CN105752078B - A kind of car autopilot executing agency - Google Patents

Abstract

The invention discloses an executive mechanism of an automobile autopilot, which includes a steering part, a braking part and a communication module. The steering part includes a fixed platform, a steering drive device, and an electromagnetic clutch device; the steering part includes a fixed platform, a steering drive device, an electromagnetic clutch device, and the steering drive device forms a planar four-bar linkage mechanism with a rotating pair and a fixed platform, and the steering electromagnetic clutch device is fixed on the steering drive device. The brake part includes a brake drive device and an electromagnetic clutch device similar to the steering part. The invention can replace the driver to independently and reliably complete the driving task, and can switch the driving task with the driver during the driving process, so that the vehicle can realize automatic driving, and can also adapt to different types and models of vehicles without modifying the vehicle It can be installed on the vehicle without affecting the normal use of the airbag.

Description

A car autopilot actuator

technical field

The invention relates to a device capable of autonomously completing driving tasks instead of a driver, in particular to an executive mechanism of an autopilot for an automobile, which belongs to the field of autopilot devices for automobiles.

Background technique

Since 2008, the number of automobiles in my country has risen rapidly, and vehicle traffic accidents have also risen sharply, which has caused great harm to people's lives and property. According to the UN's "Global Status Report on Road Safety 2015", the number of road traffic deaths is currently stabilizing, reaching 1.25 million in 2013; the main causes of traffic accidents are speeding, drunk driving and other improper driving behaviors. Therefore, in "Made in China 2025", the requirements for intelligent vehicles are clearly put forward. Therefore, car autopilots are needed to replace people to complete driving tasks,

In order to ensure driving safety, in addition, it can save energy and reduce emissions, and improve economy.

The domestic application publication number is CN 102393308 A, the patent titled "Driving Robot Used for Automobile Test". It includes accelerator mechanical legs, brake mechanical legs, clutch mechanical legs and shifting mechanical arms, which can complete the automatic driving of vehicles. However, its structure is complex, energy consumption is high, maintenance is troublesome, and its volume occupies the position of the driver, and it is impossible to switch between the driving robot and the driver during driving.

The domestic application publication number is CN 102637058A, and the patent title is "autonomous driving robot". Its body includes a horizontal sliding platform that can move back and forth, a mechanical arm for steering, and mechanical legs for braking and accelerating. It can adapt to vehicles with steering wheels of different heights and sizes. However, its complex structure, large volume and low reliability make it impossible to realize the task switching between the driving robot and the driver.

Contents of the invention

Aiming at the deficiencies in the prior art, the purpose of the present invention is to provide an autopilot executive mechanism for a car, which can replace the driver to independently and reliably complete the driving task, and can switch the driving task with the driver during the driving process, so that The vehicle realizes automatic driving, and can also adapt to different types and models of vehicles. It can be installed on the vehicle without modifying the vehicle, and will not affect the normal use of the airbag.

Technical scheme of the present invention is as follows, in conjunction with accompanying drawing:

An automobile autopilot executive mechanism, including a steering part, a braking part, and a communication module, the steering part includes a fixed platform, a steering drive device, and an electromagnetic clutch device; the steering part includes a fixed platform, a steering drive device, an electromagnetic clutch device, the steering drive device consists of a rotating pair and a fixed platform to form a planar four-bar linkage mechanism, and the steering electromagnetic clutch device is fixed on the steering drive device; the steering drive device includes a steering motor fixing frame 11, a steering motor 10 integrated with a reducer , steering drive gear 12, steering drive gear return spring 13, ring gear 1, steering motor 10 is fixed on the steering motor fixing frame 11, steering drive gear 12 is socketed on the drive shaft of steering motor 10, steering drive gear return spring 13 Compressed on the steering drive gear 12 , the ring gear 1 is fixed on the steering wheel and meshes with the steering drive gear 12 .

Further, the fixed platform includes No. 2 connecting rod 4, No. 1 bracket 8, No. 3 connecting rod 7, No. 1 connecting rod 6, threaded sleeve 5, No. 3 connecting rod 7, No. 1 bracket 8, No. 1 connecting rod The rods 6 are hinged sequentially, the second connecting rod 4 and the third connecting rod 7 are connected through the threaded sleeve 5, the first bracket 8 is fixed on the automobile central control panel, the second connecting rod 4 and the first connecting rod 6 are connected with the The steering drive is swivel connected.

Further, the steering electromagnetic clutch device includes a No. 1 electromagnet 19, a No. 1 shift fork 17, a No. 1 shift fork return spring 18, and a No. 1 shift fork pin 16. The No. 1 electromagnet 19 is fixed on the steering motor fixing frame 11 , the connecting part between No. 1 shift fork 17 and No. 1 electromagnet 19 has a chute, No. 1 shift fork return spring 18 is located between the steering motor fixing frame 11 and No. 1 shift fork 17, the bottom of No. 1 shift fork The first shift fork pin 16 is rotatably connected to the first shift fork 17 through the turning pair and the steering drive gear 12 of the steering drive device, and the first shift fork 17 can rotate around the first shift fork pin 16 with a fixed axis.

Further, the steering drive device further includes an angular velocity sensor 9 connected to the front end of the steering motor 10 .

Further, the brake part includes a brake drive device and a brake electromagnetic clutch device, and the brake electromagnetic clutch device is fixed on the brake drive device; the brake drive device includes a brake motor 30 integrated with a reducer , brake motor fixed frame 22, jaw clutch 26, steel wire wheel 24, steel wire wheel return spring 23, brake motor fixed frame 22 is fixed on the chassis under the cab, and brake motor 30 is fixed on brake motor fixed frame 22 Above, the dog clutch 26 is fixed on the drive shaft of the brake motor 30, the steel wire wheel 24 meshes with the dog clutch 26 and is vacantly sleeved on the drive shaft of the brake motor 30, and the wire wheel return spring 23 is pressed tightly on the wire wheel 24. superior.

Further, the brake electromagnetic clutch device includes No. 2 electromagnet 29, No. 2 shift fork return spring 28, No. 2 shift fork 27, No. 2 shift fork pin 25, No. 2 electromagnet 29 is fixed on the brake motor fixing frame On 22, there is a chute in the connection part between No. 2 shift fork 27 and No. 2 electromagnet 29, and the bottom end of No. 2 shift fork 27 is connected with the wire wheel 24 of the brake drive device through a rotating pair, and No. 2 shift fork The return spring 28 is located between the brake motor fixing frame 22 and the No. 2 shift fork 27, and the No. 2 shift fork pin 25 is rotatably connected to the No. 2 shift fork 27, and the No. 2 shift fork can rotate around the fixed axis of the No. 2 shift fork pin 25 .

Further, the communication module includes a controller, a controller signal generator, a controller signal receiver, a steering part signal generator, a steering part signal receiver, a braking part signal generator, a braking part signal receiver, and a control The controller communicates with the controller signal generator and the controller signal receiver respectively. The controller signal generator communicates with the steering part signal receiver and the braking part signal receiver at the same time. The steering part signal generator and the braking part signal generate The controllers are connected in communication with the controller signal receiver respectively.

The present invention simultaneously provides an automobile autopilot, comprising an environment perception unit, a path planning unit, a path tracking unit, a control unit and an executive mechanism, wherein the actuator includes a steering part, a braking part, and a communication module; The environment, that is, traffic conditions, informs the route planning unit; the route planning unit calculates the best route for the car and informs the control unit of the best route; the control unit sends control instructions to the control part of the actuator according to the car's own speed, position and attitude parameters ; The path tracking unit realizes feedback control to the autopilot of the automobile according to the actual driving path of the automobile.

The beneficial effects achieved by the present invention are: the driver can replace the driver to complete the driving task autonomously, and can realize the driving task switching between the driver and the driver during the driving process, and provide more driving mode options. The steering part and braking part of the execution unit are connected with the controller by a communication module, which facilitates the arrangement of the autopilot actuator on the vehicle while ensuring the speed and accuracy of data transmission, and can adapt to different types and models of vehicles. Stronger adaptability, and does not modify the original vehicle, and does not affect the normal use of the airbag. And the present invention is simple in structure, is convenient to control, and volume is small. In addition, the present invention adopts feedback control, which can reduce system error and make the vehicle run according to the predetermined track.

Description of drawings

Figure 1 is the front view of the steering part

Figure 2 is the front view of the steering motor assembly

Figure 3 is the front view of the brake part

Figure 4 is a block diagram of the communication module

Among them: 1- ring gear, 2- No. 1 motor fixing clip, 3- No. 2 motor fixing clip, 4- No. 2 connecting rod, 5- threaded sleeve, 6- No. 1 connecting rod, 7- No. 3 connecting rod, 8-No. 1 bracket, 9-Angular velocity sensor, 10-Steering motor, 11-Steering motor fixing frame, 12-Steering drive gear, 13-Return spring of steering drive gear, 14-No. 1 spring seat, 15-No. 1 sleeve , 16- No. 1 shift fork pin, 17- No. 1 shift fork, 18- No. 1 shift fork return spring, 19 No. 1 electromagnet, 20- No. 2 sleeve, 21- No. 2 spring seat, 22- Brake motor Fixed frame, 23-wire wheel return spring, 24-wire wheel, 25-No. 2 shift fork pin, 26-jaw clutch, 27-No. 2 shift fork, 28-No. 2 shift fork return spring, 29-No. 2 electromagnetic Iron, 30-brake motor, 31-base, 32-wire displacement sensor

Detailed ways

An embodiment of an automobile autopilot proposed by the present invention will be described in detail below in conjunction with the accompanying drawings.

An autopilot executive mechanism of an automobile comprises a steering part, a braking part and a communication module.

Referring to the steering motor assembly shown in Figure 1 and Figure 2, the steering part includes a fixed platform, a steering drive device, and a steering electromagnetic clutch device, and the fixed platform includes the second connecting rod 4, the first bracket 8, the third connecting rod 7, and the first connecting rod. No. connecting rod 6, threaded sleeve 5, No. 1 motor fixing clip 2, No. 2 motor fixing clip 3, the steering drive device includes steering motor fixing bracket 11, steering motor 10 integrated with reducer, steering drive gear 12, steering Drive gear return spring 13, No. 1 spring seat 14, ring gear 1, angular velocity sensor 9, No. 1 sleeve 15, steering electromagnetic clutch device includes No. 1 electromagnet 19, No. 1 shift fork 17, and No. 1 shift fork return spring 18 , No. 1 shift fork pin 16.

No. 3 connecting rod 7, No. 1 bracket 8, and No. 1 connecting rod 6 are sequentially hinged, No. 1 bracket 8 is fixed on the automobile central control panel, No. 2 connecting rod 4 and No. No. motor fixing clip 2 is rotatably connected with No. 2 connecting rod 4, and No. 2 motor fixing clip 3 is rotatably connected with No. 1 connecting rod 6. The steering drive device can adjust the position of the steering drive device through the No. 1 motor fixing clip 2 and the No. 2 motor fixing clip 3 with the rotating pair and the fixed platform to adjust the position of the steering drive device. The posture is fine-tuned so that the steering part can adapt to vehicles of different models and specifications. The steering electromagnetic clutch device is fixed on the steering motor fixing bracket 11 of the steering drive device. The steering motor 10 is fixed on the steering motor fixing frame 11, the angular velocity sensor 9 is connected to the front end of the steering motor 10, the steering drive gear 12 is sleeved on the drive shaft of the steering motor 10, and one end of the steering drive gear return spring 13 is supported on the No. 1 spring seat 14, the other end is pressed on the steering drive gear 12, and the ring gear 1 is fixed on the steering wheel and meshes with the steering drive gear 12. The No. 1 electromagnet 19 is fixed on the steering motor fixing frame 11, the bottom end of the No. 1 shift fork 17 is connected with the steering drive gear 12 through the rotating pair, and the No. 1 shift fork return spring 18 is located between the steering motor fixing frame 11 and the No. 1 shift fork 17 Between, No. 1 shift fork pin 16 is rotatably connected on No. 1 shift fork 17. There is a chute in the connecting part between No. 1 shift fork 17 and No. 1 electromagnet 19, and No. 1 shift fork can move horizontally and up and down relative to No. 1 electromagnet; No. 1 shift fork 17 is connected with steering drive gear 12 through a rotating pair , No. 1 shift fork 17 can rotate around No. 1 shift fork pin 16 fixed axis. Steering drive gear back spring 18 is fitted on the No. 1 spring seat, and the steering drive gear back spring 18 makes the steering drive gear 12 press the No. 1 shift fork 17 all the time. When the No. 1 electromagnet 19 is de-energized, the steering drive gear 12 is in a balanced state under the action of the steering drive gear return spring 18 and the No. 1 shift fork 17, and keeps the meshing state with the ring gear 1 . When the No. 1 electromagnet 19 is energized, under the action of electromagnetic force, the steering drive gear 12 is disengaged from the ring gear 1 .

Referring to Figure 3, the brake part includes a brake drive device and a brake electromagnetic clutch device similar to the steering part electromagnetic clutch device. The brake driving device includes a brake motor 30 integrated with the speed reducer, a brake motor fixing frame 22, a jaw clutch 26, a wire wheel 24, a wire wheel return spring 23, No. 2 spring seat 21, No. 2 sleeve 20, Linear displacement sensor 32, base 31. Braking electromagnetic clutch device comprises No. 2 electromagnet 29, No. 2 shift fork return spring 28, No. 2 shift fork 27, No. 2 shift fork pin 25. The brake electromagnetic clutch device is fixed on the brake drive device.

The brake motor fixing frame 22 is fixed on the chassis under the cab, the brake motor 30 is fixed on the brake motor fixing frame 22, the jaw clutch 26 is fixed on the drive shaft of the brake motor 30, the wire wheel 24 is connected with the tooth jaw Clutch 26 engages and is sleeved on the drive shaft of brake motor 30 , one end of steel wire wheel return spring 23 is supported on No. 2 spring seat 21 , and the other end is pressed tightly on steel wire wheel 24 . The No. 2 electromagnet 29 is fixed on the brake motor fixing frame 22, the No. 2 shift fork 27 is connected with the wire wheel 24 through the rotating pair, and the No. 2 shift fork return spring 28 is located between the brake motor fixing frame 22 and the No. Between, No. 2 shift fork pin 25 is rotatably connected on No. 2 shift fork 27. The connecting part between No. 2 shift fork 27 and No. 2 electromagnet 29 has a chute, and No. 2 shift fork can move horizontally and move up and down relative to No. 2 electromagnet; No. two shift forks can rotate around No. two shift fork pins 25 fixed axes. Steel wire wheel return spring 23 is fitted on No. two spring seat 21, and steel wire wheel return spring 23 makes steel wire wheel 24 compress No. two shift fork 27 all the time. When the No. 2 electromagnet 29 was powered off, the wire wheel 24 was in a balanced state under the action of the wire wheel return spring 23 and the No. 2 shift fork 27, and kept in engagement with the jaw clutch 26. When the No. 2 electromagnet 29 was energized, under the effect of electromagnetic force, the steel wire wheel 24 disengaged from the dog clutch 26 .

Referring to the communication module flow chart shown in Figure 4, the communication module includes a controller, a controller signal generator, a controller signal receiver, a steering part signal generator, a steering part signal receiver, a braking part signal generator, a braking part Part of the signal receiver, the controller communicates with the controller signal generator and the controller signal receiver respectively, the controller signal generator communicates with the steering part signal receiver and the braking part signal receiver at the same time, the steering part signal generator and the signal generator of the braking part are respectively communicatively connected with the controller signal receiver. The communication module is used for two-way communication and signal transmission between the steering part, the braking part and the control unit. The communication module reserves a wireless communication port, which is used to send and receive data to the server or the cloud.

An automobile autopilot, comprising an environment perception unit, a path planning unit, a path tracking unit, a control unit, and an actuator, wherein the environment perception unit includes sensors such as radars and cameras. It informs the path planning unit of the external environment of the vehicle, namely the traffic condition. The route planning unit calculates the optimal route for the vehicle and informs the control unit of the optimal route for the vehicle. The control unit sends control instructions to the controller of the actuator according to the vehicle's own speed, position and posture and other parameters. The path tracking unit can realize feedback control to the autopilot of the car according to the actual driving path of the car. The steering part of the actuator includes a steering motor angular velocity sensor, and the braking part also includes a linear displacement sensor, which feeds back the actual steering wheel angle and brake pressure to the controller, and then performs feedback control on the autopilot actuator.

The working principle of the present invention is briefly introduced below:

When the path planning unit plans the optimal path according to the data of the environment sensing unit and sends it to the control unit, the controller controls the movement of the steering motor 10 and the braking motor 30 according to the control instructions of the control unit. When the steering motor 10 rotates under the control of the controller, it is decelerated by the reducer to rotate the steering drive gear 12. At this time, the steering drive gear 12 is in mesh with the ring gear 1 fixed on the steering wheel, and then drives the steering wheel to rotate. The angular velocity sensor 9 fixed on the steering motor 10 feeds back the actual angular velocity of the steering motor 10 to the controller, and then performs feedback control on the steering part, so that the steering wheel moves precisely according to the control command of the control unit. After the driver switched on the switch of the electromagnetic clutch, No. 1 electromagnet 19 was energized, so that No. 1 shift fork 17 overcomes the spring force of No. 1 shift fork return spring 18 and steering drive gear return spring 13, and turns around No. 1 shift fork pin 16 The rotation of the fixed axis disengages the steering drive gear 12 from the ring gear 1 . And then can artificially control steering.

When the controller receives the control command from the control unit, the brake motor 30 rotates under the control of the controller. After being decelerated by its own reducer, it drives the jaw clutch 26 to rotate, and then drives the wire wheel meshing with the jaw clutch 26. 24 rotates, and then completes the braking action by pulling the brake pedal through the steel wire wound on the wire wheel 24. After the driver connects the electromagnetic clutch switch, the No. two electromagnet 29 is energized, and under the effect of electromagnetic force, the No. two shift fork 27 is overcome the spring force of the No. two shift fork return spring 28 and the wire wheel return spring 23, thereby winding No. two shift fork pin 25 fixed axis rotations. Push wire wheel 24 and jaw clutch 26 to disengage. Thereby man-made braking.

Claims (6)

1. a kind of car autopilot executing agency, which is characterized in that including knuckle section, brake portion, communication module, institute It includes fixed platform, steer-drive, electromagnetic clutch device to state knuckle section；The steer-drive is with revolute pair and admittedly Fixed platform forms lanar four rod mechanism, turns to electromagnetic clutch device and is fixed on steer-drive；The fixed platform packet Include No. two connecting rods (4), No.1 holder (8), No. three connecting rods (7), No.1 connecting rod (6), screw shell (5), No. three connecting rods (7), one Number holder (8), No.1 connecting rod (6) are hinged successively, and No. two connecting rods (4) are connect with No. three connecting rods (7) by screw shell (5), and one Number holder (8) is fixed on Vehicle Control Panel, and No. two connecting rods (4) and No.1 connecting rod (6) turn with the steer-drive Dynamic connection；The steer-drive includes steering motor fixed frame (11) and reducer integrated steering motor (10), turns To driving gear (12), driving gear resetting spring (13), gear ring (1) are turned to, it is solid that steering motor (10) is fixed on steering motor Determine on frame (11), turn to driving gear (12) and be socketed in the drive shaft of steering motor (10), turns to driving gear resetting spring (13) it is pressed on steering driving gear (12), gear ring (1) is fixed to be engaged on the steering wheel and with driving gear (12) is turned to.

2. a kind of car autopilot executing agency as described in claim 1, which is characterized in that the steering electromagnetic clutch Device includes No.1 electromagnet (19), No.1 shift fork (17), No.1 shift fork resetting spring (18), No.1 shifting fork pin (16), No.1 Electromagnet (19) is fixed on steering motor fixed frame (11), coupling part between No.1 shift fork (17) and No.1 electromagnet (19) It is provided with sliding slot, No.1 shift fork resetting spring (18) is located between steering motor fixed frame (11) and No.1 shift fork (17), and No.1 is dialled Fork (17) bottom end drives gear (12) to connect by revolute pair with the steering of the steer-drive, and No.1 shifting fork pin (16) turns Dynamic to be connected on No.1 shift fork (17), No.1 shift fork (17) can be around No.1 shifting fork pin (16) fixed-axis rotation.

3. a kind of car autopilot executing agency as described in claim 1, which is characterized in that the steer-drive Further include angular-rate sensor (9), angular-rate sensor (9) is connected to steering motor (10) front end.

4. a kind of car autopilot executing agency as described in claim 1, which is characterized in that the brake portion includes Brake and braking electromagnetic clutch device, braking electromagnetic clutch device are fixed in brake；The braking Driving device includes and reducer integrated braking motor (30), braking motor fixed frame (22), jaw clutch (26), steel Silk wheel (24), wire wheel resetting spring (23), braking motor fixed frame (22) are fixed on the chassis under driver's cabin, braking motor (30) it is fixed on braking motor fixed frame (22), jaw clutch (26) is fixed in the drive shaft of braking motor (30), steel Silk wheel (24) is engaged with jaw clutch (26) and empty set is in the drive shaft of braking motor (30), wire wheel resetting spring (23) It is pressed on wire wheel (24).

5. a kind of car autopilot executing agency as claimed in claim 4, which is characterized in that the braking electromagnetic clutch Device include No. two electromagnet (29), No. two shift fork resetting springs (28), No. two shift forks (27), No. two shifting fork pins (25), No. two Electromagnet (29) is fixed on braking motor fixed frame (22), coupling part between No. two shift forks (27) and No. two electromagnet (29) It is provided with sliding slot, No. two shift fork (27) bottom ends are connect by revolute pair with the wire wheel (24) of the brake, and No. two are dialled Fork resetting spring (28) is located between braking motor fixed frame (22) and No. two shift forks (27), No. two shifting fork pin (25) rotation connections On No. two shift forks (27), No. two shift forks can be around No. two shifting fork pin (25) fixed-axis rotations.

6. a kind of car autopilot executing agency as described in claim 1, which is characterized in that the communication module includes Controller, controller signals generator, controller signals receiver, knuckle section signal generator, knuckle section signal receive Device, brake portion signal generator, brake portion signal receiver, controller respectively with controller signals generator and controller Signal receiver communicates to connect, and controller signals generator is received with knuckle section signal receiver and brake portion signal simultaneously Device communicates to connect, knuckle section signal generator and brake portion signal generator respectively with controller signals receiver communication link It connects.