CN216660078U

CN216660078U - Automatic driving low-speed sightseeing vehicle for taking 4 to 6 people

Info

Publication number: CN216660078U
Application number: CN202220071548.5U
Authority: CN
Inventors: 毕书君; 王静晗; 赵俊丽
Original assignee: Hubei Meibaokang Qing Heavy Engineering Technology Co ltd
Current assignee: Hubei Meibaokang Qing Heavy Engineering Technology Co ltd
Priority date: 2022-01-12
Filing date: 2022-01-12
Publication date: 2022-06-03
Anticipated expiration: 2032-01-12

Abstract

The present application relates to an autopilot low-speed sightseeing vehicle for 4 to 6 people; the front end of a frame is provided with a front axle, the rear end of the frame is provided with a rear axle, two sides of the front axle and the rear axle are connected with tires, a steer-by-wire system, a brake-by-wire system, an unmanned integrated module, a motor controller MCU and a vehicle control unit VCU are arranged on the frame, the unmanned integrated module comprises a laser radar, a camera, an inertial navigation system and an unmanned controller, the laser radar, the camera and the inertial navigation system are all connected with the unmanned controller, the unmanned controller is connected with the vehicle control unit VCU, and the steer-by-wire system, the brake-by-wire system and the motor controller MCU are all connected with the vehicle control unit VCU.

Description

Automatic driving low-speed sightseeing vehicle for taking 4 to 6 people

Technical Field

The utility model relates to the technical field of new energy vehicles, in particular to an automatic driving low-speed sightseeing vehicle taking 4 to 6 people.

Background

At present, a common electric sightseeing vehicle needs to be watched by people, and consumes a lot of manpower and material resources. The existing automatic driving sightseeing vehicle has high cost and single function.

SUMMERY OF THE UTILITY MODEL

To overcome the above technical deficiencies, it is an object of the present invention to provide an autopilot 4 to 6 people in a low speed sightseeing vehicle.

The technical scheme adopted by the utility model is as follows: the utility model provides a take 4 to 6 people's autopilot low-speed sightseeing vehicle, chassis and the car body of setting on the chassis, the chassis includes the frame, the frame front end is provided with the front axle, and the frame rear end is provided with the rear axle, and the both sides of front axle and rear axle all are connected with the tire, be provided with drive-by-wire a steering system, drive-by-wire braking system, unmanned integrated module, machine controller MCU and vehicle control unit VCU on the frame, unmanned integrated module includes laser radar, camera, is used to lead system and unmanned controller, and laser radar, camera and be used to lead the system and all be connected with unmanned controller, and unmanned controller is connected with vehicle control unit VCU, and drive-by-wire steering system, drive-by-wire system and motor control unit MCU all with vehicle control unit VCU with be connected.

The unmanned integrated module is arranged in the middle of the frame.

And the steer-by-wire system, the VCU and the brake-by-wire system are all arranged at the front end of the frame.

The motor controller MCU is arranged at the rear end of the frame.

Compared with the prior art, the utility model has the following beneficial effects: the utility model can improve the working efficiency and time of companies and reduce the personnel consumption, and the utility model can automatically drive around a fixed road; compared with other unmanned vehicles, the cost of the utility model is lower; the utility model can achieve the effect of obstacle-avoiding and people-avoiding; the utility model can be remotely controlled; the utility model can automatically park; the utility model can realize emergency braking; compared with the unmanned vehicles on the market, the unmanned vehicles on the market have lower cost, at least 4 radars are arranged on the vehicle body for realizing the functions in order to sense the road conditions, one laser radar has high cost and needs to be fixedly arranged, the number of the laser radars is increased, the calculation operation capacity of the automatic driving controller needs to be upgraded, and the cost is invisibly increased; the unmanned integrated module is mounted to realize the functions, so that the unmanned integrated module is convenient to mount and reduces cost.

Drawings

FIG. 1 is a schematic structural view of the present invention;

fig. 2 is a schematic structural view of the chassis of the present invention.

Detailed Description

The utility model is described in detail below with reference to the figures and the specific embodiments.

As shown in fig. 1 to 2, an autopilot low-speed sightseeing vehicle for 4 to 6 persons, a chassis and a vehicle body 9 provided on the chassis, the chassis comprises a frame 6, a front axle 2 is arranged at the front end of the frame 6, a rear axle 8 is arranged at the rear end of the frame 6, tires 10 are connected with the two sides of the front axle 2 and the rear axle 8, the frame 6 is provided with a steer-by-wire system 1, a brake-by-wire system 3, an unmanned integrated module 4, a motor controller MCU7 and a vehicle control unit VCU5, the unmanned integrated module 4 comprises a laser radar, a camera, an inertial navigation system and an unmanned controller, wherein the laser radar, the camera and the inertial navigation system are all connected with the unmanned controller, the unmanned controller is connected with a vehicle control unit VCU5, and the steer-by-wire system 1, the brake-by-wire system 3 and the motor controller MCU7 are all connected with the vehicle control unit VCU 5.

The unmanned integrated module 4 is arranged in the middle of the frame 6.

The steer-by-wire system 1, the vehicle control unit VCU5 and the brake-by-wire system 3 are all arranged at the front end of the vehicle frame 6.

The motor controller MCU7 is arranged at the rear end of the frame 6.

The rear axle 8 is an electric drive axle.

The unmanned integrated module 4 is connected with a remote computer, and can be remotely controlled.

The present invention also includes the following prior art: the frame is provided with a motor, a brake master cylinder, a steering gear, a steering lamp and a whistle horn, and the body is provided with an automatic parking button. The motor is used for driving the car to run, and the brake master cylinder is used for making the car brake, and the direction machine is used for making the car turn to, and the indicator is used for showing the car and is about to turn to the direction, and the horn of whistling is used for sending the suggestion sound of whistling, and the button of parking automatically is connected with unmanned integrated module.

When the utility model runs on a fixed road, the utility model is realized by an inertial navigation system in the unmanned integrated module, the inertial navigation system calculates the direction of the next point from the direction of a known point according to the course angle and the speed of a moving body which are measured in succession, and the unmanned controller controls the VCU of the vehicle controller according to a navigation line by inputting the destination at the starting point, thereby controlling the running, which means the cycle running in a fixed scene and a fixed road. The utility model can realize the functions of automatic obstacle-avoiding, people-avoiding and automatic parking during operation.

When automatic obstacle detouring is needed, surrounding obstacles or people are identified through a laser radar and a camera sensing system in the unmanned integrated module, road information is fed back to the unmanned controller, the unmanned controller makes a judgment and sends a parking command or a turning detouring command to the vehicle control unit VCU in a bus instruction mode, and the vehicle control unit VCU converts the bus instruction into a deceleration command, a braking command and a steering command and simultaneously sends the deceleration command, the braking command and the steering command to the steer-by-wire system, the brake-by-wire system and the motor controller MCU. The motor controller MCU controls the motor to rotate forwards and backwards and accelerate and decelerate after receiving the instruction, the brake master cylinder is controlled to brake when the wire control brake system (3) receives the instruction, the wire control steering system receives the steering instruction of the VCU of the whole vehicle controller to control the steering of the steering engine, after the wire control steering system bypasses the obstacle, the motor controller MCU receives the instruction sent by the unmanned controller to the VCU of the whole vehicle controller to realize the instructions of turning, advancing and the like, and the VCU of the whole vehicle controller receives the instruction that the tire has an angle and feeds back to the switch of the corresponding steering lamp control steering lamp in the obstacle bypassing process.

When an automatic evasion person is needed: when a pedestrian exists in front, people around the vehicle are identified through a laser radar and a camera sensing system in the unmanned integrated module, road information is fed back to the unmanned controller, the unmanned controller makes a judgment and issues a parking command to the vehicle control unit VCU in a bus command mode, and the vehicle control unit VCU converts the bus command into a deceleration command and a brake command and simultaneously sends the deceleration command and the brake command to the line control mobile system and the motor controller MCU. The motor controller MCU receives the vehicle control unit VCU instruction and then controls the motor to decelerate, when the brake-by-wire system receives the vehicle control unit VCU instruction, the brake master pump is controlled to stop driving of the braking vehicle, the pedestrian is waited to pass, if the pedestrian does not leave the road within two minutes, the unmanned controller makes a judgment and issues a whistle command to the vehicle control unit VCU for whistle prompt in a bus instruction mode, if the pedestrian still does not move after whistle, the unmanned controller judges the pedestrian as an obstacle, and then the automatic obstacle-detouring function is carried out.

Laser radar and a camera sensing system in an unmanned integrated module identify zebra stripes and pedestrians on the zebra stripes, an unmanned controller makes a judgment and issues a parking command to a vehicle control unit VCU in a bus command mode, a motor control unit MCU controls a motor to decelerate after receiving a command of the vehicle control unit VCU, a brake-by-wire system controls a brake master pump to stop a vehicle when receiving the command of the vehicle control unit VCU, after the pedestrians on the zebra stripes pass through, the unmanned controller makes a judgment and issues a forward command to the vehicle control unit VCU in the bus command mode, and the motor control unit MCU controls the motor to forward after receiving the forward command of the vehicle control unit VCU, so that the automatic human avoidance function is realized.

When automatic parking is needed: when a person riding on a vehicle needs to park the vehicle, a command is issued to the unmanned integrated module through the automatic parking button, then an object around the vehicle is identified through a radar and camera sensing system to detect an obstacle and a parking space, a vehicle body sensor is used for detecting the surrounding environment, the object and the fixed parking space according to the position of the person, the space size of the fixed target parking space is measured at the same time, a plurality of acquired information is transmitted to the unmanned controller, the unmanned controller makes a judgment and issues the automatic parking command to the whole vehicle controller VCU in a bus instruction mode, a corresponding parking algorithm carries out operation processing on the data to obtain a vehicle parking path, finally, the whole vehicle controller sends the VCU to the wire-controlled steering system, the wire-controlled steering system and the motor controller MCU according to the planned path, speed, angle and other information, the motor controller MCU controls the motor to decelerate after receiving the command sent by the whole vehicle controller VCU, the motor reverses the vehicle to retreat, the steer-by-wire system judges the steering direction and the angle according to the received angle information after receiving the instruction sent by the VCU of the vehicle control unit, and the brake-by-wire system controls the brake master cylinder to stop the vehicle after receiving the instruction sent by the VCU of the vehicle control unit, so that the vehicle is parked in the designated parking space, and the automatic parking function is realized.

The utility model discloses an intelligent automobile which senses road environment through a vehicle-mounted sensing system, automatically plans a driving route and controls the automobile to reach a preset target, in particular to an automatically-driven low-speed sightseeing bus suitable for parks and large industrial parks.

The speed of the utility model is limited to about 40km/h, and large industrial parks, factories and the like need to automatically drive the low-speed sightseeing vehicles to connect and park, thus not only improving the working efficiency but also saving the time. The utility model uses the vehicle-mounted sensor to sense the environment around the vehicle, and controls the steering and speed of the vehicle according to the road, vehicle position and obstacle information obtained by sensing, thereby enabling the vehicle to safely and reliably run on the road. The system integrates a plurality of technologies such as automatic control, architecture, artificial intelligence, visual calculation and the like, and is a product of high development of computer science, mode recognition and intelligent control technologies.

The above embodiments are based on the technical solution of the present invention, and detailed implementation and specific operation processes are given, but the scope of the present invention is not limited to the above embodiments.

Claims

1. The utility model provides a take 4 to 6 people's autopilot low-speed sightseeing vehicle, chassis and the car body of setting on the chassis, the chassis includes the frame, the frame front end is provided with the front axle, and the frame rear end is provided with the rear axle, and the both sides of front axle and rear axle all are connected with tire, its characterized in that: the vehicle comprises a frame and is characterized in that a steer-by-wire system, a brake-by-wire system, an unmanned integrated module, a motor controller MCU and a vehicle control unit VCU are arranged on the frame, the unmanned integrated module comprises a laser radar, a camera, an inertial navigation system and an unmanned controller, the laser radar, the camera and the inertial navigation system are all connected with the unmanned controller, the unmanned controller is connected with the vehicle control unit VCU, and the steer-by-wire system, the brake-by-wire system and the motor controller MCU are all connected with the vehicle control unit VCU.

2. An autonomous low-speed sightseeing vehicle with 4 to 6 passengers in accordance with claim 1 wherein: the unmanned integrated module is arranged in the middle of the frame.

3. A 4-to-6 passenger autonomous low-speed sightseeing vehicle in accordance with claim 1 wherein: and the steer-by-wire system, the vehicle control unit VCU and the brake-by-wire system are all arranged at the front end of the frame.

4. A 4-to-6 passenger autonomous low-speed sightseeing vehicle in accordance with claim 1 wherein: the motor controller MCU is arranged at the rear end of the frame.