CN206147340U - Vehicle automatic driving system - Google Patents
Vehicle automatic driving system Download PDFInfo
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- CN206147340U CN206147340U CN201621164091.3U CN201621164091U CN206147340U CN 206147340 U CN206147340 U CN 206147340U CN 201621164091 U CN201621164091 U CN 201621164091U CN 206147340 U CN206147340 U CN 206147340U
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- automatic driving
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Abstract
The application discloses vehicle automatic driving system. Wherein this system includes: orientation module for provide the locating information, a central processing unit is used for the basis orientation module provides locating information and planning path generate control signal, and H bridge drive unit, be used for the basis a central processing unit generates control signal drives hydraulic proportional valve, hydraulic proportional valve is used for control the motion of vehicle. According to the technical scheme of this application embodiment, can reduce cost.
Description
Technical field
This utility model discloses one kind and is related to automatic Pilot technical field, more particularly to a kind of Vehicular automatic driving system.
Background technology
At present, vehicle automatically control be generally based on GNSS (Global Navigation Satellite System,
GLONASS) automatic control technology, it adopts GNSS to position, then in conjunction with the path planning being pre-designed
To automatically control.But, typically driven using independent hydraulic pressure valve control unit, VCU in the automatic control technology based on GNSS
Dynamic proportioning valve motion, so as to control the motion of vehicle.But independent hydraulic pressure valve control unit, VCU is typically provided by third party, therefore
It is relatively costly.
Utility model content
In view of drawbacks described above of the prior art or deficiency, expect to provide a kind of Vehicular automatic driving method and system, can
With reduces cost.
In a first aspect, embodiment of the present utility model provides a kind of Vehicular automatic driving system, comprising：Positioning mould
Block, for providing location information；CPU, for the location information that provided according to the locating module and planning
Path, generates control signal；And H bridge driver elements, for the control signal generated according to the CPU,
To drive hydraulic proportion valve, the hydraulic proportion valve to be used to control the motion of the vehicle.
Second aspect, the Vehicular automatic driving system, also includes：
Micro electronmechanical inertial navigation module, for obtaining the gyroscope information of the vehicle；
The CPU, for the top provided according to the location information, the micro electronmechanical inertial navigation module
Spiral shell instrument information and the path planning are generating the control signal.
The third aspect, the locating module includes：
Global navigation satellite system receiver, for according to the satellite-signal for obtaining, obtaining the location information.
Wherein, the locating module also includes：
Receptor, for receiving the differential correcting data from base station；
The global navigation satellite system receiver, for according to the satellite-signal and the differential correcting data,
Obtain the location information.
Wherein, the receptor sends the differential correcting data to the whole world and leads by the CPU
Boat satellite systems receiver.
Wherein, the Vehicular automatic driving system, also includes：
Wheel angle transducer, for gathering the angle information of the front-wheel of the vehicle；
The CPU, specifically for according to the location information, the gyroscope information, wheel angle sensing
The angle information and the path planning of device collection, generates the control signal.
Wherein, the location information includes：The course information of the positional information of the vehicle and the vehicle.
Wherein, the Vehicular automatic driving system, also includes：
Current sensor, is arranged between the H bridges driver element and the hydraulic proportion valve, for detecting the H bridges
The output current of driver element, and feed back to the CPU；
The CPU, is additionally operable to the feedback according to the current sensor, adjusts the control signal.
Wherein, the Vehicular automatic driving system, also includes：
Display with input function, for receiving the path planning, and is supplied to the CPU.
According to the technical scheme that the embodiment of the present application is provided, by being driven hydraulic proportion valve by H bridges driver element, therefore
Compared to existing independent hydraulic pressure valve control unit, VCU, the cost of Vehicular automatic driving system can be significantly reduced.
Further, according to some embodiments of the application, by the integrated micro-electro-mechanical inertial navigation mould in automated driving system
Block, on the one hand can be with reduces cost.On the other hand the gyroscope information for being provided using micro electronmechanical inertial navigation module controls letter to generate
Number, it is possible to achieve more accurately control.Therefore, this utility model embodiment can realize the high accuracy control to vehicle with low cost
System.
Description of the drawings
By reading the detailed description made to non-limiting example made with reference to the following drawings, the application other
Feature, objects and advantages will become more apparent upon：
Fig. 1 is the schematic diagram of the embodiment of framework of the present utility model；
Fig. 2 is the structural representation of the first embodiment of Vehicular automatic driving system of the present utility model；
Fig. 3 is the structural representation of the second embodiment of Vehicular automatic driving system of the present utility model；
Fig. 4 is the structural representation of the 3rd embodiment of Vehicular automatic driving system of the present utility model；
Fig. 5 is the structural representation of the 4th embodiment of Vehicular automatic driving system of the present utility model；
Fig. 6 is the structural representation of the 5th embodiment of Vehicular automatic driving system of the present utility model；
Fig. 7 is the schematic flow sheet of the first embodiment of Vehicular automatic driving method of the present utility model；
Fig. 8 is the schematic flow sheet of the second embodiment of Vehicular automatic driving method of the present utility model.
Specific embodiment
The application is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining relevant utility model, rather than the restriction to the utility model.Further need exist for explanation
, for the ease of description, the part related to utility model is illustrate only in accompanying drawing.
It should be noted that in the case where not conflicting, the feature in embodiment and embodiment in the application can phase
Mutually combination.Below with reference to the accompanying drawings and in conjunction with the embodiments describing the application in detail.
As shown in figure 1, being the schematic diagram of the embodiment of framework of the present utility model.It includes：Vehicular automatic driving system
100th, base station 102, satellite 104 and vehicle 106.Wherein, Vehicular automatic driving system 100 can obtain difference and change from base station 102
Correction data, the differential correcting data can be used to improve positioning precision, it should be noted that this base station 102 and nonessential elements,
In some embodiments it is possible to there is no the base station 102, i.e. Vehicular automatic driving system 100 does not obtain the differential correcting data.
In addition, Vehicular automatic driving system 100 can obtain signal from multiple satellites 104, to realize positioning.In position fixing process, car
Automated driving system 100 can utilize the signal and the differential correcting data from base station 102 obtained from satellite 104, with
To accurate location information, such as current location and course (i.e. travel direction) information of vehicle；It should be noted that vehicle is certainly
Autocontrol system is installed in vehicle 106.Wherein, Vehicular automatic driving system 100 is according to the location information and planning for determining
Path controlling the motion of vehicle so that vehicle is travelled according to path planning.
Lower mask body is illustrated to the embodiment of above-mentioned Vehicular automatic driving system.
As shown in Fig. 2 being the structural representation of the first embodiment of Vehicular automatic driving system of the present utility model 100.
It includes：Locating module 202, CPU (CPU) 204, H bridges driver element 206 and hydraulic proportion valve 208.
Wherein, CPU 204 is connected respectively with locating module 202 and H bridges driver element 206.
Wherein, locating module 202, for providing location information.And CPU 204, for according to locating module
202 location informations for providing and path planning, generate control signal, and transport to H bridges driver element 206.And H bridge driver elements
206, hydraulic proportion valve 208 is driven for the control signal generated according to CPU 204, so as to control vehicle
Motion.Wherein, the drive signal that hydraulic proportion valve 208 can be provided according to H bridges driver element 206, such as PWM (Pulse-Width
Modulation, pulsewidth modulation) current signal driving the steering cylinder of vehicle, so as to realize the course changing control of vehicle.
Present embodiment, hydraulic proportion valve 208 is driven by H bridges driver element 206, therefore independent compared to existing
Hydraulic pressure valve control unit, VCU, can significantly reduce the cost of Vehicular automatic driving system.It should be noted that CPU
204 and H bridge driver elements 206 can be integrated into a unit.In addition, CPU 204, H bridges driver element 206 and fixed
Position module 202 can also be integrated into a unit, to improve the degree of integration of system.
As shown in figure 3, being the structural representation of the second embodiment of Vehicular automatic driving system of the present utility model 100
Figure.Fig. 3 embodiments are similar with Fig. 2 embodiments, and both differs primarily in that：In H bridges driver element 206 and hydraulic proportional
On the signal transduction path of valve 208, current sensor 207 is provided with.The current sensor 207 is used to gather H bridge driver elements
The electric current of the signal of 206 outputs, and by the current feedback for collecting to CPU 204.In this embodiment, H bridges
Driver element 206 is mainly used in being amplified process to the signal of the output of CPU 204, then using the letter after amplifying
Number driving hydraulic proportion valve 208, and the electric current of the collection of current sensor 207 can react the letter of the output of H bridges driver element 206
Number intensity, therefore CPU 204 can be according to the current signal of the collection of current sensor 207 judging whether needs
The intensity of the control signal of H bridges driver element 206 is transported in reinforcement, and the wherein control signal is PWM current signals.
Present embodiment, by means of current sensor 207, CPU 204 can in time adjust control signal
Intensity, so as to ensure that the signal that H bridges driver element 206 is exported can effectively drive hydraulic proportion valve 208, so as to ensure to car
Control.
As shown in figure 4, being the structural representation of the 3rd embodiment of Vehicular automatic driving system of the present utility model.Figure
4 embodiment is substantially similar with the embodiment of Fig. 2, and both main difference is that, also wrap in the embodiment illustrated in fig. 4
Include：Micro electronmechanical (Micro-electromechanical Systems, MEMS) inertial navigation module 205, for obtaining the gyro of vehicle
Instrument information.And CPU 204, for according to location information, micro electronmechanical inertial navigation module 205 provide gyroscope information with
And path planning is generating control signal.Wherein, the micro electronmechanical inertial navigation module 205 can aid in CPU 204
Positional information and attitude (including course) information of real-time high-precision vehicle etc. are obtained according to the information and location information,
So as to contribute to realizing the precise control to vehicle.Also, the cost of micro electronmechanical inertial navigation module 205 is very low, hence help to
The mode of low cost is obtaining positional information and attitude (including the course) information etc. of high-precision vehicle.
As shown in figure 5, being the structural representation of the 4th embodiment of Vehicular automatic driving system of the present utility model.Figure
5 embodiment is substantially similar with the embodiment of Fig. 4, and both main difference is that, also wraps in the embodiment of Fig. 5
Include：Wheel angle transducer 209, for the angle information of the front-wheel of collection vehicle.Then CPU 204, specifically for root
According to location information, gyroscope information, the angle information of the wheel collection of angle transducer 209 and path planning, control signal is generated.Its
In, the angle information for taking turns the front-wheel of the vehicle of the collection of angle transducer 209 is determined for the motion model of vehicle, and is generating
During control signal, it is considered to the motion model of vehicle, contribute to that vehicle is realized more accurately to control.
As shown in fig. 6, being the structural representation of the 5th embodiment of Vehicular automatic driving system of the present utility model.Figure
6 embodiment is substantially similar with the embodiment of Fig. 2, and both main difference is that, locating module therein 202 includes：
GLONASS (Global Navigation Satellite System, GNSS) receiver 2022, for obtaining
Satellite-signal, and according to obtain satellite-signal obtain location information, wherein the location information (such as uses longitude and latitude including position
The actual physical location of expression) and course information (such as the travel direction of vehicle).And receptor 2024, for receiving from base
The differential correcting data stood.Wherein, GNSS receiver 2022 can be realized more accurately positioning using the differential correcting data,
Obtain more accurately location information.Wherein, the receptor 2024 can not be directly connected to the GNSS receiver 2022, but
It is connected with CPU 204, differential correcting data is sent to GNSS receiver 2022 by CPU 204.Such as
This reason for is that the possible GNSS receiver 2022 of form of the differential correcting data that receptor 2024 is received cannot directly be located
Reason, therefore its car can be changed to into the form that GNSS receiver 2022 is capable of identify that and processes by CPU 204, then
Send GNSS receiver 2022 to process.In addition, receptor 2024 can be radio station receptor, to receive the difference of base station broadcast
Divide correction data, or receptor 2024 is GPRS (General Packet Radio Service, universal packet wireless business
Business) communication module, to receive the differential correcting data from base station by the way of GPRS.
It should be noted that the Vehicular automatic driving system 100 that above each embodiment is described only is example, rather than it is right
Restriction of the present utility model.For example in some embodiments, the Vehicular automatic driving system 100 can also include：Display
(such as display screen with input function, it can provide human-computer interaction interface, so that user can be input into planning
Path), analog-digital converter, power module and/or memorizer, etc..Wherein display is used to provide display function, for example, show
Real-time position location；In addition, the display can also have touch controllable function.Wherein, power module may be used for aforesaid
Each module for power supply.It should be noted that the acquisition modes of path planning have many, however it is not limited to obtained by display, example
Path planning can be such as prestored, or is obtained from server by network, or be obtained by special input equipment
Take.
It is noted that each module involved in above-mentioned embodiment is logic module, in actual applications,
One logical block can be a part for a physical location, or a physical location, can be with multiple physics
The combination of unit is realized.Additionally, in order to project innovative part of the present utility model, will not be with solution originally in present embodiment
The less close unit of technical problem relation that utility model is proposed is introduced, but this is not intended that in present embodiment do not exist
Other units.
As shown in fig. 7, being Vehicular automatic driving method corresponding with the Vehicular automatic driving system that this utility model is provided
First embodiment schematic flow sheet.It comprises the steps：
Step 702：Locating module provides location information.
Step 704：The location information and path planning that CPU is provided according to the locating module, generate
Control signal.
Step 706：The control signal that H bridges driver element is generated according to the CPU is driving hydraulic pressure
Proportioning valve.And
Step 708：Hydraulic proportion valve controls the motion of the vehicle under the driving of the control signal.
It should be noted that present embodiment is corresponding with the first embodiment of aforesaid Vehicular automatic driving system,
Therefore present embodiment can work in coordination enforcement with the first embodiment of aforesaid Vehicular automatic driving system.Aforesaid vehicle
The relevant technical details mentioned in the first embodiment of automated driving system are still effective in the present embodiment, in order to reduce
Repeat, repeat no more here.
Present embodiment, hydraulic proportion valve is driven by H bridges driver element, therefore compared to existing independent hydraulic valve
Control unit, can significantly reduce the cost of Vehicular automatic driving system.
As shown in figure 8, being the schematic flow sheet of the second embodiment of Vehicular automatic driving method.It includes following step
Suddenly：
Step 802：Locating module provides location information.
Step 804：Micro electronmechanical inertial navigation module is obtaining the gyroscope information of the vehicle.
Step 806：CPU generates control signal according to location information, gyroscope information and path planning.
Step 808：The control signal that H bridges driver element is generated according to the CPU is driving hydraulic pressure
Proportioning valve.And
Step 810：Hydraulic proportion valve controls the motion of the vehicle under the driving of the control signal.
It should be noted that present embodiment is corresponding with the 3rd embodiment of aforesaid Vehicular automatic driving system,
Therefore present embodiment can work in coordination enforcement with the 3rd embodiment of aforesaid Vehicular automatic driving system.Aforesaid vehicle
The relevant technical details mentioned in 3rd embodiment of automated driving system are still effective in the present embodiment, in order to reduce
Repeat, repeat no more here.
With reference to Fig. 2～6, besides another detailed embodiment of bright Vehicular automatic driving method.The wherein embodiment party
The flow process of formula includes：
1), differential correcting data (positional information of base station) are obtained from base station by receptor 2024.
2), the differential correcting data for receiving are transferred to into CPU204 process, and by CPU204 by after process
Differential correcting data are transferred to GNSS receiver 2022.
3), GNSS receiver 2022 by GNSS antenna obtain satellite-signal, and by obtain satellite-signal and reception
To differential correcting data merged, obtain the positional information and course information of vehicle, and the position letter that fusion is obtained
Breath and course information return to CPU204.
4), CPU204 is by the vehicle position information received from GNSS receiver 2022 and course information and from MEMS inertial navigations
The gyroscope information of the vehicle that module 205 is obtained is merged, so as to obtain real-time high-precision vehicle position information and
Vehicle-posture information.
5), CPU204 Real-time Collections vehicle front wheel angle.Such as by taking turns angle transducer 209.
6), CPU204 obtains user's path planning；
7), CPU204 converts path planning and real-time vehicle position and attitude information to same local coordinate system, and root
Converted according to vehicle movement model (vehicle front wheel angle), generated feedback control amount.It is such as that path planning is current with vehicle
Travel path is compared, and obtains deviation controlled quentity controlled variable.
8), feedback control amount (i.e. control signal) is converted into PWM current signals by CPU204, and by H bridge driver elements
206 export to hydraulic proportion valve 208.
9), the PWM current signals of the process of hydraulic proportion valve 208 input, and the steering cylinder of oil pressure actuated vehicle is converted into,
Further realize the course changing control of vehicle.
Above description is only the preferred embodiment of the application and the explanation to institute's application technology principle.People in the art
Member should be appreciated that utility model scope involved in the application, however it is not limited to the particular combination of above-mentioned technical characteristic
Technical scheme, while also should cover in the case where conceiving without departing from the utility model, by above-mentioned technical characteristic or its equivalent
Other technical schemes that feature carries out combination in any and formed.Such as features described above has with (but not limited to) disclosed herein
The technical scheme that the technical characteristic for having similar functions is replaced mutually and formed.
Claims (9)
1. a kind of Vehicular automatic driving system, it is characterised in that include：
Locating module, for providing location information；
CPU, for the location information provided according to path planning and the locating module, generates control letter
Number；And
H bridge driver elements, for the control signal generated according to the CPU hydraulic proportion valve is driven,
The hydraulic proportion valve is used to control the motion of the vehicle.
2. Vehicular automatic driving system according to claim 1, it is characterised in that also include：
Micro electronmechanical inertial navigation module, for obtaining the gyroscope information of the vehicle；
The CPU, for the gyroscope provided according to the location information, the micro electronmechanical inertial navigation module
Information and the path planning are generating the control signal.
3. Vehicular automatic driving system according to claim 1, it is characterised in that the locating module includes：
Global navigation satellite system receiver, for according to the satellite-signal for obtaining, obtaining the location information.
4. Vehicular automatic driving system according to claim 3, it is characterised in that the locating module also includes：
Receptor, for receiving the differential correcting data from base station；
The global navigation satellite system receiver, for according to the satellite-signal and the differential correcting data, obtaining
The location information.
5. Vehicular automatic driving system according to claim 4, it is characterised in that the receptor is by the centre
Reason unit sends the differential correcting data to the global navigation satellite system receiver.
6. Vehicular automatic driving system according to claim 2, it is characterised in that also include：
Wheel angle transducer, for gathering the angle information of the front-wheel of the vehicle；
The CPU, specifically for being adopted according to the location information, the gyroscope information, the wheel angle transducer
The angle information and the path planning of collection, generates the control signal.
7. Vehicular automatic driving system according to claim 1, it is characterised in that the location information includes：The car
Positional information and the vehicle course information.
8. Vehicular automatic driving system according to claim 1, it is characterised in that also include：
Current sensor, is arranged between the H bridges driver element and the hydraulic proportion valve, for detecting that the H bridges drive
The output current of unit, and feed back to the CPU；
The CPU, is additionally operable to the feedback according to the current sensor, adjusts the control signal.
9. Vehicular automatic driving system as claimed in claim 1, it is characterised in that also include：
Display with input function, for receiving the path planning, and is supplied to the CPU.
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| CN201621164091.3U CN206147340U (en) | 2016-11-01 | 2016-11-01 | Vehicle automatic driving system |
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| CN201621164091.3U CN206147340U (en) | 2016-11-01 | 2016-11-01 | Vehicle automatic driving system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106569492A (en) * | 2016-11-01 | 2017-04-19 | 西安合众思壮导航技术有限公司 | Vehicle automatic driving method and system |
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- 2016-11-01 CN CN201621164091.3U patent/CN206147340U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106569492A (en) * | 2016-11-01 | 2017-04-19 | 西安合众思壮导航技术有限公司 | Vehicle automatic driving method and system |
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