CN105607637A - Unmanned vehicle autopilot system - Google Patents
Unmanned vehicle autopilot system Download PDFInfo
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- CN105607637A CN105607637A CN201610047747.1A CN201610047747A CN105607637A CN 105607637 A CN105607637 A CN 105607637A CN 201610047747 A CN201610047747 A CN 201610047747A CN 105607637 A CN105607637 A CN 105607637A
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- 230000010365 information processing Effects 0.000 claims abstract description 5
- 238000012545 processing Methods 0.000 abstract description 2
- 230000010354 integration Effects 0.000 abstract 1
- 230000003287 optical effect Effects 0.000 abstract 1
- 230000004888 barrier function Effects 0.000 description 20
- 238000011160 research Methods 0.000 description 4
- 238000011161 development Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 206010039203 Road traffic accident Diseases 0.000 description 2
- DMBHHRLKUKUOEG-UHFFFAOYSA-N diphenylamine Chemical compound C=1C=CC=CC=1NC1=CC=CC=C1 DMBHHRLKUKUOEG-UHFFFAOYSA-N 0.000 description 2
- 230000004927 fusion Effects 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000004556 brain Anatomy 0.000 description 1
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
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- Radar, Positioning & Navigation (AREA)
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- Aviation & Aerospace Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses an unmanned vehicle autopilot system. The unmanned vehicle autopilot system comprises a computer, a network bridge A, a network bridge B, an industrial control computer, a navigation device and a laser radar, wherein the navigation device and the laser radar are in signal input connection with the industrial control computer, the industrial control computer is in signal connection with the network bridge A, the network bridge A and the network bridge B are in signal connection, the network bridge B is in signal connection with the computer, the industrial control computer is electrically connected with a sensor device, unmanned vehicle autopilot system software runs on the industrial control computer, the laser radar is mainly composed of a laser light source emitter, an optical receiving device and an information processing system, and the navigation device is composed of an antenna and a receiver. According to the unmanned vehicle autopilot system, after data integration technical processing is performed on the laser radar configured to an unmanned vehicle and data acquired by the satellite navigation device, path planning is carried out, and a control instruction is finally sent to a controller so as to complete movement.
Description
Technical field
The present invention relates to unmanned vehicle technical field, be specially a kind of unmanned vehicle autonomous driving system.
Background technology
Unmanned vehicle, is pilotless automobile, is the abbreviation by computer-controlled unmanned manipulation automobile. The sensor device that unmanned vehicle can be installed by self detects the environment of periphery, independently completes path planning, and finally arrives at the destination of reservation. With general-utility car comparison, pilotless automobile can be installed GPS equipment by selection, inertial navigation components and parts, radar equipment, encoder, camera and other visual apparatus etc., carry out self-position attitude judge and detect surrounding environment, finally auxiliary unmanned vehicle moves.
As pattern-recognition and the automatic combination product of controlling, pilotless automobile is civilian, and it is wide that development is used by army, advances rapidly. The feature of pilotless automobile maximum is the in the situation that of unmanned intervention and operation, to arrive designated destination, completes corresponding work. Therefore, the core of research unmanned vehicle is the autonomous driving system of research unmanned vehicle, specifically comprises its Navigation Control technology of research, keeps away barrier control technology.
Because annual a large amount of traffic accident is all because the operation error of driving causes, therefore people are also another major reason that promotes unmanned vehicle development to the demand of traffic safety. In the time driving a car, there is mental relaxation or physical fatigue in people, what in the time of solution of emergent event, show is unable to do what one wishes unavoidably, very likely causes traffic accident. Pilotless automobile, owing to adopting computer or microcontroller as brain, can effectively be avoided these human errors, effectively the generation of Accident prevention. In military affairs, under danger or rugged environment, use unmanned vehicle can effectively ensure people's safety, avoid personnel's unnecessary damage or loss, strong promotion the development of unmanned vehicle.
The systematic research of unmanned vehicle autonomous driving, mainly comprises navigation system and the environment sensing system of studying unmanned vehicle. Conventional unmanned vehicle navigator comprises global positioning system (as GPS, the Big Dipper, GLONASS etc.), inertial navigation components and parts etc., the often a kind of sensor based on wherein or several sensors wherein of navigation system; Conventional environment sensing equipment has camera, radar, and laser range finder etc., environment sensing system can choice for use a kind of sensor or several sensor wherein, also can adopt multiple identical sensors.
Gps system is the project that US military starts research and development, has the high and round-the-clock good characteristics of precision, and as locate mode leading in the world, the large-scale extensive use that engineering is applied and civil area obtains at home.
Beidou satellite navigation system be by China independently build, independent operating, and the GPS compatible shared with other satellite navigation systems of the world. China's Beidou satellite navigation system is the supplier that the satellite navigation committee of the United Nations has been assert.
Laser radar is the product that laser technology combines with Radar Technology, and it is made up of multiple parts such as emitter, antenna, receiver, track frame and information processings. Laser radar is taking laser as emission source, the laser by transmitting be detected the interact lightwave signal that forms of thing and carry out remote sensing survey. With respect to early stage microwave radar, the operating frequency of laser radar is higher, exceeds 3 to 4 orders of magnitude compared with microwave; Operating frequency, outside electronic interferences frequency spectrum and the stealthy effective frequency of microwave, is conducive to resist electronic interferences and pulse, to realize high accuracy; The monochromaticjty of laser radar goes with coherence, can realize high sensitivity heterodyne reception.
In service at unmanned vehicle, realize the mobile of unmanned vehicle based on navigator and control, and laser radar is by detecting environment around, can effectively obtain the information of peripheral obstacle, judge the general profile of periphery barrier, realize the barrier of keeping away of unmanned vehicle and search with self adaptation outlet.
Summary of the invention
The object of the present invention is to provide a kind of unmanned vehicle autonomous driving system, to solve the problem proposing in above-mentioned background technology.
For achieving the above object, the invention provides following technical scheme: a kind of unmanned vehicle autonomous driving system, it is characterized in that: comprise computer, bridge A, bridge B, industrial computer, navigator, laser radar, input is connected industrial computer to described navigator with laser radar signal, described industrial computer is connected with bridge a-signal, bridge A is connected with bridge B signal, bridge B is connected with Computer signal, described industrial computer is electrically connected with sensor device, on industrial computer, operation has unmanned vehicle autonomous driving systems soft ware, described laser radar is mainly by LASER Light Source emitter, optics receiving equipment and information processing system composition, described navigator is made up of antenna and receiver.
Preferably, unmanned vehicle autonomous driving system comprises at least a set of laser radar, a set of navigator, a set of bridge A, a set of bridge B, an industrial computer, a computer and a set of unmanned vehicle autonomous driving systems soft ware.
Compared with prior art, the invention has the beneficial effects as follows: this unmanned vehicle autonomous driving system, by data that the laser radar of unmanned vehicle configuration and satellite navigation are collected after Data fusion technique processing, carry out path planning, control instruction sends to controller the most at last, to complete movement.
Brief description of the drawings
Fig. 1 is system principle diagram of the present invention;
Fig. 2 is general flow chart of the present invention;
Fig. 3 is the sub-process figure based on laser radar navigation of the present invention;
Fig. 4 is the sub-process figure based on navigator navigation of the present invention.
Detailed description of the invention
Technical scheme in the embodiment of the present invention is clearly and completely described, and obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiment. Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtaining under creative work prerequisite, belong to the scope of protection of the invention.
The invention provides a kind of technical scheme:
Consult Fig. 1
A kind of unmanned vehicle autonomous driving system, it is characterized in that: comprise computer, bridge A, bridge B, industrial computer, navigator, laser radar, input is connected industrial computer to described navigator with laser radar signal, described industrial computer is connected with bridge a-signal, bridge A is connected with bridge B signal, bridge B is connected with Computer signal, described industrial computer is electrically connected with sensor device, on industrial computer, operation has unmanned vehicle autonomous driving systems soft ware, described laser radar is mainly by LASER Light Source emitter, optics receiving equipment and information processing system composition, described navigator is made up of antenna and receiver.
Consult Fig. 2
First set the impact point of unmanned vehicle, this impact point is containing longitude and latitude information, and this impact point is inputted by unmanned vehicle user. In unmanned vehicle autonomous driving system, by the data of laser radar that read of timing and the data of navigator, through the laggard row data fusion of pretreatment, and data and Big Dipper data to laser radar arrange priority. The data that constantly scanned by laser radar judge whether unmanned vehicle exists barrier around, if barrier does not exist, the data that rely on navigator to provide are navigated; If barrier exists, generate feasible path according to obstacle avoidance algorithm, based on laser radar navigation, until after avoiding obstacles, get back to navigator navigation, finally arrive impact point.
Consult Fig. 3
In the time that unmanned vehicle navigates based on laser radar, first front region is scanned, in the data point of judgment device scanning, whether there is " barrier point ". The feature of " barrier point " is numerical value lower than the length of side of scanning area and this numerical value lower than other partial data points. If " barrier point " exists, by judging whether near the data point this " barrier point " also draws for " barrier point " conclusion that whether has barrier. Exceed 3 or 3 above " barrier points " if exist near " barrier point ", have " obstacle point group ", conclude that barrier exists. Can calculate the position of barrier with respect to unmanned vehicle motion according to the position of " obstacle point group ". If barrier is in the left side of unmanned vehicle direction of advance, unmanned vehicle deflection to the right, until get around barrier; If barrier is on the right side of direction of advance, unmanned vehicle deflection left; If the left and right sides of the direction of advance of unmanned vehicle all exists barrier, unmanned vehicle brakes.
Consult Fig. 4
In the time that unmanned vehicle navigates based on navigator, extract the data of navigator, obtain longitude and latitude and velocity information, judge position and the course of unmanned vehicle. The pose of constantly revising unmanned vehicle by computing finally arrives impact point.
Although illustrated and described embodiments of the invention, for the ordinary skill in the art, be appreciated that without departing from the principles and spirit of the present invention and can carry out multiple variation, amendment, replacement and modification to these embodiment, scope of the present invention is limited by claims and equivalent thereof.
Claims (2)
1. a unmanned vehicle autonomous driving system, it is characterized in that: comprise computer, bridge A, bridge B, industrial computer, navigator, laser radar, input is connected industrial computer to described navigator with laser radar signal, described industrial computer is connected with bridge a-signal, bridge A is connected with bridge B signal, bridge B is connected with Computer signal, described industrial computer is electrically connected with sensor device, on industrial computer, operation has unmanned vehicle autonomous driving systems soft ware, described laser radar is mainly by LASER Light Source emitter, optics receiving equipment and information processing system composition, described navigator is made up of antenna and receiver.
2. a kind of unmanned vehicle autonomous driving system according to claim 1, it is characterized in that: unmanned vehicle autonomous driving system comprises at least a set of laser radar, a set of navigator, a set of bridge A, a set of bridge B, an industrial computer, a computer and a set of unmanned vehicle autonomous driving systems soft ware.
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| CN201610047747.1A CN105607637A (en) | 2016-01-25 | 2016-01-25 | Unmanned vehicle autopilot system |
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| CN201610047747.1A CN105607637A (en) | 2016-01-25 | 2016-01-25 | Unmanned vehicle autopilot system |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106155066A (en) * | 2016-09-29 | 2016-11-23 | 翁锦祥 | A kind of mover carrying out road barrier detection and method for carrying |
| CN106200652A (en) * | 2016-09-29 | 2016-12-07 | 翁锦祥 | A kind of intelligent material conveying system and method for carrying |
| CN106774343A (en) * | 2017-01-19 | 2017-05-31 | 中国科学院重庆绿色智能技术研究院 | A kind of pilotless automobile transported for wounded's rescue |
| CN106740819A (en) * | 2016-11-30 | 2017-05-31 | 深圳市招科智控科技有限公司 | A kind of automatic control system of unmanned bus |
| CN107230334A (en) * | 2017-05-05 | 2017-10-03 | 北京理工大学 | A kind of Portable unmanned car ground control terminal |
| CN108058602A (en) * | 2017-12-17 | 2018-05-22 | 成都育芽科技有限公司 | One kind is based on solar cell automatic driving car |
| CN109144052A (en) * | 2017-07-07 | 2019-01-04 | 肖建雄 | Navigation system and its method for automatic driving vehicle |
| CN110865394A (en) * | 2019-09-24 | 2020-03-06 | 中国船舶重工集团公司第七0七研究所 | Target classification system based on laser radar data and data processing method thereof |
| CN111208837A (en) * | 2020-03-20 | 2020-05-29 | 重庆德新机器人检测中心有限公司 | Autonomous navigation robot and autonomous navigation robot interaction method |
| CN111204337A (en) * | 2020-01-15 | 2020-05-29 | 广州赛特智能科技有限公司 | Unmanned vehicle safety protection system and method based on solid-state area array laser radar |
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| CN103155758A (en) * | 2013-03-12 | 2013-06-19 | 上海大学 | Laser navigation system of unmanned combine-harvester |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106155066A (en) * | 2016-09-29 | 2016-11-23 | 翁锦祥 | A kind of mover carrying out road barrier detection and method for carrying |
| CN106200652A (en) * | 2016-09-29 | 2016-12-07 | 翁锦祥 | A kind of intelligent material conveying system and method for carrying |
| CN106155066B (en) * | 2016-09-29 | 2022-11-11 | 翁锦祥 | Carrier capable of detecting road surface obstacle and carrying method |
| CN106740819A (en) * | 2016-11-30 | 2017-05-31 | 深圳市招科智控科技有限公司 | A kind of automatic control system of unmanned bus |
| CN106774343A (en) * | 2017-01-19 | 2017-05-31 | 中国科学院重庆绿色智能技术研究院 | A kind of pilotless automobile transported for wounded's rescue |
| CN107230334A (en) * | 2017-05-05 | 2017-10-03 | 北京理工大学 | A kind of Portable unmanned car ground control terminal |
| CN109144052A (en) * | 2017-07-07 | 2019-01-04 | 肖建雄 | Navigation system and its method for automatic driving vehicle |
| CN109144052B (en) * | 2017-07-07 | 2021-12-28 | 奥特埃克斯股份有限公司 | Navigation system for autonomous vehicle and method thereof |
| CN108058602A (en) * | 2017-12-17 | 2018-05-22 | 成都育芽科技有限公司 | One kind is based on solar cell automatic driving car |
| CN110865394A (en) * | 2019-09-24 | 2020-03-06 | 中国船舶重工集团公司第七0七研究所 | Target classification system based on laser radar data and data processing method thereof |
| CN111204337A (en) * | 2020-01-15 | 2020-05-29 | 广州赛特智能科技有限公司 | Unmanned vehicle safety protection system and method based on solid-state area array laser radar |
| CN111208837A (en) * | 2020-03-20 | 2020-05-29 | 重庆德新机器人检测中心有限公司 | Autonomous navigation robot and autonomous navigation robot interaction method |
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Application publication date: 20160525 |