the fast development of intelligent transportation, wherein, automatic Pilot and DAS (Driver Assistant System) occupy an important position at intelligent transportation field, and be the important ingredient of of intelligent vehicle speeds control, the quality of its performance has directly had influence on speeds control performance and the precision of intelligent vehicle.The application of intelligent vehicle is to the automatic of vehicle and semi-automatic driving, and speed cruise automatic parking assists driving technology to have important practical significance.The control system of its E-Gas by computing machine, single-chip microcomputer, machinery, electrically, the combination of control technology; Also be simultaneously auxiliary driving and the important component part of active safety technologies, along with people are to the raising of the awareness of safety of traffic and vehicle, it is more and more subject to people's attention.
In recent years, one of Vehicular automatic driving technical issues that need to address be traffic information identification and traffic information recognition speed whether faster than the problem of vehicle speed, the means of identification that prior art uses mainly contains image recognition, infrared ray sensing identification, radar identification and laser three-dimensional scanning identification.These technology are except laser three-dimensional scanning recognition technology, by electronic chart and GPS programme path and be arranged on camera and infrared sensor on vehicle and catch surrounding vehicles, pedestrian, traffic lights thus control vehicle avoiding barrier, and calculate distance by radar, the defect of these technology is the projection that the more ground colors of None-identified are identical or close or groove, when vehicle course there is these out-of-flatnesses projections or groove, vehicle can not be hidden, thus affects traffic safety; To be undertaken catching traffic information by laser 3 d scanner, although can perception road conditions, but there is high-precision moving component to exist in laser 3 d scanner, in the environment being in vibrations, the life-span of this high-precision moving component and precision all can be subject to great impact, and sweep velocity is slow simultaneously, expensive, maintenance and repair cost is high, and these factors constrain its application in Vehicular automatic driving system and popularization all greatly.
Utility model content
The technical problems to be solved in the utility model is to provide a kind of Vehicular automatic driving system, reduces the problem of life-span and precision to solve high-precision moving component in the identical or close projection of more ground colors of None-identified existing for prior art or groove and laser 3 d scanner because of vibrations.
For solving the problems of the technologies described above, the utility model embodiment provides a kind of Vehicular automatic driving system, comprise: be fixedly installed in the light source between headstock and front and back wheel, camera head, central controller, vehicle speed measurement instrument and turn to measuring instrument, described camera head, vehicle speed measurement instrument and turn to measuring instrument to be connected with described central controller respectively;
Described light source, forms a wordline shape light for sending a wordline shape light beam irradiation ground;
Described camera head, forms traffic information when described vehicle is advanced for catching a described wordline shape light and described vehicle-surroundings environmental information, and described traffic information is sent to described central controller;
Described vehicle speed measurement instrument, for sensing speed of a motor vehicle when described vehicle is advanced, and sends described central controller by the described speed of a motor vehicle;
Describedly turning to measuring instrument, for detecting wheel turning angle degree when described vehicle is advanced caused by steering operation, and described wheel turning angle degree being sent to described central controller;
Described central controller, for sending according to the traffic information, the speed of a motor vehicle and the wheel turning angle degree that receive the speed of a motor vehicle and the wheel turning angle degree that steering order controls described vehicle.
Alternatively, described light source comprises: white light, glory, infrared ray, ultraviolet or laser.
Alternatively, described traffic information comprises: terrestrial information and described vehicle-surroundings environmental information, described terrestrial information is ground image information.
Alternatively, described vehicle speed measurement instrument comprises: wheel speed sensor or GPS orientator.
Alternatively, measuring instrument is turned to comprise described in: wheel turning angle degree sensor.
Alternatively, described system also comprises: automatically controlled speed controller, and described automatically controlled speed controller is connected with described central controller, and the steering order for receiving described central controller controls the speed of a motor vehicle of described vehicle.
Alternatively, described system also comprises: automatically controlled steering controller, and described automatically controlled steering controller is connected with described central controller, and the steering order for receiving described central controller controls the wheel turning angle degree of described vehicle.
The beneficial effect of technique scheme of the present utility model is as follows:
In such scheme, the wordline shape light beam irradiation ground sent by the light source be fixedly installed between headstock and front and back wheel forms a wordline shape light, and catch a described wordline shape light and described vehicle-surroundings environmental information by camera head and form traffic information when described vehicle is advanced, and the speed of a motor vehicle obtained when described vehicle is advanced and wheel turning angle degree, finally, send according to the traffic information received, the speed of a motor vehicle and wheel turning angle degree the speed of a motor vehicle and the wheel turning angle degree that steering order controls described vehicle by central controller.Like this, the word linear beam sent by light source can identify terrestrial information, as: the projection that on ground, color is identical or close or groove, thus make, in Vehicular automatic driving process, irregular ground can be evaded, guarantee driving safety; Simultaneously described light source is fixedly mounted on and can solves high-precision moving component in prior art in laser 3 d scanner between described headstock and front and back wheel because of vibrations and reduce the problem of life-span and precision.
Accompanying drawing explanation
The structural representation of the Vehicular automatic driving system that Fig. 1 provides for the utility model embodiment.
[main element symbol description]
1: camera head;
2: vehicle speed measurement instrument;
3: turn to measuring instrument;
4: central controller.
Embodiment
For making the technical problems to be solved in the utility model, technical scheme and advantage clearly, be described in detail below in conjunction with the accompanying drawings and the specific embodiments.
The technical problems to be solved in the utility model is to provide a kind of Vehicular automatic driving system, reduces the problem of life-span and precision to solve high-precision moving component in the identical or close projection of more ground colors of None-identified existing for prior art or groove and laser 3 d scanner because of vibrations.
Shown in Fig. 1, a kind of Vehicular automatic driving system that the utility model embodiment provides, comprise: be fixedly installed in the light source between headstock and front and back wheel, camera head 1, central controller 4, vehicle speed measurement instrument 2 and turn to measuring instrument 3, described camera head 1, vehicle speed measurement instrument 2 and turn to measuring instrument 3 to be connected with described central controller 4 respectively;
Described light source, forms a wordline shape light for sending a wordline shape light beam irradiation ground;
Described camera head 1, forms traffic information when described vehicle is advanced for catching a described wordline shape light and described vehicle-surroundings environmental information, and described traffic information is sent to described central controller 4;
Described vehicle speed measurement instrument 2, for sensing speed of a motor vehicle when described vehicle is advanced, and sends described central controller 4 by the described speed of a motor vehicle;
Describedly turning to measuring instrument 3, for detecting wheel turning angle degree when described vehicle is advanced caused by steering operation, and described wheel turning angle degree being sent to described central controller 4;
Described central controller 4, for sending according to the traffic information, the speed of a motor vehicle and the wheel turning angle degree that receive the speed of a motor vehicle and the wheel turning angle degree that steering order controls described vehicle.
Vehicular automatic driving system described in the utility model embodiment, the wordline shape light beam irradiation ground sent by the light source be fixedly installed between headstock and front and back wheel forms a wordline shape light, and catch a described wordline shape light and described vehicle-surroundings environmental information by camera head 1 and form traffic information when described vehicle is advanced, and the speed of a motor vehicle obtained when described vehicle is advanced and wheel turning angle degree, finally, by central controller 4 according to the traffic information received, the speed of a motor vehicle and wheel turning angle degree send the speed of a motor vehicle and the wheel turning angle degree that steering order controls described vehicle.Like this, the word linear beam sent by light source can identify terrestrial information, as: the projection that on ground, color is identical or close or groove, thus make, in Vehicular automatic driving process, irregular ground can be evaded, guarantee driving safety; Simultaneously described light source is fixedly mounted on and can solves high-precision moving component in prior art in laser 3 d scanner between described headstock and front and back wheel because of vibrations and reduce the problem of life-span and precision.
In the embodiment of aforementioned vehicle automated driving system, alternatively, described light source comprises: white light, glory, infrared ray, ultraviolet or laser.
In the utility model embodiment, described vehicle can be not only automobile, can also be agri-vehicle or various engineering truck, described camera head 1 can be camera, such as, described vehicle can be sugar-cane cutting machine, by described light source, such as, ultraviolet, between the headstock being fixedly mounted on described sugar-cane cutting machine and front and back wheel, when advancing when between the field of described sugar-cane cutting machine in sugarcane field, described light source can send the ground that a word linear beam to irradiate when described sugar-cane cutting machine is advanced all around in real time and form a wordline shape light, catch a described wordline shape light by camera again and irradiate the plane picture that formed of ground, when ground is uneven, image lattice can form the different some linear image of the height corresponding from it, and obtain X-axis size or the Y-axis size storing of each point of image, distance is determined again by the speed of a motor vehicle, thus the terrestrial information obtained when described sugar-cane cutting machine is advanced all around, described terrestrial information comprises: terrain information (comprising: the projection that on ground, color is identical or close or groove), driving boundary line and Lane Mark.Each camera can only catch a wordline shape light or catch many wordline shape light.Like this, the word linear beam sent by described light source to irradiate when described sugar-cane cutting machine is advanced terrestrial information all around in real time, for identifying the important evidence of traffic information in described Vehicular automatic driving process, and described light source irradiation speed is fast, cheap, is convenient to widespread adoption and popularization.
In the utility model embodiment, also catch described vehicle-surroundings environmental information by described camera, described vehicle-surroundings environmental information comprises: the distance of isolation guardrail, traffic sign, direction of traffic barrier all around, vehicle and people and relative velocity.
In the utility model embodiment, such as, the ground image information that camera can be captured or described vehicle-surroundings environmental information transfer to described central controller 4 by general packet radio service technology (General Packet Radio Service, GPRS) or WiMAX (WIFI) or wireless communication module.
In the embodiment of aforementioned vehicle automated driving system, alternatively, described traffic information comprises: terrestrial information and described vehicle-surroundings environmental information, described terrestrial information is ground image information.
In the utility model embodiment, ground image information all around when being advanced according to the described vehicle received by central controller 4, after determining that a described word linear beam irradiates on the ground, left and right directions when the described vehicle of formation is advanced and the two-dimentional traffic information perpendicular to described vehicle chassis in-plane; Again by described central controller 4 according to the described speed of a motor vehicle received and wheel turning angle degree, determine position when described vehicle is advanced and travel track information; Finally, according to the point image array of the described ground image information that described position and travel track information and synchronization obtain, form three-dimensional traffic information when described vehicle is advanced by described central controller 4, described three-dimensional traffic information is for identifying the important evidence of traffic information in described Vehicular automatic driving process.
In the embodiment of aforementioned vehicle automated driving system, alternatively, described vehicle speed measurement instrument 2 comprises: wheel speed sensor or GPS (Global Positioning System, GPS) orientator.
In the embodiment of aforementioned vehicle automated driving system, alternatively, measuring instrument 3 is turned to comprise described in: wheel turning angle degree sensor.
In the utility model embodiment, such as, described wheel turning angle degree sensor can comprise: rotating disc, this rotating disc can be connected with the bearing circle of described vehicle, to make described rotating disc can be driven to rotate during the wheel steering of described vehicle, thus the steering angle in described vehicle operation caused by steering operation can be detected by described wheel turning angle degree sensor, sense speed of a motor vehicle when described vehicle is advanced by vehicle speed sensor simultaneously, and the speed of a motor vehicle of described vehicle when advancing and wheel turning angle degree transfer to described central controller 4 by GPRS or WIFI or wireless communication module.
In the embodiment of aforementioned vehicle automated driving system, alternatively, described system also comprises: automatically controlled speed controller, and described automatically controlled speed controller is connected with described central controller 4, and the steering order for receiving described central controller 4 controls the speed of a motor vehicle of described vehicle.
In the embodiment of aforementioned vehicle automated driving system, alternatively, described system also comprises: automatically controlled steering controller, described automatically controlled steering controller is connected with described central controller 4, and the steering order for receiving described central controller 4 controls the wheel turning angle degree of described vehicle.
In the utility model embodiment, according to described three-dimensional traffic information and vehicle-surroundings environmental information, as: terrain information (planarization on ground), driving boundary line, Lane Mark, road width, isolation guardrail, traffic sign, direction of traffic barrier all around, the distance of vehicle and people and described vehicle and the speed relative to described vehicle, the current vehicle speed of described vehicle, position and travel track information send by described central controller 4 steering order reasonably to control described vehicle acceleration by automatically controlled speed controller, slow down and stop, and the wheel turning angle degree of described vehicle is reasonably controlled by automatically controlled steering controller, thus make in described Vehicular automatic driving process, can avoiding barrier and dangerous road conditions automatically, ensure traffic safety.
The above is preferred implementation of the present utility model; should be understood that; for those skilled in the art; under the prerequisite not departing from principle described in the utility model; can also make some improvements and modifications, these improvements and modifications also should be considered as protection domain of the present utility model.
Claims (7)
1. a Vehicular automatic driving system, it is characterized in that, comprise: be fixedly installed in the light source between headstock and front and back wheel, camera head, central controller, vehicle speed measurement instrument and turn to measuring instrument, described camera head, vehicle speed measurement instrument and turn to measuring instrument to be connected with described central controller respectively;
Described light source, forms a wordline shape light for sending a wordline shape light beam irradiation ground;
Described camera head, forms traffic information when described vehicle is advanced for catching a described wordline shape light and described vehicle-surroundings environmental information, and described traffic information is sent to described central controller;
Described vehicle speed measurement instrument, for sensing speed of a motor vehicle when described vehicle is advanced, and sends described central controller by the described speed of a motor vehicle;
Describedly turning to measuring instrument, for detecting wheel turning angle degree when described vehicle is advanced caused by steering operation, and described wheel turning angle degree being sent to described central controller;
Described central controller, for sending according to the traffic information, the speed of a motor vehicle and the wheel turning angle degree that receive the speed of a motor vehicle and the wheel turning angle degree that steering order controls described vehicle.
2. Vehicular automatic driving system according to claim 1, is characterized in that, described light source comprises: white light, glory, infrared ray, ultraviolet or laser.
3. Vehicular automatic driving system according to claim 1, is characterized in that, described traffic information comprises: terrestrial information and described vehicle-surroundings environmental information, described terrestrial information is ground image information.
4. Vehicular automatic driving system according to claim 1, is characterized in that, described vehicle speed measurement instrument comprises: wheel speed sensor or GPS orientator.
5. Vehicular automatic driving system according to claim 1, is characterized in that, described in turn to measuring instrument to comprise: wheel turning angle degree sensor.
6. Vehicular automatic driving system according to claim 1, it is characterized in that, also comprise: automatically controlled speed controller, described automatically controlled speed controller is connected with described central controller, and the steering order for receiving described central controller controls the speed of a motor vehicle of described vehicle.
7. Vehicular automatic driving system according to claim 1, it is characterized in that, also comprise: automatically controlled steering controller, described automatically controlled steering controller is connected with described central controller, and the steering order for receiving described central controller controls the wheel turning angle degree of described vehicle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520107730.1U CN204679856U (en) | 2015-02-14 | 2015-02-14 | A kind of Vehicular automatic driving system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520107730.1U CN204679856U (en) | 2015-02-14 | 2015-02-14 | A kind of Vehicular automatic driving system |
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| CN204679856U true CN204679856U (en) | 2015-09-30 |
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| CN201520107730.1U Expired - Fee Related CN204679856U (en) | 2015-02-14 | 2015-02-14 | A kind of Vehicular automatic driving system |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104843000A (en) * | 2015-02-14 | 2015-08-19 | 黄华 | Automatic driving system and method of vehicle |
| CN106125731A (en) * | 2016-07-21 | 2016-11-16 | 上海海事大学 | A kind of automatic driving vehicle kinetic control system and method travelling intention assessment based on front vehicle |
| CN108475055A (en) * | 2016-01-08 | 2018-08-31 | 伟摩有限责任公司 | Spare Trajectory System for autonomous vehicle |
| CN108733026A (en) * | 2017-04-25 | 2018-11-02 | 福特全球技术公司 | Dynamic remote control relocation method based on the degree of approach with vehicle and equipment |
-
2015
- 2015-02-14 CN CN201520107730.1U patent/CN204679856U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104843000A (en) * | 2015-02-14 | 2015-08-19 | 黄华 | Automatic driving system and method of vehicle |
| CN104843000B (en) * | 2015-02-14 | 2017-05-17 | 黄华 | Automatic driving system and method of vehicle |
| CN108475055A (en) * | 2016-01-08 | 2018-08-31 | 伟摩有限责任公司 | Spare Trajectory System for autonomous vehicle |
| CN108475055B (en) * | 2016-01-08 | 2021-06-11 | 伟摩有限责任公司 | Backup trajectory system for autonomous vehicles |
| CN106125731A (en) * | 2016-07-21 | 2016-11-16 | 上海海事大学 | A kind of automatic driving vehicle kinetic control system and method travelling intention assessment based on front vehicle |
| CN106125731B (en) * | 2016-07-21 | 2019-01-11 | 上海海事大学 | A kind of automatic driving vehicle kinetic control system and method based on the identification of front vehicle driving intention |
| CN108733026A (en) * | 2017-04-25 | 2018-11-02 | 福特全球技术公司 | Dynamic remote control relocation method based on the degree of approach with vehicle and equipment |
| CN108733026B (en) * | 2017-04-25 | 2023-12-08 | 福特全球技术公司 | Dynamic remote control reconfiguration method and apparatus based on proximity to a vehicle |
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Granted publication date: 20150930 Termination date: 20210214 |
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| CF01 | Termination of patent right due to non-payment of annual fee |