CN111583696A - An unmanned vehicle control system and its operation method - Google Patents

Abstract

The invention discloses an unmanned vehicle control system and an operation method thereof, in particular to the technical field of unmanned driving, comprising a processor used for data reception and data processing, and an output end of the processor is connected with an output end for generating a vehicle driving area A map route generation module of a map and a driving route generation module for generating a vehicle driving route, the input end of the map route generation module is connected with a network map information receiving module for receiving map information in a network geographic information system. The present invention generates a driving path for vehicle driving navigation by combining the vehicle position information and the destination position information with the network map, and the road condition information display module, the road condition voice assistant module and the driving state voice module, remind the car owner in real time of the automatic driving situation, which is convenient for the car owner. Concentrate and improve vehicle driving stability and safety.

Description

An unmanned vehicle control system and its operation method

technical field

The invention relates to the technical field of unmanned driving, in particular to an unmanned vehicle control system and an operation method thereof.

Background technique

An unmanned vehicle is an intelligent vehicle that senses the road environment through the on-board sensing system, automatically plans the driving route and controls the vehicle to reach the predetermined target. It uses on-board sensors to perceive the surrounding environment of the vehicle, and controls the steering and speed of the vehicle according to the road, vehicle position and obstacle information obtained by the perception, so that the vehicle can drive on the road safely and reliably. The technology is slowly maturing, and the domestic driverless technology has a history of more than 20 years. However, the driverless technology is mostly driverless for a single vehicle. Since the speed and direction cannot be adjusted in time according to the road traffic conditions, it can only be used in detection and other unmanned vehicles. Jurisdictions where other vehicles travel; some of the existing technologies are unmanned vehicles with social behaviors, which use complex algorithms to plan the route that the vehicle should take, so that the unmanned vehicle can drive on the road.

The existing technology has the following shortcomings: the existing unmanned vehicles do not have a good monitoring method for complex road conditions, and can only drive automatically along the navigation, and the automatic driving stability is poor. The control of the vehicle is reduced, and the owner's attention is low at this time, which affects the driving safety and low reliability.

SUMMARY OF THE INVENTION

To this end, the embodiments of the present invention provide an unmanned vehicle control system and an operation method thereof. By combining vehicle location information and destination location information with a network map, a driving path is generated for vehicle driving navigation, and a road condition information display module, a road condition voice assistant module The voice module and the driving status voice module remind the car owner of the automatic driving situation in real time, which is convenient for the car owner to concentrate and improve the driving stability and safety of the vehicle. Low problems cause problems.

In order to achieve the above purpose, the embodiments of the present invention provide the following technical solutions: an unmanned vehicle control system, including a processor for data reception and data processing, and an output end of the processor is connected with a A map route generation module and a driving route generation module for generating a vehicle driving route, the input end of the map route generation module is connected with a network map information receiving module for receiving map information in a network geographic information system, and the driving route generation module inputs The end is connected with a vehicle positioning module for vehicle position coordinate positioning and a destination selection module for selecting the vehicle driving destination coordinate position;

The input end of the processor is connected with a traffic information receiving module for receiving road traffic information and a road condition information collection module for receiving road live information, and the output end of the processor is connected with a driving control module for controlling the driving state of the vehicle and a user interface. It is a safety auxiliary module that provides the car owner with the vehicle driving attention function in the automatic driving state, and the output end of the driving control module is connected with an automatic driving module for the system to automatically control the driving of the vehicle and a manual driving module for the owner to manually drive the vehicle. A driving switching module for switching driving modes is connected between the automatic driving module and the manual driving module;

The input end of the road condition information acquisition module is connected with a video acquisition unit for receiving road image information, an ultrasonic ranging unit for detecting the distance between vehicles and other vehicles on the road, and an infrared detection unit for detecting road pedestrians. The acquisition unit is set as a camera, the ultrasonic ranging unit is set as an ultrasonic range finder, and the infrared detection unit is set as an infrared sensor;

The output end of the safety auxiliary module is connected with a road condition information display module for displaying the collected image information of the road conditions outside the vehicle, a road condition voice auxiliary module for giving a voice reminder of the road conditions outside the vehicle, and a road condition voice auxiliary module for displaying the driving state of the vehicle. In the driving state voice module for voice prompting, the input end of the safety auxiliary module is connected with a manual emergency braking module for the vehicle owner to directly control the vehicle to brake.

Further, the driving path generating module generates a plurality of driving paths according to the map information, vehicle position information and destination position information, and the input end of the driving path generating module is connected with a driving path selection module for the driving path selected by the vehicle owner.

Further, the output end of the automatic driving module is connected with an automatic steering module for controlling the automatic steering of the vehicle, an automatic braking module for controlling the starting and braking of the vehicle, and an automatic acceleration module for controlling the running speed of the vehicle.

Further, the output end of the safety assistance module is connected with an intelligent vibration module for synchronously vibrating and reminding the driver when the road condition voice assistant module and the driving state voice module work.

A method for operating an unmanned vehicle control system, the specific operating steps are as follows:

Step 1: start the vehicle, the vehicle positioning module locates the vehicle position, and the map route generation module generates a route map of the area where the vehicle is located by using the network map information received by the network map information receiving module;

Step 2: Use the destination selection module to select the driving destination location. The driving route generation module generates multiple driving routes on the route map according to the vehicle location and the destination location for the vehicle owner to select. The vehicle owner operates the driving route selection module to select a driving route. Provide vehicle route navigation;

Step 3: Operate the driving switching module to select the automatic driving module from the driving control module, and control the vehicle to perform automatic driving along the path selected in step 2;

Step 4: The traffic information receiving module receives the traffic conditions on the road on the driving path, the road condition information collection module collects the real road information, the video collection unit collects the video information of the vehicle's driving road conditions, and the ultrasonic ranging unit uses the ultrasonic ranging technology to real-time detect and other road conditions. The distance between vehicles, the infrared detection unit uses infrared sensing technology to detect the information of pedestrians on the road, the processor intelligently processes the received information, and realizes the automatic driving adjustment of the vehicle on the road through the automatic driving module;

Step 5: During the automatic driving process of the vehicle, the road condition information display module displays the collected road condition information, so that the car owner can monitor the situation in all directions outside the vehicle. When driving, the driving state voice module will give voice prompts to the car owner. In the event of an emergency, the car owner can directly use the manual emergency braking module to brake the vehicle in the automatic driving state;

Step 6: When the car owner does not use the automatic driving function of the vehicle, operate the driving switching module to select the manual driving module from the driving control module, only the automatic driving function is turned off, and the car owner drives the vehicle manually.

The embodiments of the present invention have the following advantages:

1. The present invention uses the map route generation module and the driving path generation module to receive the network map information according to the network map information receiving module, cooperate with the vehicle position information and the destination position information, the driving path generation module generates the driving path, realizes the vehicle driving navigation, and uses The traffic information receiving module collects road traffic condition information, the road condition information collection module collects video information of vehicle driving and road conditions through the video collection unit, the ultrasonic ranging unit uses ultrasonic ranging technology to detect the distance from other vehicles on the road in real time, and the infrared detection unit uses infrared sensing The technology detects the information of pedestrians on the road, and then provides accurate road information for the automatic driving of the vehicle, which is convenient for automatic driving adjustment. The situation in all directions outside the car, and the road condition voice assistant module will give voice prompts to the road conditions that appear. When the vehicle automatically adjusts the driving state, the driving state voice module will give voice prompts to the car owner, so as to avoid the automatic driving process. The owner can know the automatic driving state of the vehicle in real time and improve the owner's attention. In an emergency, the owner can directly use the manual emergency braking module to brake the vehicle in the automatic driving state, which is convenient for the application of the system and improves the driving stability of the vehicle. safety;

2. The present invention switches the functions between automatic driving and manual driving by setting the driving switching module. When the vehicle faces complex road conditions or the owner wants to drive by himself, the driving mode of the vehicle is switched, and the path navigation function continues to work, providing the manual driving of the vehicle owner. Navigation effect to facilitate the application of the system on the vehicle.

Description of drawings

In order to illustrate the embodiments of the present invention or the technical solutions in the prior art more clearly, the following briefly introduces the accompanying drawings that are required to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only exemplary, and for those of ordinary skill in the art, other implementation drawings can also be obtained according to the extension of the drawings provided without creative efforts.

The structures, proportions, sizes, etc. shown in this specification are only used to cooperate with the contents disclosed in the specification, so as to be understood and read by those who are familiar with the technology, and are not used to limit the conditions for the implementation of the present invention, so there is no technical The substantive meaning above, any modification of the structure, the change of the proportional relationship or the adjustment of the size should still fall within the technical content disclosed in the present invention without affecting the effect and the purpose that the present invention can produce. within the range that can be covered.

1 is a schematic diagram of a system structure provided by the present invention;

2 is a schematic diagram of the system structure of a road condition information collection module provided by the present invention;

3 is a schematic diagram of the system structure of an automatic driving module provided by the present invention;

In the figure: 1 processor, 2 map route generation module, 3 driving path generation module, 4 network map information receiving module, 5 vehicle positioning module, 6 destination selection module, 7 traffic information receiving module, 8 road condition information collection module, 9 Driving control module, 10 safety assistance modules, 11 automatic driving modules, 12 manual driving modules, 13 driving switching modules, 14 video acquisition units, 15 ultrasonic ranging units, 16 infrared detection units, 17 road condition information display modules, 18 road condition voice assistance Modules, 19 driving status voice modules, 20 manual emergency braking modules, 21 driving path selection modules, 22 automatic steering modules, 23 automatic braking modules, 24 automatic acceleration modules, 25 intelligent vibration modules.

Detailed ways

The embodiments of the present invention are described below by specific specific embodiments. Those who are familiar with the technology can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. Obviously, the described embodiments are part of the present invention. , not all examples. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

Referring to Figures 1-3 of the description, an unmanned vehicle control system of this embodiment includes a processor 1 for data reception and data processing, characterized in that: the output end of the processor 1 is connected to a A map route generation module 2 of a driving area map and a driving route generation module 3 for generating a vehicle driving route, the input end of the map route generation module 2 is connected with a network map information receiving module 4 for receiving map information in a network geographic information system , the input end of the driving path generation module 3 is connected with a vehicle positioning module 5 for vehicle position coordinate positioning and a destination selection module 6 for selecting the vehicle driving destination coordinate position. The vehicle positioning module 5 locates the vehicle position, and the map The route generation module 2 uses the network map information received by the network map information receiving module 4 to generate a route map of the area where the vehicle is located, and uses the destination selection module 6 to select the driving destination location, and the driving route generation module 3 is based on the vehicle location and destination. The location generates multiple driving paths on the route map for the vehicle owner to select, and the vehicle owner operates the driving path selection module 21 to select a driving path to provide vehicle path navigation;

The input end of the processor 1 is connected with a traffic information receiving module 7 for receiving road traffic information and a road condition information collection module 8 for receiving road live information, and the output end of the processor 1 is connected with a driving device for controlling the driving state of the vehicle. The control module 9 and the safety assistance module 10 used to provide the vehicle owner with the vehicle driving attention function in the automatic driving state. A manual driving module 12 for driving a vehicle, a driving switching module 13 for switching driving modes is connected between the automatic driving module 11 and the manual driving module 12, and the driving switching module 12 is operated to select the driving control module 9 to the automatic driving module 10, and control the The vehicle is driven automatically along the selected path, and the driving switching module 12 is operated to select the manual driving module 11 from the driving control module 9, and the vehicle owner is allowed to drive the vehicle manually;

The input end of the road condition information acquisition module 8 is connected with a video acquisition unit 14 for receiving road image information, an ultrasonic ranging unit 15 for detecting the distance between the vehicle and other vehicles on the road, and an infrared detection unit 16 for detecting road pedestrians. , the video acquisition unit 14 is set as a camera, the ultrasonic ranging unit 15 is set as an ultrasonic range finder, the infrared detection unit 16 is set as an infrared sensor, the video acquisition unit 13 collects video information of vehicle driving road conditions, and the ultrasonic measurement The distance unit 14 uses ultrasonic ranging technology to detect the distance from other vehicles on the road in real time, the infrared detection unit 15 uses infrared sensing technology to detect the information of pedestrians on the road, and the processor 1 intelligently processes the received information, which is realized by the automatic driving module 10. The vehicle is automatically adjusted on the road;

The output end of the safety assistance module 10 is connected with a road condition information display module 17 for displaying the collected image information of road conditions outside the vehicle, a road condition voice assistance module 18 for providing voice reminders for the road conditions outside the vehicle, and a road condition voice assistance module 18 for The driving status voice module 19 for voice prompting of the driving status of the vehicle, the input end of the safety auxiliary module 10 is connected to the manual emergency braking module 20 for the owner to directly control the vehicle to brake. During the automatic driving process of the vehicle, the road condition information display module 17 Display the collected road condition information, so that the car owner can monitor the situation in all directions outside the car. At the same time, the road condition voice assistant module 18 provides voice prompts for the road conditions that appear, and the driving state voice module when the vehicle automatically adjusts the driving state. 19. Provide voice prompts to the vehicle owner. In the event of an emergency, the vehicle owner can directly use the manual emergency braking module 20 to brake the vehicle in an automatic driving state.

Further, the driving path generation module 3 generates a plurality of driving paths according to the map information, the vehicle position information and the destination position information, and the input end of the driving path generation module 3 is connected with a driving path selection module for the driving path selected by the vehicle owner. 21. It is convenient to provide the car owner with multiple driving paths to choose from, so that the car owner can control the driving route of the vehicle, thereby facilitating the automatic driving of the vehicle.

Further, the output end of the automatic driving module 11 is connected with an automatic steering module 22 for controlling the automatic steering of the vehicle, an automatic braking module 23 for controlling the starting and braking of the vehicle, and an automatic acceleration module 24 for controlling the speed of the vehicle, It is convenient to automatically control the steering, starting and braking of the vehicle, the speed of the vehicle, and realize the automatic driving of the vehicle.

Further, the output end of the safety assistance module 10 is connected with an intelligent vibration module 25 for synchronously vibrating and reminding the driver when the road condition voice assistant module 18 and the driving state voice module 19 are working. The intelligent vibration module 25 vibrates synchronously when the driving state voice module 19 gives voice prompts to the car owner when the vehicle automatically adjusts the driving state when voice prompts are given according to the road conditions and when the vehicle is automatically driving, which further improves the car owner's attention.

A method for operating an unmanned vehicle control system, the specific operating steps are as follows:

Step 1: start the vehicle, the vehicle positioning module 5 locates the vehicle position, and the map route generation module 2 uses the network map information received by the network map information receiving module 4 to generate a route map of the area where the vehicle is located;

Step 2: Use the destination selection module 6 to select the driving destination location. The driving route generation module 3 generates a plurality of driving routes on the route map according to the vehicle location and the destination location for the vehicle owner to choose. The vehicle owner operates the driving route selection module 21 to select one. Driving path, providing vehicle path navigation;

Step 3: Operate the driving switching module 13 to select the automatic driving module 11 from the driving control module 9, and control the vehicle to perform automatic driving along the path selected in step 2;

Step 4: The traffic information receiving module 7 receives the traffic conditions on the road of the driving path, the road condition information collection module 8 collects the real road information, the video collection unit 14 collects the video information of the vehicle driving road conditions, and the ultrasonic ranging unit 15 uses the ultrasonic ranging technology in real time. To detect the distance from other vehicles on the road, the infrared detection unit 16 uses infrared sensing technology to detect the information of pedestrians on the road, the processor 1 intelligently processes the received information, and realizes the automatic driving adjustment of the vehicle on the road through the automatic driving module 11;

Step 5: During the automatic driving process of the vehicle, the road condition information display module 17 displays the collected road condition information, so that the car owner can monitor the situation in all directions outside the vehicle. When the vehicle is automatically driving, the driving state voice module 19 provides a voice prompt to the car owner when the driving state is automatically adjusted. In the event of an emergency, the car owner can directly use the manual emergency braking module 20 to brake the vehicle in the automatic driving state;

Step 6: When the vehicle owner does not use the automatic driving function of the vehicle, the driving switching module 13 is operated to select the manual driving module 12 from the driving control module 9, only the automatic driving function is turned off, and the vehicle owner drives the vehicle manually.

Although the present invention has been described in detail above with general description and specific embodiments, some modifications or improvements can be made on the basis of the present invention, which will be obvious to those skilled in the art. Therefore, these modifications or improvements made without departing from the spirit of the present invention fall within the scope of the claimed protection of the present invention.

Claims (5)

1. An unmanned vehicle control system comprising a processor (1) for data reception and data processing, characterized by: the output end of the processor (1) is connected with a map route generation module (2) for generating a vehicle driving area map and a driving route generation module (3) for generating a vehicle driving route, the input end of the map route generation module (2) is connected with a network map information receiving module (4) for receiving map information in a network geographic information system, and the input end of the driving route generation module (3) is connected with a vehicle positioning module (5) for positioning vehicle position coordinates and a destination selection module (6) for selecting a vehicle driving destination coordinate position;

the system comprises a processor (1), a traffic information receiving module (7) and a road condition information acquisition module (8), wherein the traffic information receiving module (7) is used for receiving road traffic information, the road condition information acquisition module is used for receiving road condition information, the output end of the processor (1) is connected with a driving control module (9) used for controlling the driving state of a vehicle and a safety auxiliary module (10) used for providing a vehicle driving attention function for a vehicle owner in an automatic driving state, the output end of the driving control module (9) is connected with an automatic driving module (11) used for automatically controlling the vehicle driving by the system and a manual driving module (12) used for manually driving the vehicle by the vehicle owner, and a driving switching module (13) used for switching the driving mode is connected between the automatic driving module (11) and the manual driving;

the input end of the road condition information acquisition module (8) is connected with a video acquisition unit (14) for receiving road image information, an ultrasonic ranging unit (15) for detecting the distance between a vehicle and other vehicles on the road and an infrared detection unit (16) for detecting the condition of pedestrians on the road, the video acquisition unit (14) is arranged to be a camera, the ultrasonic ranging unit (15) is arranged to be an ultrasonic range finder, and the infrared detection unit (16) is arranged to be an infrared sensor;

the safety auxiliary module (10) output is connected with the road condition information display module (17) that is used for going on showing the outer road condition image information of car that will gather, is used for carrying out the road conditions pronunciation auxiliary module (18) of pronunciation warning and is used for carrying out voice prompt's driving state voice module (19) to the vehicle state of traveling to the outer road condition of car, safety auxiliary module (10) input is connected with manual emergency braking module (20) that are used for car owner direct control vehicle to brake.

2. The unmanned vehicle control system of claim 1, wherein: the driving path generating module (3) generates a plurality of driving paths according to map information, vehicle position information and destination position information, and the input end of the driving path generating module (3) is connected with a driving path selecting module (21) of a driving path selected by a vehicle owner.

3. The unmanned vehicle control system of claim 1, wherein: the output end of the automatic driving module (11) is connected with an automatic steering module (22) for controlling the automatic steering of the vehicle, an automatic braking module (23) for controlling the starting and braking of the vehicle and an automatic accelerating module (24) for controlling the running speed of the vehicle.

4. The unmanned vehicle control system of claim 1, wherein: the output end of the safety auxiliary module (10) is connected with an intelligent vibration module (25) which is used for synchronously vibrating and reminding a driver when the road condition voice auxiliary module (18) and the driving state voice module (19) work.

5. The unmanned vehicle control system operation method of any one of claims 1-4, wherein: the specific operation steps are as follows:

the method comprises the following steps: starting a vehicle, positioning the position of the vehicle by a vehicle positioning module (5), and generating a route map of a position area where the vehicle is located by a map route generating module (2) by utilizing network map information received by a network map information receiving module (4);

step two: the driving destination position is selected by using a destination selection module (6), a driving path generation module (3) generates a plurality of driving paths on a road map according to the position of the vehicle and the destination position for a vehicle owner to select, and the vehicle owner operates a driving path selection module (21) to select one driving path and provide vehicle path navigation;

step three: operating the driving switching module (13) to select the automatic driving module (11) from the driving control module (9) and controlling the vehicle to automatically drive along the path selected in the step two;

step four: the traffic information receiving module (7) receives traffic conditions on a road of a driving path, the road condition information acquisition module (8) acquires road real-time information, the video acquisition unit (14) acquires video information of the driving road condition of a vehicle, the ultrasonic ranging unit (15) detects the distance between the vehicle and other vehicles on the road in real time by using an ultrasonic ranging technology, the infrared detection unit (16) detects the information of the condition of people on the road by using an infrared sensing technology, the processor (1) intelligently processes the received information, and the automatic driving adjustment of the vehicle on the road is realized by the automatic driving module (10);

step five: in the automatic driving process of the vehicle, a road condition information display module (17) displays the collected road condition information, so that a vehicle owner can display the conditions of all directions outside the vehicle, meanwhile, a road condition voice auxiliary module (18) carries out voice prompt on the road condition conditions, a driving state voice module (19) carries out voice prompt on the vehicle owner when the automatic adjustment driving state occurs during the automatic driving of the vehicle, and the vehicle owner can directly brake the vehicle in the automatic driving state through a manual emergency braking module (20) when an emergency situation occurs;

step six: when the vehicle owner does not use the automatic driving function of the vehicle, the driving switching module (13) is operated to select the manual driving module (12) from the driving control module (9), only the automatic driving function is closed, and the vehicle owner drives the vehicle manually to run.

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