CN111081112A - Automatic driving instruction car and control method thereof - Google Patents
Automatic driving instruction car and control method thereof Download PDFInfo
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- CN111081112A CN111081112A CN201811377216.4A CN201811377216A CN111081112A CN 111081112 A CN111081112 A CN 111081112A CN 201811377216 A CN201811377216 A CN 201811377216A CN 111081112 A CN111081112 A CN 111081112A
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B9/00—Simulators for teaching or training purposes
- G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
- G09B9/04—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of land vehicles
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- General Physics & Mathematics (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The invention relates to an automatic driving learner-driven vehicle, which comprises a learner-driven vehicle body, display equipment, a controller, a vehicle body surrounding camera, an automatic steering device and a clutch brake control device, wherein the display equipment is arranged on the learner-driven vehicle body; the automatic steering device comprises a steering motor drive, a synchronous gear and a steering column gear, wherein the steering column gear is sleeved on the outer side of a steering column of the steering wheel; the clutch brake control device comprises a clutch control motor and a brake control motor, the clutch control motor and the brake control motor are respectively connected with a bobbin in a transmission mode, a steel wire rope is wound on the bobbin, and the tail end of the steel wire rope is fixedly installed on a connecting arm of a clutch pedal or a brake pedal. The invention can automatically control the steering of the learner-driven vehicle, automatically control the clutch and the brake, acquire the driving data of the vehicle, realize the automatic driving of the learner-driven vehicle, acquire the position of the vehicle and yellow road marking, generate the driving track of the vehicle, control the learner-driven vehicle to drive according to the driving track, and provide convenience for the automatic driving and teaching demonstration of the learner-driven vehicle.
Description
Technical Field
The invention relates to an automatic driving instruction car and a control method thereof.
Background
The traditional teaching of driving schools is that a coach explains specific operation specifications, and trainees practice the operation specifications by themselves, so that the trainees are difficult to quickly find skills according to a coach explanation method, the coach cannot remind the trainees constantly, and the trainees are low in efficiency in the practice process; in addition, when a student exercises, a coach needs to follow the car to guide, a lot of time is needed to be occupied, the student is affected to process other things, and if the coach processes other things, the student cannot practice the car independently and cannot solve questions met during the exercise; thirdly, the trainees can easily form dependency by explaining the exercises through the coaches, and can not actively find and solve the problems in the exercises.
The existing school bus only provides vehicle simulation teaching in the aspect of intelligent teaching, the problem of difficult operation still exists when a student actually operates, and the existing intelligent teaching aspect is not perfect in teaching demonstration, student operation guidance and the like.
Disclosure of Invention
The invention aims to provide an automatic driving instruction car and a control method thereof.
In order to solve the technical problems, the technical scheme of the invention is as follows: an automatic driving learner-driven vehicle comprises a learner-driven vehicle body, display equipment, a controller, a vehicle body surrounding camera, an automatic steering device and a clutch brake control device; the automatic steering device comprises a synchronous gear driven by a steering motor, the synchronous gear is connected with a steering column gear through a synchronous belt in a transmission way, and the steering column gear is sleeved on the outer side of a steering column of a steering wheel of the instruction car; the clutch brake control device comprises a clutch control motor and a brake control motor, the clutch control motor and the brake control motor are respectively connected with a spool in a transmission manner, a steel wire rope is wound on the spool, the tail end of the steel wire rope is fixedly arranged on a connecting arm of a clutch pedal or a brake pedal, and the clutch control motor and the brake control motor control the clutch pedal and the brake pedal to be stepped down or lifted up by tightening or loosening the steel wire rope; the controller receives and processes the image acquired by the vehicle body surrounding camera, controls the steering motor, the clutch control motor and the brake control motor to operate, and communicates data with the vehicle controller on the learner-driven vehicle to acquire driving data of the learner-driven vehicle.
As a preferable technical scheme, the interior of the coach car body further comprises a control button for starting or releasing automatic driving, and the control button is electrically connected with a switching value input port of the controller.
According to a preferable technical scheme, the car body is arranged below left and right rear-view mirrors on the car body of the instructional car in a surrounding mode.
As a preferred technical scheme, an ultrasonic radar sensor is further installed on the coach car and installed in a groove below an opening of a trunk at the tail of the coach car.
According to the preferable technical scheme, the steering motor, the clutch control motor and the brake control motor are all electrically connected with a driver, and the driver receives a control signal of the controller and drives the steering motor, the clutch control motor or the brake control motor to operate.
A control method of an automatic driving instruction car comprises the following steps:
reading the driving information of the learner-driven vehicle, acquiring the steering position of the wheels of the learner-driven vehicle, and correcting the position of the wheels through an automatic steering device;
receiving images acquired by the vehicle body surrounding camera, synthesizing position images of the learner-driven vehicle, and identifying yellow road markings on a road;
judging the subjects to be demonstrated according to the positions of the learner-driven vehicle and the yellow road marking;
the instructional car is automatically started through the automatic steering device and the clutch brake control device;
and generating a driving track according to the current position of the instruction car and the preset driving process of demonstrating the subjects, and controlling the instruction car to drive according to the driving track until the demonstration of the demonstrating subjects is completed.
As a preferred technical scheme, the concrete step of correcting the wheels of the instructional car comprises the following steps:
the controller obtains steering position data of the wheels by reading driving data of the learner-driven vehicle;
comparing the steering position data of the wheels with the wheel centering data to obtain a deviation value of the steering position data of the wheels;
calculating the direction and angle of wheel adjustment according to the deviation value, and obtaining the adjustment direction and rotation angle of the steering wheel according to the linear relation between the steering angle of the wheels and the rotation angle of the steering wheel;
and outputting PWM (pulse-width modulation) waveform to the steering motor according to the adjustment direction and the rotation angle of the steering wheel, controlling the steering motor to rotate, and correcting the wheels.
Due to the adoption of the technical scheme, the invention has the beneficial effects that: according to the invention, the automatic steering device and the clutch brake device can automatically control the steering of the learner-driven vehicle, automatically control the clutch and the brake, acquire the driving data of the vehicle through communication with the vehicle controller, realize the automatic driving of the learner-driven vehicle, and acquire the position of the vehicle and the yellow road marking through the vehicle body surrounding the camera and the ultrasonic radar sensor so as to generate the driving track of the vehicle and control the learner-driven vehicle to drive according to the driving track, thereby providing convenience for the automatic driving and teaching demonstration of the learner-driven vehicle.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic structural diagram of an embodiment of the present invention;
fig. 2 is a schematic structural view of an automatic steering apparatus according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a clutch brake control device according to an embodiment of the present invention;
FIG. 4 is a flow chart of an embodiment of the present invention in which a learner-driven vehicle is used for teaching demonstrations;
in the figure: 1-a steering wheel; 11-a steering column; 2-steering column gear; 3-a synchronizing gear; 4-synchronous belt; 5-a steering motor; 6-clutch pedal; 61-a connecting arm; 7-a steel wire rope; 8-a spool; 9-clutch control motor.
Detailed Description
As shown in fig. 1 to 3, an automatic driving learner-driven vehicle comprises a learner-driven vehicle body, a display device, a controller, a vehicle body surrounding camera, an automatic steering device and a clutch brake control device.
The automatic steering device comprises a synchronous gear 3 driven by a steering motor 5, the synchronous gear 3 is connected with a steering column gear 2 in a transmission way through a synchronous belt 4, and the steering column gear 2 is sleeved outside a steering column 11 of a steering wheel 1 of the instructional car; the clutch brake control device comprises a clutch control motor and a brake control motor, the clutch control motor and the brake control motor are respectively connected with a bobbin in a transmission mode, a steel wire rope is wound on the bobbin, the tail end of the steel wire rope is fixedly installed on a connecting arm of a clutch pedal or a brake pedal, and the clutch control motor and the brake control motor control the clutch pedal and the brake pedal to step down or lift up by tightening or loosening the steel wire rope.
As shown in fig. 2, the clutch control motor 9 is connected with a spool 8 in a transmission manner, a steel wire rope 7 is wound on the spool, the tail end of the steel wire rope 7 is fixedly installed on a connecting arm 61 of the clutch pedal 6, and the clutch control motor 9 controls the clutch pedal 6 to step down or lift up by tightening or loosening the steel wire rope 7.
The control principle of the brake pedal is the same as that of the clutch pedal.
The controller receives and processes images acquired by the vehicle body surrounding camera, controls the steering motor, the clutch control motor and the brake control motor to operate, and performs data communication with a vehicle controller on the learner-driven vehicle to acquire driving data of the learner-driven vehicle.
The interior of the coach car body also comprises a control button for starting or releasing automatic driving, and the control button is electrically connected with the switching value input port of the controller.
Preferably, the body surrounds the camera and is installed below the left and right rear-view mirrors on the coach car body.
Still install ultrasonic radar sensor on the learner-driven vehicle, ultrasonic radar sensor installs in the recess of coach car afterbody trunk opening below.
Preferably, the steering motor, the clutch control motor and the brake control motor are all electrically connected with a driver, and the driver receives a control signal of the controller and drives the steering motor, the clutch control motor or the brake control motor to operate.
The controller is connected with the driver and used for receiving the steering signal, sending a steering command and analyzing the position information of the wheels. The steering motor, the clutch control motor and the brake control motor are all connected with the driver, and the driver sends signals to the motor to be controlled, so that the forward rotation and reverse rotation functions are realized, and the number of turns of the motor rotation is accurately controlled. The power supply is supplied by a storage battery in the vehicle, is boosted by an inverter and is converted into an applicable voltage driven by the motor.
The controller obtains the steering direction and angle of the steering motor through calculation, a control waveform is sent to a driver for steering control, the driver drives the steering motor to rotate, and the motor drives the steering column gear to steer through the synchronous gear and the synchronous belt, so that the steering wheel is steered, and the steering function is realized.
The controller sends out a control waveform to a clutch control driver to control the clutch control motor to rotate, the clutch control motor rotates to drive the wire wheel to rotate, and the wire wheel rotates to drive the steel wire rope to tighten up so as to finish the action of stepping on the clutch; and (4) loosening the steel wire rope and lifting the clutch.
The controller and the automobile controller realize gear operation through the communication direction.
The principle of the controller for controlling the brake is the same as that for controlling the clutch.
A control method of an automatic driving instruction car comprises the following steps:
reading driving information of the learner-driven vehicle, acquiring the steering position of the wheels of the learner-driven vehicle, and correcting the positions of the wheels through an automatic steering device;
receiving an image acquired by a vehicle body surrounding camera, synthesizing a position image of the learner-driven vehicle, and identifying yellow road markings on a road;
judging the subjects to be demonstrated according to the positions of the learner-driven vehicle and the yellow road marking;
the instructional car is automatically started through the automatic steering device and the clutch brake control device;
and generating a driving track according to the current position of the instruction car and a preset driving process for demonstrating the subjects, and controlling the instruction car to drive according to the driving track until the demonstration of the subjects is completed.
Preferably, the specific step of aligning the wheels of the instructional car comprises:
the controller reads the driving data of the learner-driven vehicle to obtain the steering position data of the wheels;
comparing the steering position data of the wheels with the wheel centering data to obtain a deviation value of the steering position data of the wheels;
calculating the direction and angle of wheel adjustment according to the deviation value, and obtaining the adjustment direction and rotation angle of the steering wheel according to the linear relation between the steering angle of the wheels and the rotation angle of the steering wheel;
and outputting PWM (pulse-width modulation) waveform to the steering motor according to the adjustment direction and the rotation angle of the steering wheel, controlling the steering motor to rotate, and correcting the wheels.
The specific operation of the present invention for automatic driving is as follows:
the controller passes through CAN bus and automobile controller communication, acquires the driving data of learner-driven vehicle, acquires the position of wheel through the driving data, also is the steering angle of wheel, has a linear proportional relation between coach wheel turned angle and the steering wheel turned angle, and wheel rotation 45 degrees promptly, steering wheel rotation 540 degrees, its conversion formula: the steering wheel angle is 12 × wheel rotation angle.
Compare the steering angle data of wheel with the wheel data placed in the middle, draw the deviation value of left side or right side partially, according to the conversion formula, the steering wheel angle is 12 wheel rotation angle, and the controller produces the PWM ripples and carries to the driver that is used for steering control, and the drive turns to the motor and rotates, turns to the motor and drives synchronous gear, hold-in range and rotates, with power conveying to steering column gear, drives the steering wheel and rotates corresponding angle, makes the wheel placed in the middle.
The learner-driven vehicle surrounds the camera through the automobile body installed on the automobile body, and video streaming, namely the 360-degree aerial view of the learner-driven vehicle, is realized in real time.
The yellow road marking is identified through the image shot by the vehicle body surrounding camera, and the subject type of exercise or demonstration is judged according to the position of the instruction vehicle.
The clutch control is used in a driving school bus teaching stage, after a student selects teaching to start, the controller controls the steering angle of the steering motor to achieve automatic steering of the learner-driven bus, controls the clutch control motor to achieve clutch stepping or loosening, and controls the brake control motor to achieve brake stepping or loosening and other operations.
As shown in fig. 4, is a flow chart of the instructional car performing the instructional demonstration.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (7)
1. The utility model provides an automatic learner-driven vehicle which characterized in that: the teaching car comprises a coach car body, display equipment, a controller, a car body surrounding camera, an automatic steering device and a clutch brake control device; the automatic steering device comprises a synchronous gear driven by a steering motor, the synchronous gear is connected with a steering column gear through a synchronous belt in a transmission way, and the steering column gear is sleeved on the outer side of a steering column of a steering wheel of the instruction car; the clutch brake control device comprises a clutch control motor and a brake control motor, the clutch control motor and the brake control motor are respectively connected with a spool in a transmission manner, a steel wire rope is wound on the spool, the tail end of the steel wire rope is fixedly arranged on a connecting arm of a clutch pedal or a brake pedal, and the clutch control motor and the brake control motor control the clutch pedal and the brake pedal to be stepped down or lifted up by tightening or loosening the steel wire rope; the controller receives and processes the image acquired by the vehicle body surrounding camera, controls the steering motor, the clutch control motor and the brake control motor to operate, and communicates data with the vehicle controller on the learner-driven vehicle to acquire driving data of the learner-driven vehicle.
2. An autonomous driving instruction vehicle as claimed in claim 1, characterized in that: the interior of the coach car body further comprises a control button for starting or releasing automatic driving, and the control button is electrically connected with the switching value input port of the controller.
3. An autonomous driving instruction vehicle as claimed in claim 1, characterized in that: the car body surrounds the camera and is installed in the below of the left and right rear-view mirrors on the learner-driven vehicle body.
4. An autonomous driving instruction vehicle as claimed in claim 1, characterized in that: still install ultrasonic radar sensor on the learner-driven vehicle, ultrasonic radar sensor installs in the recess of coach car afterbody trunk opening below.
5. An autonomous driving instruction vehicle as claimed in claim 1, characterized in that: the steering motor, the clutch control motor and the brake control motor are all electrically connected with a driver, and the driver receives a control signal of the controller and drives the steering motor, the clutch control motor or the brake control motor to operate.
6. A control method of an automatic driving instruction car is characterized by comprising the following steps:
reading the driving information of the learner-driven vehicle, acquiring the steering position of the wheels of the learner-driven vehicle, and correcting the position of the wheels through an automatic steering device;
receiving images acquired by the vehicle body surrounding camera, synthesizing position images of the learner-driven vehicle, and identifying yellow road markings on a road;
judging the subjects to be demonstrated according to the positions of the learner-driven vehicle and the yellow road marking;
the instructional car is automatically started through the automatic steering device and the clutch brake control device;
and generating a driving track according to the current position of the instruction car and the preset driving process of demonstrating the subjects, and controlling the instruction car to drive according to the driving track until the demonstration of the demonstrating subjects is completed.
7. The control method of an automated driving instruction car according to claim 6, characterized in that: the concrete steps of correcting the wheels of the learner-driven vehicle comprise:
the controller obtains steering position data of the wheels by reading driving data of the learner-driven vehicle;
comparing the steering position data of the wheels with the wheel centering data to obtain a deviation value of the steering position data of the wheels;
calculating the direction and angle of wheel adjustment according to the deviation value, and obtaining the adjustment direction and rotation angle of the steering wheel according to the linear relation between the steering angle of the wheels and the rotation angle of the steering wheel;
and outputting PWM (pulse-width modulation) waveform to the steering motor according to the adjustment direction and the rotation angle of the steering wheel, controlling the steering motor to rotate, and correcting the wheels.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811224329 | 2018-10-19 | ||
| CN2018112243290 | 2018-10-19 |
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| CN111081112A true CN111081112A (en) | 2020-04-28 |
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| CN201811377216.4A Pending CN111081112A (en) | 2018-10-19 | 2018-11-19 | Automatic driving instruction car and control method thereof |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113844259A (en) * | 2021-09-28 | 2021-12-28 | 武汉未来幻影科技有限公司 | A brake assist control system, method and device for a manual transmission vehicle |
| CN113928281A (en) * | 2021-11-22 | 2022-01-14 | 山东万正网络科技有限公司 | Auxiliary braking system for instructional car and control method |
| CN114084110A (en) * | 2021-11-24 | 2022-02-25 | 合肥邦立电子股份有限公司 | Intelligent trolley line control brake device with servo motor and method |
| CN114275035A (en) * | 2021-12-30 | 2022-04-05 | 西安理工大学 | A kind of electric vehicle auxiliary driving modification mechanism |
| CN115188239A (en) * | 2022-06-30 | 2022-10-14 | 湖北泰和电气有限公司 | A steering wheel manipulation simulation device |
| CN115214571A (en) * | 2022-08-01 | 2022-10-21 | 眉山中车制动科技股份有限公司 | Electronic auxiliary brake device of instructional car and control method |
| CN116343550A (en) * | 2021-12-22 | 2023-06-27 | Jvc建伍株式会社 | Automotive Training System |
| CN117485421A (en) * | 2024-01-02 | 2024-02-02 | 天津金晟保科技有限公司 | Telex retrofit system, installation method thereof and vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113844259A (en) * | 2021-09-28 | 2021-12-28 | 武汉未来幻影科技有限公司 | A brake assist control system, method and device for a manual transmission vehicle |
| CN113928281A (en) * | 2021-11-22 | 2022-01-14 | 山东万正网络科技有限公司 | Auxiliary braking system for instructional car and control method |
| CN114084110A (en) * | 2021-11-24 | 2022-02-25 | 合肥邦立电子股份有限公司 | Intelligent trolley line control brake device with servo motor and method |
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| CN115188239A (en) * | 2022-06-30 | 2022-10-14 | 湖北泰和电气有限公司 | A steering wheel manipulation simulation device |
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| CN115214571A (en) * | 2022-08-01 | 2022-10-21 | 眉山中车制动科技股份有限公司 | Electronic auxiliary brake device of instructional car and control method |
| CN117485421A (en) * | 2024-01-02 | 2024-02-02 | 天津金晟保科技有限公司 | Telex retrofit system, installation method thereof and vehicle |
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Application publication date: 20200428 |