CN208376738U - A kind of vehicle control system based on intelligent driving technology, device - Google Patents
A kind of vehicle control system based on intelligent driving technology, device Download PDFInfo
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- CN208376738U CN208376738U CN201820010484.1U CN201820010484U CN208376738U CN 208376738 U CN208376738 U CN 208376738U CN 201820010484 U CN201820010484 U CN 201820010484U CN 208376738 U CN208376738 U CN 208376738U
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Abstract
The utility model discloses a kind of vehicle control systems based on intelligent driving technology, device, belong to intelligent driving technical field.The system comprises: vehicle data acquisition device interconnected, external communication device and master controller, the vehicle data acquisition device includes environment sensing data acquisition module, vehicle sensory data acquisition module and positioning navigation data obtain module, the environment sensing data acquisition module is used to obtain the first driving data by vehicle environmental sensory perceptual system, the vehicle sensory data acquisition module is used to obtain the second driving data by vehicle other sensors and vehicle communication network, the positioning navigation data obtains module and is used to obtain third driving data by Vehicle positioning navigation apparatus；The external communication device includes communication module, and the communication module obtains the 4th driving data for being communicated with traffic information interactive service center, traffic information cloud server and/or other vehicle servers based on Internet of Things.
Description
Technical field
The utility model relates to intelligent driving technical field, in particular to a kind of vehicle control based on intelligent driving technology
System, device.
Background technique
As communications industry is increasingly developed in intelligent driving technical aspect, various clouds and big data analysis and processing skill
Art also starts to be applied to public traffic field.And with the opening of communications protocol partial data between vehicle factor, intelligent transportation vehicle
It communicates and is possibly realized between vehicle, this brings new development contract for existing intelligent driving control technology especially active safety technologies
Machine.Active safety technologies are superficial to be defined on the stage before collision occurs, the related warning done by vehicle by driver and master
It is dynamic to intervene the movement such as adjustment, in order to avoid collision or protect driver as far as possible.Active safety technologies include that vehicle body is steady at present
Determine system, lane is kept, driver fatigue warning, crossroad urban safety system, emergency braking system, adaptive cruise system
System, congestion auxiliary system, pedestrian or bicycle identification system, front end miscellaneous function etc..When intelligent transportation cloud mechanics of communication
When reaching 5G level, vehicle can pass between vehicle and vehicle under intelligent transportation environment with accurate vehicle position in 10cm precision grade
Transmission of data transmission precision reaches 1ms, complete in intelligent high-speed facility and have perfect cloud data processing, and vehicle and vehicle are handed over
Mutual various data, bring more engineering feasibilities to intelligent driving control field.
In addition, along with car networking concept introduce, and along with the environment sensings such as laser radar, high-precision map and
GPS signal positioning and data fusion, the fast development of big data cloud, can not only enrich intelligent network traffic concept, also for
Information is provided between vehicle and vehicle to cross convenience, is realized in complicated weather and transportation condition vehicle-periphery sense
Know, new functions expanding is provided for intelligent driving technology.
Utility model content
In order to solve problems in the prior art, the utility model embodiment provides a kind of vehicle based on intelligent driving technology
Control system, device.The technical solution is as follows:
In a first aspect, a kind of vehicle control system based on intelligent driving technology is provided, and the system comprises: mutually interconnect
Vehicle data acquisition device, external communication device and the master controller connect, wherein the vehicle data obtains dress
It sets and obtains module, the ring including environment sensing data acquisition module, vehicle sensory data acquisition module and positioning navigation data
Border perception data obtains module and is used to obtain the first driving data by vehicle environmental sensory perceptual system, and the vehicle sensory data obtain
Modulus block is used to obtain the second driving data by vehicle other sensors and vehicle communication network, and the positioning navigation data obtains
Modulus block is used to obtain third driving data by Vehicle positioning navigation apparatus；The external communication device includes communication module,
The communication module be used for based on Internet of Things traffic information interactive service center, traffic information cloud server and/or its
He communicates vehicle server, obtains the 4th driving data；The master controller is used for: being controlled the vehicle data and is obtained
Device and external communication device is taken to carry out data acquisition and communication, according to first driving data, the second driving data, third
Driving data, the 4th driving data, which determine, drives adjustable strategies, and executes in the case where meeting preset condition and drive adjustment plan
Slightly.
With reference to first aspect, in the first possible implementation, the vehicle environmental sensory perceptual system includes: Multifunction
As head, millimetre-wave radar, laser radar and/or ultrasonic radar, first driving data includes spacing, surrounding vehicles distribution
Position, pedestrian, bicycle, large obstacle, curb, lane line, crossroad and/or traffic marking related data.
With reference to first aspect, in second of possible implementation, second driving data includes this vehicle real time running
Track, this vehicle speed of operation, his vehicle real time running track, his vehicle speed of operation and/or his vehicle air bag blasting information.
With reference to first aspect, in the third possible implementation, the third driving data include this vehicle spatial position,
The related data of traffic data information of navigating and/or road surface characteristic value.
With reference to first aspect, in the 4th kind of possible implementation, the 4th driving data includes ITS Information
With vehicle communication interactive information, the ITS Information includes temporarily repairing waypoint information and/or traffic accident location information, institute
Stating vehicle communication interactive information includes vehicle speed information, braking information and/or dangerous working condition information.
With reference to first aspect, in the 5th kind of possible implementation, the master controller further includes data fusion module, should
Data fusion module is used to carry out first driving data, the second driving data, third driving data, the 4th driving data
Data analysis and process obtains analysis and processing result；The master controller is determined according to the analysis and processing result drives adjustment
Strategy, and executed in the case where meeting preset condition and drive adjustable strategies.
With reference to first aspect and first, second, third and fourth and five kind of possible implementation of first aspect, the six, the seven, eight,
Nine, in a kind of ten, ten possible implementations, the preset condition includes determining his vehicle accident, determining that front road conditions are bad, determine
Front has large obstacle and/or front to have a temporary repair mark, it is described drive steering wheel shake that adjustable strategies include this vehicle,
Instrument warning, the display that comes back, audible alert, voice prompting and/or implementation pro-active intervention evacuation.
The six, the seven, eight, nine, ten, ten a kind of possible implementations with reference to first aspect, the 12nd, 13,14,
15,16, in 17 kind of possible implementation, the implementation pro-active intervention process includes: to implement pro-active intervention and keep away when meeting
When the preset condition allowed, the master controller issues corresponding actively evacuation request；Judge whether this vehicle speed is in preset threshold
Range is adjusted, so when the judgment result is yes by corner, torque and/or the driving torque of the EPS turning machine of this vehicle
Judge whether ESP electronic control unit fails afterwards, be, carries out electronics parking brake single-wheel braking, otherwise carry out unilateral hydraulic wheel braking；
When the judgment result is no, it is adjusted by the corner of driving torque and/or EPS turning machine, torque.
Second aspect, provides a kind of controller of vehicle based on intelligent driving technology, and described device includes: above-mentioned
On the one hand master controller, vehicle data acquisition device, external communication device and the gateway of scheme, the master controller are provided
With the vehicle data acquisition device, external communication device and with other all the sensors of this vehicle, other all controls
Device connection processed.
Technical solution provided by the embodiment of the utility model has the benefit that
Vehicle control system provided by the embodiment of the utility model based on intelligent driving technology, device and method, pass through
Vehicle data acquisition device obtains the environment sensing data, vehicle body driving data, location navigation position data of this vehicle, simultaneously
External traffic or his vehicle driving information data are obtained by external communication device, these driving datas is then integrated, passes through master control
The determining corresponding driving adjustable strategies of device analysis processed, and corresponding driving adjustable strategies are executed in case of need, since this is based on
Context aware systems that the vehicle control system of intelligent driving technology can generally be configured based on current vehicle, Position Fixing Navigation System
And active safety technologies related device, it is filled in conjunction with can be realized the PERCOM peripheral communication for obtaining the interaction of the traffic information based on Internet of Things
It sets, realizes a kind of can more effectively control and drive various road conditions, intelligent driving more adaptable that vehicle reply encounters
Control technology can be widely applied to the Vehicle Industries such as traditional vehicle and new energy vehicle.
Detailed description of the invention
It, below will be to required in embodiment description in order to illustrate more clearly of the technical scheme in the embodiment of the utility model
Attached drawing to be used is briefly described, it should be apparent that, the accompanying drawings in the following description is only some realities of the utility model
Example is applied, it for those of ordinary skill in the art, without creative efforts, can also be according to these attached drawings
Obtain other attached drawings.
Fig. 1 is that the composed structure of the vehicle control system provided by the embodiment of the utility model based on intelligent driving technology is shown
It is intended to；
Fig. 2 is the controller composition of the vehicle control system provided by the embodiment of the utility model based on intelligent driving technology
Structural schematic diagram；
Fig. 3 shows determining according to analysis and processing result in certain preferred embodiments and executes corresponding driving adjustable strategies
Implementation；
Fig. 4 is that the vehicle control system based on intelligent driving technology that a certain preferred embodiment of the utility model provides is implemented
The logical flow diagram of pro-active intervention evacuation；
Fig. 5 is that the vehicle control system provided by the embodiment of the utility model based on intelligent driving technology implements pro-active intervention
The preferred embodiment of evacuation process；
Fig. 6 is that the vehicle control system provided by the embodiment of the utility model based on intelligent driving technology implements pro-active intervention
A certain during evacuation actively avoids performance analysis schematic diagram.
Specific embodiment
To keep the purpose of this utility model, technical solution and advantage clearer, implement below in conjunction with the utility model
Attached drawing in example, the technical scheme in the utility model embodiment is clearly and completely described, it is clear that described reality
Applying example is only the utility model a part of the embodiment, instead of all the embodiments.Based on the embodiments of the present invention,
Every other embodiment obtained by those of ordinary skill in the art without making creative efforts, belongs to this reality
With novel protected range.
It should be noted that term " first ", " second " are used for description purposes only, it is not understood to indicate or imply phase
To importance or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be with
Explicitly or implicitly include one or more of the features.The meaning of " plurality " is two in the description of the present invention,
More than a, unless otherwise specifically defined.
A kind of vehicle control system based on intelligent driving technology provided by the embodiment of the utility model, device, pass through vehicle
Data acquisition device obtains the environment sensing data, vehicle body driving data, location navigation position data of this vehicle, leads to simultaneously
It crosses external communication device and obtains external traffic or his vehicle driving information data, then integrate these driving datas, pass through main control
The determining corresponding driving adjustable strategies of device analysis, and corresponding driving adjustable strategies are executed in case of need, since this is based on intelligence
Can driving technology vehicle control system can generally be configured based on current vehicle context aware systems, Position Fixing Navigation System with
And active safety technologies related device, it is filled in conjunction with can be realized the PERCOM peripheral communication for obtaining the interaction of the traffic information based on Internet of Things
It sets, realizes a kind of can more effectively control and drive various road conditions, intelligent driving more adaptable that vehicle reply encounters
Control technology can be widely applied to the Vehicle Industries such as traditional vehicle and new energy vehicle.
Below in conjunction with specific embodiments and drawings, to provided by the embodiment of the utility model based on intelligent driving technology
Vehicle control system and method are described further.
Embodiment 1
Fig. 1 is that the composed structure of the vehicle control system provided by the embodiment of the utility model based on intelligent driving technology is shown
It is intended to.As shown in Figure 1, the vehicle control system provided by the embodiment of the utility model based on intelligent driving technology includes with the following group
At structure: vehicle data acquisition device, external communication device and master controller are connected with each other between them.
Specifically, vehicle data acquisition device includes environment sensing data acquisition module, vehicle sensory data acquisition
Module and positioning navigation data obtain module.Environment sensing data acquisition module is used to obtain the by vehicle environmental sensory perceptual system
One driving data, vehicle sensory data acquisition module are used to obtain second by vehicle other sensors and vehicle communication network and drive
Data are sailed, positioning navigation data obtains module and is used to obtain third driving data by Vehicle positioning navigation apparatus.PERCOM peripheral communication
Device includes communication module, and communication module is used for and traffic information interactive service center, traffic information cloud based on Internet of Things
Server and/or other vehicle servers are communicated, and the 4th driving data is obtained.Master controller is for controlling vehicle itself number
Data acquisition and communication are carried out according to acquisition device and external communication device, according to the first driving data, the second driving data, third
Driving data, the 4th driving data, which determine, drives adjustable strategies, and executes in the case where meeting preset condition and drive adjustment plan
Slightly.
Fig. 2 is the controller composition of the vehicle control system provided by the embodiment of the utility model based on intelligent driving technology
Structural schematic diagram.Fig. 3 is that the control of the vehicle control system provided by the embodiment of the utility model based on intelligent driving technology is patrolled
Collect hierarchical structure schematic diagram.
As shown in Fig. 2, the vehicle environmental sensory perceptual system that environment sensing data acquisition module utilizes includes millimetre-wave radar, swashs
Optical radar and multifunctional pick-up head, these devices are used to obtain ambient enviroment perception information data in vehicle drive, according to vehicle
Its different vehicle environmental sensory perceptual system in include sensing device will be different, such as the vehicle environmental sensory perceptual system having
In addition to above-mentioned sensing device further includes ultrasonic radar etc., the structure composition of above-mentioned vehicle sensory perceptual system is only exemplary, this
Vehicle environmental sensory perceptual system used by the environment sensing data acquisition module that utility model embodiment provides, it can be understood as extremely
It less include at least one of millimetre-wave radar, laser radar, multifunctional pick-up head and ultrasonic radar.In fact, current one
A little vehicles are already equipped with vehicle environmental sensory perceptual system vdiverse in function, in the utility model embodiment, no matter vehicle whether
It is equipped in advance, the prior art can be utilized as needed in the case where not departing from the utility model embodiment plan plot
In any possible technology or mode implement vehicle environmental sensory perceptual system.
Environment sensing data acquisition module passes through the millimetre-wave radar of above-mentioned vehicle environmental sensory perceptual system, laser radar and more
Function camera finds out certain border circular areas range around in real time, is looked around with reaching 360 degree of environment, obtains the first driving data.
Preferably, the first driving data of acquisition includes spacing, surrounding vehicles distributing position, pedestrian, bicycle, large obstacle, road
Edge, lane line, crossroad and/or traffic marking related data, these data can reflect vehicle drive comprehensively when around
Real time environmental data, for followed by driving situation data analyze with determine drive adjustable strategies and data basis is provided.
Second driving data is mainly obtained by the other sensors of vehicle interior and vehicle communication network, exemplary
Ground is inputted as internal signal by CAN gateway, in conjunction with driving CAN, chassis CAN and information CAN, carries out this car data biography
It passs, it is preferable that the second driving data of acquisition includes this vehicle real time running track, this vehicle speed of operation, his vehicle real time running rail
Mark, his vehicle speed of operation and/or his vehicle air bag blasting information.Illustratively, before his vehicle air bag blasting information passes through
Square vehicle collects ABS/ASR/ESC intervention, CAN network obtains air bag blast signal.
Positioning navigation data obtains the global position system and navigation controller that module passes through Vehicle positioning navigation apparatus, leads to
High definition map and the navigation for crossing external signal input, obtain third driving data, it is preferable that third driving data includes this vehicle sky
Between position, navigation traffic data information (such as roadblock information) and/or road surface characteristic value related data.
By the communication module controller and transmission antenna of external communication device, interacted with the traffic information based on Internet of Things
Service centre, traffic information cloud server and/or other vehicle servers are communicated, and the 4th driving data is obtained.Here,
Traffic information interactive service center based on Internet of Things can be it is existing set up based on technology of Internet of things (such as vehicle with
Between vehicle, vehicle and traffic control department) traffic information interactive service center, traffic information cloud server can be in the prior art
The various cloud servers for storing Real-time Traffic Information, are also possible to the friendship established to implement the utility model embodiment
Communication breath cloud server, illustratively the cloud server includes that big data handles/analyze cloud database module and vehicle
Interior data acquisition/sending module.Wherein, big data cloud database module and interior data module, utilize car networking RT-V
Technology carries out related keyword data progress custom protocol and writes, and data transmission is achieved in that 300M bandwidth between vehicle and vehicle,
It is realized using low frequency band in 2.4GH, is transmitted mutually between vehicle；Between big data cloud and vehicle data transmitting be by with
Too net realizes interconnection, and data transmission bauds can realize 100Mb/s.Preferably, the 4th driving data include ITS Information and
Vehicle communication interactive information, ITS Information include temporarily repairing waypoint information and/or traffic accident location information, vehicle communication
Interactive information includes vehicle speed information, braking information and/or dangerous working condition information.
Preferably, master controller further includes data fusion module, and the data fusion module is in particular by data fusion control
First driving data, the second driving data, third driving data, the 4th driving data are carried out data analysis and process by device processed,
Obtain analysis and processing result.Due to four kinds of driving datas be using different channels obtain reflection vehicle not ipsilateral drive feelings
Condition, some data can be used directly to judge or instruct driving behavior, some data can then pass through comprehensive analysis processing, so as to
Obtain that reliability is higher, more accurate, the correspondingly better driving data of directive function, thus to realize that better intelligent driving mentions
For data and theories integration.Illustratively, substitute is obtained in front vehicles collection ABS/ASR/ESC intervention, by CAN network
After capsule blast signal, if anti-skid controller judges trigger bit, using front truck speed/wheel speed signal, longitudinally/laterally accelerate
Degree, driver's steering wheel angle data and the judgement of real vehicle yaw velocity, comprehensive descision go out accumulated ice, water either escape from danger barrier
The case where hindering object carries out transmission information above data to surrounding vehicles, is transmitted in a manner of carrying out cloud and vehicle and vehicle interconnection.
Illustratively, it is positioned first by high definition map and big-dipper satellite, to determine substantially vehicle approximate location, secondly by laser thunder
It reaches and multifunctional pick-up head, is compared to the characteristics extraction of ambient enviroment, and with high definition map, it is relatively accurate to carry out this truck position
Position be accurately positioned, finally by some inertia sensors of this vehicle such as yaw velocity and longitudinally, laterally acceleration, wheel angle are fast
Degree and steering angle sensor are analyzed vehicle attitude, and are compared with above data, learn at this very moment accurately position positioning.
It should be noted that related data fusion module carries out Data Analysis Services and obtains at analysis in the utility model embodiment
The process of result is managed, can be using any possible data fusion in the prior art, the method for analysis processing, the utility model is real
Example is applied not limit it especially.
After obtaining analysis and processing result, master controller is determined according to analysis and processing result drives adjustable strategies, and is meeting
It is executed in the case where preset condition and drives adjustable strategies.Preferably, preset condition includes determining his vehicle accident, determining front road conditions
Bad, determining front has large obstacle and/or front to have temporary repair mark, drives the steering wheel that adjustable strategies include this vehicle
Shake, instrument warning, the display that comes back, audible alert, voice prompting and/or implementation pro-active intervention evacuation.
Fig. 3 shows determining according to analysis and processing result in certain preferred embodiments and executes corresponding driving adjustable strategies
Implementation.As shown in figure 3, being situated between by front truck real time running track, speed of operation, roadside temporary speed limitation mark, ABS/ESC
Enter, the information such as air bag blast signal, transmitted by cloud data, (must be equipped with millimetre-wave radar, the camera shooting of more mesh for rear car
Head and laser radar etc.) related data is provided.Rear car learns front traffic accident situation using air bag blast signal, this vehicle is to drive
The person of sailing provides sound and optics is reminded, if driver does not operate, avoids danger by active.Rear car utilizes front truck
ABS/ESC intrusion signal, preceding wheel paths situation judge that situations such as accumulated ice, ponding or escape from danger barrier occurs in front, should
System provides sound for driver and optics is reminded, if driver does not operate, hides obstacle track according to front truck, utilizes vehicle
Interior respective execution mechanisms in time obstacle avoidance.There are larger animal or temporary repair mark when environmental perception module obtains front
Show, also provides sound for driver and optics is reminded, if driver does not operate, carried out actively also through respective execution mechanisms
Evacuation.
Fig. 4 is that the vehicle control system based on intelligent driving technology that a certain preferred embodiment of the utility model provides is implemented
The logical flow diagram of pro-active intervention evacuation.As shown in figure 4, being given by environment sensing data acquisition module and communication module
Data fusion controller carries out judging to avoid request automatically.Specifically, millimetre-wave radar, multifunctional pick-up head and laser radar
This vehicle environment is carried out to find out and the navigation of big-dipper satellite and high definition Orientation on map；Communication module is realized by transmission antenna.
The implementation actively avoided is judged by speed, works as vehicle to network when data fusion controller issues actively evacuation request
When speed is low, active steering is more utilized, and be less frequently utilized driving torque coordinated control body gesture, actively kept away as early as possible to realize
It allows；When speed is high, to avoid driver panic, be less frequently utilized active steering, and more using vehicle body stability program come
Coordinate body gesture, and take into account reasonable distribution driving torque, vehicle is inhibited to lose multiple speed, guarantees to complete actively to keep away as early as possible
It allows, if vehicle body stability program function cannot achieve, one side brake is realized to rear-wheel by electronics parking brake, adjusts vehicle body appearance
State.Preferably, actively avoiding execution level includes engine controller, gearbox control, electric machine controller etc. in drive module；
Electric powered steering controller in steering module, receiving direction disk angular signal；Electronic type vacuum booster and vehicle body in brake module
Stabilitrak includes hydraulic control unit and EPB electronics parking brake actuator, receives wheel speed sensors signal, vacuum degree
The horizontal and vertical acceleration signal of signal, vehicle body and yaw rate signal；Display module is divided into instrument, and correlation is passed through biography
The prompt that system instrument and the display that comes back are avoided automatically, while receiving 360 ° of radars and looking around.
Fig. 5 is that the vehicle control system provided by the embodiment of the utility model based on intelligent driving technology implements pro-active intervention
The preferred embodiment of evacuation process.As shown in Figure 5, it is preferable that provided by the embodiment of the utility model to be based on intelligent driving skill
The vehicle control system of art is implemented pro-active intervention evacuation process and is carried out as follows: implementing the pre- of pro-active intervention evacuation when meeting
If when condition, the master controller issues corresponding actively evacuation request；Judge whether this vehicle speed is in preset threshold range, when
Judging result is when being, to be adjusted by corner, torque and/or the driving torque of the EPS turning machine of this vehicle, then judged
Whether ESP electronic control unit fails, and is, carries out electronics parking brake single-wheel braking, otherwise carries out unilateral hydraulic wheel braking；Work as judgement
When being as a result no, it is adjusted by the corner of driving torque and/or EPS turning machine, torque.
Fig. 6 is that the vehicle control system provided by the embodiment of the utility model based on intelligent driving technology implements pro-active intervention
A certain during evacuation actively avoids performance analysis schematic diagram.As shown in fig. 6, actively evacuation is divided into two kinds of situations, double changes and
It is monotropic.The first group picture of the top show double changes in figure, i.e., is returned immediately after realization changing Lane and be changed to original lane, realized actively
Steering angle is the just profound corner input with delay, if arrow is unilateral wheel braking matters in body stabilization system in figure,
At the initial stage of steering, applied using inner rear wheel and braked, vehicle attitude is allowed to be in oversteering, second stage is being turned to, to outside vehicle
Wheel applies braking, so that vehicle region understeer is turning to the phase III, i.e. vehicle has been in enter second lane
It within the scope of second lane, is braked by applying to outboard wheels, vehicle is allowed to be in oversteering, turned to fourth stage, passing through
Inner rear wheel applies braking, allows vehicle to tend to understeer, is returned as original lane.The second group picture is shown monotropic among scheming, i.e.,
Make vehicle changing Lane, and keep new lane, corner variation tendency is typical just profound steering input, and implementation is in double become
First and second stage.It is all that vehicle is allowed to tend to oversteering, all controlled with the driving torque of drive shaft, it is real with torque minimum value
Existing vehicle centroid Forward, to complete oversteering；It is all that vehicle is allowed to tend to understeer, all with the driving torque control of drive shaft
System is suitably increased with torque and realizes that vehicle centroid moves back, to complete understeer.The torque of bottom and corner corresponding diagram in figure
Show corresponding steering system characteristic.
Embodiment 2
The utility model embodiment provides a kind of controller of vehicle based on intelligent driving technology, which includes:
Master controller, vehicle data acquisition device, external communication device and gateway, master controller and vehicle data, which obtain, to be filled
It sets, external communication device and connect with other all the sensors of this vehicle, all controllers, transmitted convenient for data.Wherein net
It closes for realizing between each functional module in the vehicle control system based on intelligent driving technology in intelligent driving control device
Data transmission, provide data transmission network for it.Its specific transmission mode and content include two parts: first part is to pass
System data transfer mode is transmitted using CAN as back end message, and another part is image and communication data with the ether of high speed
Net is transmitted.Conventional data transmission mode is, in conjunction with driving CAN, chassis CAN and information CAN, to carry out this based on gateway
Car data transmitting；Ethernet transmitting is mainly reflected in data fusion controller programme area, passes from environment sensing and communication module
Mass data is passed, needs to be equipped with 100,000,000 Ethernets per second and is transmitted.Intelligence provided by the embodiment of the utility model is driven
It sails the master controller in control device, vehicle data acquisition device, describe in external communication device, with above-described embodiment 1
Related device it is identical, specific embodiment detailed in Example 1, details are not described herein.
It should be understood that the vehicle control system provided by the above embodiment based on intelligent driving technology, device into
It, only the example of the division of the above functional modules, can basis in practical application when row intelligent driving controls business
It needs and is completed by different functional modules above-mentioned function distribution, i.e., be divided into system, the internal structure of device different
Functional module, to complete all or part of the functions described above.In addition, intelligent driving control dress provided by the above embodiment
It sets, method and the vehicle control system embodiment provided by the embodiment of the utility model based on intelligent driving technology belong to same structure
Think, specific implementation process is detailed in system embodiment, and which is not described herein again.
All the above alternatives can form the alternative embodiment of the utility model, herein using any combination
No longer repeat one by one.
By above embodiments and practice it is found that the vehicle control provided by the embodiment of the utility model based on intelligent driving technology
System processed, device obtain environment sensing data, the vehicle body driving data, positioning of this vehicle by vehicle data acquisition device
Navigation position data, while external traffic or his vehicle driving information data are obtained by external communication device, then integrate these
Driving data determines corresponding driving adjustable strategies by master controller analysis, and executes corresponding drive in case of need and adjust
Whole strategy, the environment sensing that can be generally configured due to the vehicle control system based on intelligent driving technology based on current vehicle
System, Position Fixing Navigation System and active safety technologies related device obtain the traffic letter based on Internet of Things in conjunction with can be realized
The external communication device of breath interaction, the various road conditions for driving vehicle reply and encountering can more effectively be controlled, fit by realizing one kind
The stronger intelligent driving control technology of answering property, can be widely applied to the Vehicle Industries such as traditional vehicle and new energy vehicle.
Those of ordinary skill in the art will appreciate that realizing that all or part of the steps of above-described embodiment can pass through hardware
It completes, relevant hardware can also be instructed to complete by program, the program can store in a kind of computer-readable
In storage medium, storage medium mentioned above can be read-only memory, disk or CD etc..
The above is only the preferred embodiment of the present invention, is not intended to limit the utility model, all practical at this
Within novel spirit and principle, any modification, equivalent replacement, improvement and so on should be included in the guarantor of the utility model
Within the scope of shield.
Claims (8)
1. a kind of vehicle control system based on intelligent driving technology, which is characterized in that the system comprises: vehicle interconnected
Data acquisition device, external communication device and master controller, wherein
The vehicle data acquisition device includes environment sensing data acquisition module, vehicle sensory data acquisition module and determines
Position navigation data acquisition module, the environment sensing data acquisition module are used to obtain first by vehicle environmental sensory perceptual system and drive
Data are sailed, the vehicle sensory data acquisition module is used to obtain second by vehicle other sensors and vehicle communication network and drive
Data are sailed, the positioning navigation data obtains module and is used to obtain third driving data by Vehicle positioning navigation apparatus；
The external communication device includes communication module, and the communication module is used to interact clothes with the traffic information based on Internet of Things
Business center, traffic information cloud server and/or other vehicle servers are communicated, and the 4th driving data is obtained；
The master controller is used for: control the vehicle data acquisition device and external communication device carry out data acquisition and
Communication determines according to first driving data, the second driving data, third driving data, the 4th driving data and drives adjustment
Strategy, and executed in the case where meeting preset condition and drive adjustable strategies.
2. system according to claim 1, which is characterized in that the vehicle environmental sensory perceptual system includes: Multifunctional camera
Head, millimetre-wave radar, laser radar and/or ultrasonic radar, first driving data include spacing, surrounding vehicles distribution position
Set, pedestrian, bicycle, large obstacle, curb, lane line, crossroad and/or traffic marking related data.
3. system according to claim 1, which is characterized in that second driving data includes this vehicle real time running rail
Mark, this vehicle speed of operation, his vehicle real time running track, his vehicle speed of operation and/or his vehicle air bag blasting information.
4. system according to claim 1, which is characterized in that the third driving data includes this vehicle spatial position, leads
The related data of traffic data information of navigating and/or road surface characteristic value.
5. system according to claim 1, which is characterized in that the 4th driving data includes ITS Information and vehicle
Communication interactive information, the ITS Information includes temporarily repairing waypoint information and/or traffic accident location information, the vehicle
Communication interactive information include vehicle speed information, braking information and/or dangerous working condition information.
6. system according to claim 1, which is characterized in that the master controller further includes data fusion module, the number
It is used to count first driving data, the second driving data, third driving data, the 4th driving data according to Fusion Module
According to analysis and processing, analysis and processing result is obtained；The master controller is determined according to the analysis and processing result drives adjustment plan
Slightly, it and is executed in the case where meeting preset condition and drives adjustable strategies.
7. system according to any one of claims 1 to 6, which is characterized in that the preset condition includes determining his vehicle thing
Therefore determining that front road conditions are bad, determine front has large obstacle and/or front to have temporary repair mark, the driving adjustment
Tactful includes the steering wheel shake, instrument warning, the display that comes back, audible alert, voice prompting and/or implementation pro-active intervention of this vehicle
Evacuation.
8. a kind of controller of vehicle based on intelligent driving technology, which is characterized in that described device includes: according to claim
It is master controller described in 1, vehicle data acquisition device according to claim 1, according to claim 1 outer
Portion's communication device and gateway, the master controller and the vehicle data acquisition device, external communication device and with this
Other all the sensors of vehicle, other all controller connections.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201820010484.1U CN208376738U (en) | 2018-01-03 | 2018-01-03 | A kind of vehicle control system based on intelligent driving technology, device |
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| CN201820010484.1U CN208376738U (en) | 2018-01-03 | 2018-01-03 | A kind of vehicle control system based on intelligent driving technology, device |
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| CN107972663A (en) * | 2018-01-03 | 2018-05-01 | 汽-大众汽车有限公司 | A kind of vehicle control system based on intelligent driving technology, device and method |
| CN109760675A (en) * | 2019-03-12 | 2019-05-17 | 百度在线网络技术（北京）有限公司 | Predict method, apparatus, storage medium and the terminal device of track of vehicle |
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