CN114604270A - An automatic driving system for an electric vehicle - Google Patents

Abstract

The invention provides an automatic driving system of an electric automobile, which relates to the technical field of automatic driving of automobiles and comprises: the sensing component is used for collecting and processing vehicle information and environment information by utilizing monitoring equipment, wherein the vehicle information and the environment information comprise video information, gps information, vehicle posture and acceleration information; the high-precision positioning component acquires the road surface condition by using the sensing component, verifies the position coordinate information by using the vehicle receiving equipment, performs matching processing according to scene data to obtain a scene map, judges and positions a lane where the vehicle is located on the basis of the scene map, and finally drives according to the path direction of the lane; in the invention, the sensing assembly is used for acquiring the initial environmental information and the color of the signal lamp, and the waiting time of the vehicle is planned according to the positions of the traffic light and the stop line on the road, so that the safety of the vehicle staying in front of the signal lamp is improved, and the risk of the vehicle running at the intersection is reduced.

Description

An automatic driving system for an electric vehicle

technical field

The invention relates to the technical field of automatic driving of automobiles, in particular to an automatic driving system of electric vehicles.

Background technique

Electric vehicles refer to vehicles powered by on-board power supply and driven by motors that meet the requirements of road traffic and safety regulations. With the continuous development of society, electric vehicles can gradually realize self-driving without driver operation. .

Chinese patent CN109866765A discloses "a safe driving system for unmanned electric vehicles", which includes an automatic driving device and an automatic driving system. Control the steering and speed of the vehicle, and automatically plan the driving route so that the car reaches the predetermined target. Although the patent improves the safety of driving by judging road obstacles, the road information that can be captured during the driving of electric vehicles does not Rich, when the car is driving to the position of the traffic light, it cannot make an accurate judgment according to the instructions of the traffic light, and there is a certain risk of automatic driving.

SUMMARY OF THE INVENTION

The purpose of the present invention is to propose an automatic driving system for electric vehicles in order to solve the shortcomings existing in the prior art.

In order to achieve the above purpose, the present invention adopts the following technical solutions: an electric vehicle automatic driving system, the electric vehicle automatic driving system includes:

Perception component, which uses monitoring equipment to collect and process information about the vehicle itself and its environment, including video information, gps information, vehicle attitude, and acceleration information;

The high-precision positioning component uses the perception component to obtain the road surface, and uses the vehicle receiving device to verify the location coordinate information, performs matching processing according to the scene data to obtain the scene map, and then judges and locates the lane of the vehicle based on the scene map, and finally follows the path of the lane. point to drive;

The prediction component uses the perception component to obtain road obstacles frame by frame, predicts the various motion trajectories of the perceived obstacles, and calculates the possible position coordinates of the obstacles within the perception range;

The planning component, based on the information sensed by the sensing component, plans a route to the destination, and also needs to plan the fine trajectory and vehicle status of the location at each moment in the future, and according to the traffic lights on the road. and the position of the stop line to plan the waiting time of the vehicle;

The control component checks the road surface through the sensing component, and sends commands to control the brakes to perform the braking operation. When the vehicle turns, it realizes the turning control, and also includes turning on the turn signal, and acceleration and deceleration control.

In order to transmit the signal, the present invention improves that the sensing component is connected with the network center, the user center and the wireless broadcast through the wireless transmission module.

In order to monitor road conditions, the present invention improves that the monitoring device is one or more of cameras, lidar, millimeter-wave radar, ultrasonic radar, and GNSS/IMU, and the monitoring devices are respectively installed on the front end, rear and side ends.

In order to perceive the situation around the vehicle, the present invention improves that the perception component is used to determine whether there is a vehicle ahead, whether the obstacle ahead is a person, the color of traffic lights, the speed of the vehicle, the road conditions, and the like.

In order to receive map information, the present invention improves that the vehicle receiving device is a GPS, GLONASS or BDS satellite receiver, and meanwhile, the vehicle receiving device obtains the station observation value and broadcast ephemeris of the local area network through an external network.

In order to judge the motion trajectory, the present invention is improved by selecting at least one motion trajectory from the multiple motion trajectories as the prediction result.

In order to determine whether an obstacle is active, the present invention improves that when the predicting component senses a stationary obstacle, it detects surrounding obstacles, and if the surrounding obstacles are still stationary, it continues driving.

In order to monitor the vehicle state, the present invention improves that the vehicle state includes traveling speed, acceleration, heading angle and heading angular velocity.

In order to improve the safety of the vehicle when turning Take turn control.

In order to charge the vehicle in time, the present invention improves that, after planning the trip, the planning component can also recommend a nearby charging point for charging by judging the battery power of the vehicle.

Compared with the prior art, the advantages and positive effects of the present invention are,

In the present invention, preliminary environmental information and the color of the signal light are collected by the sensing component, and the high-precision positioning component is used to perform matching processing according to the scene data to obtain the scene map to obtain the coordinate information. The travel route of the destination, and it is also necessary to plan the fine trajectory and vehicle status of the location at each moment in the future, and plan the waiting time of the vehicle according to the traffic lights and stop line positions on the road, which increases the number of vehicles staying at the signal lights. The safety of the front is reduced, and the risk of the vehicle when driving at the intersection is reduced.

Description of drawings

FIG. 1 is a structural block diagram of an electric vehicle automatic driving system proposed by the present invention.

Detailed ways

In order to more clearly understand the above objects, features and advantages of the present invention, the present invention will be further described below with reference to the accompanying drawings and embodiments. It should be noted that the embodiments of the present application and the features in the embodiments may be combined with each other under the condition of no conflict.

Many specific details are set forth in the following description to facilitate a full understanding of the present invention, however, the present invention may also be implemented in other ways than those described herein, and therefore, the present invention is not limited to the specific embodiments disclosed in the following description. limit.

Embodiment 1, please refer to FIG. 1, the present invention provides a technical solution: an electric vehicle automatic driving system, the electric vehicle automatic driving system includes:

The perception component uses monitoring equipment to collect and process information about the vehicle itself and its environment, including video information, gps information, vehicle attitude, and acceleration information. The car GPS navigation system is based on 24 positioning satellites around the world. A radio navigation and positioning system that provides three-dimensional position, three-dimensional speed and other information, it consists of three parts, one is the ground control part, which is composed of the main control station, ground antenna, indiscriminate measurement station and communication auxiliary system, and the other is the space part, It consists of 24 satellites, which are distributed in 6 orbital planes. The third is the user device part, which consists of GPS receivers and satellite antennas. The civilian positioning accuracy can reach within 10 meters. The perception layer will collect a large amount of self-vehicle and environmental data to make decisions. The layer requires the autonomous driving chip to process these data smoothly to ensure that the system makes timely and correct decisions, so as to control the automatic driving of the vehicle and ensure safety;

The high-precision positioning component uses the perception component to obtain road conditions, and uses the vehicle receiving equipment to verify the location coordinate information, and performs matching processing according to the scene data to obtain a scene map. Based on the scene map, it determines and locates the lane where the vehicle is located, and finally follows the path of the lane. point to drive;

The prediction component uses the perception component to obtain road obstacles frame by frame, predicts the various motion trajectories of the perceived obstacles, and calculates the possible position coordinates of the obstacles within the perception range;

The planning component, based on the information sensed by the sensing component, plans a route to the destination, and also needs to plan the fine trajectory and vehicle status of the location at each moment in the future, and according to the traffic lights on the road. and the position of the stop line to plan the waiting time of the vehicle;

The control component checks the road surface through the sensing component, and sends commands to control the brake to perform the braking operation. When the vehicle turns, it realizes the turning control, and also includes turning on the turn signal, and acceleration and deceleration control. The control layer is mainly wire control, It is to replace mechanical, hydraulic or pneumatic connections in the form of wires (electrical signals) to realize electronic control, so that the input of the driver's power or torque is no longer required.

In this embodiment, the sensing component performs wireless signal connection with the network center, the user center and the wireless broadcast through the wireless transmission module.

In this embodiment, the monitoring devices are one or more of cameras, lidars, millimeter-wave radars, ultrasonic radars, and GNSS/IMU, and the monitoring devices are installed at the front, rear, and side ends of the electric vehicle, respectively. It can be divided into two categories: digital cameras and analog cameras. The digital camera can convert the analog video signal generated by the video capture device into a digital signal, and then store it in the computer. The video signal captured by the analog camera must be converted into a digital mode by a specific video capture card and compressed. After that, it can be converted to a computer for use. The digital camera can directly capture the image, and then transmit it to the computer through the serial port, parallel port or USB interface. High, the range is within 200 meters, is the first monitoring equipment, Global Navigation Satellite System (GNSS) positioning is to use a group of satellites pseudorange, ephemeris, satellite launch time and other observations, and must also know the user clock offset. GNSS is a space-based radio navigation and positioning system that can provide users with all-weather 3-dimensional coordinates, velocity and time information anywhere on the earth's surface or near-Earth space.

In this embodiment, the sensing component is used to determine whether there is a car ahead, whether the obstacle in front is a person, the color of the traffic light, the speed of the vehicle, the road conditions, and the like.

In this embodiment, the vehicle receiving device is a GPS, GLONASS or BDS satellite receiver, and at the same time, the vehicle receiving device obtains the station observations and broadcast ephemeris of the regional network through an external network. GPS is an artificial earth satellite-based high-speed A positioning system for precision radio navigation, it can provide accurate geographic location, vehicle speed and precise time information anywhere in the world and in near-Earth space.

In this embodiment, at least one of the multiple motion trajectories is selected as the prediction result, and the selected motion trajectory enables the vehicle to quickly make a judgment during the driving process.

In this embodiment, when the predicting component senses a stationary obstacle, it detects the surrounding obstacles. If the surrounding obstacles are still stationary, it continues to drive, and determines whether the obstacle is a vehicle or a building by detecting the surrounding obstacles. If the judged obstacle is a vehicle, the next step is predicted.

In this embodiment, the vehicle state includes the traveling speed, acceleration, heading angle, and heading angular velocity.

In this embodiment, during the turning control process, if there is an auxiliary road line on the vehicle path, the road condition is judged and then the turning control is performed, and if there is no auxiliary road line on the vehicle path, the turning control is performed in between.

In this embodiment, after planning the trip, the planning component can also recommend the nearest charging point for charging by judging the battery power of the vehicle, and by planning the nearest charging point, the vehicle can be charged in time during driving.

It can be seen from the above embodiment that in the present invention, the sensing component collects preliminary environmental information and the color of the signal light, and the high-precision positioning component is used to perform matching processing according to the scene data to obtain the scene map to obtain the coordinate information, and at the same time, the sensing component senses the coordinate information. The information received, plan a travel route to the destination, and also need to plan the fine trajectory and vehicle status of the location at each moment in the future, and plan the vehicle waiting according to the traffic lights on the road and the position of the stop line Time, increase the safety of the vehicle staying in front of the signal light and reduce the risk of the vehicle when driving at the intersection.

The above are only preferred embodiments of the present invention, and are not intended to limit the present invention in other forms. Any person skilled in the art may use the technical content disclosed above to make changes or modifications to equivalent changes. The embodiments are applied to other fields, but any simple modifications, equivalent changes and modifications made to the above embodiments according to the technical essence of the present invention still belong to the protection scope of the technical solutions of the present invention without departing from the content of the technical solutions of the present invention.

Claims (10)

1. An automatic traveling system for an electric vehicle, characterized by comprising:

the sensing component is used for collecting and processing vehicle information and environment information by utilizing monitoring equipment, wherein the vehicle information and the environment information comprise video information, gps information, vehicle posture and acceleration information;

the high-precision positioning component acquires the road surface condition by using the sensing component, verifies the position coordinate information by using the vehicle receiving equipment, performs matching processing according to scene data to obtain a scene map, judges and positions a lane where the vehicle is located on the basis of the scene map, and finally drives according to the path direction of the lane;

the prediction component is used for acquiring the road surface obstacle condition frame by using the sensing component, predicting various sensed movement tracks of the obstacle and calculating the position coordinate of the obstacle which can move in the sensing range;

the planning component plans a traveling route to a destination according to the information sensed by the sensing component, plans a fine track and a vehicle state of the position at each moment in a future period, and plans vehicle waiting time according to the positions of traffic lights and stop lines on the road;

the control assembly checks the road condition through the sensing assembly, sends command control to enable the brake to perform braking operation, and when the vehicle turns, the turning control is realized, and meanwhile, the turning lamp is turned on, the acceleration and deceleration control and the like are also included.

2. The automatic traveling system of an electric vehicle according to claim 1, characterized in that: the sensing component is in wireless signal connection with the network center, the user center and the wireless broadcast through the wireless transmission module.

3. The automatic traveling system of an electric vehicle according to claim 1, characterized in that: the monitoring equipment is one or more of a camera, a laser radar, a millimeter wave radar, an ultrasonic radar and a GNSS/IMU, and is respectively arranged at the front end, the rear end and the side end of the electric automobile.

4. The automatic traveling system of an electric vehicle according to claim 1, characterized in that: the sensing assembly is used for judging whether a vehicle exists in front or not, whether a front obstacle is a person or not, the color of a traffic light, the speed of the vehicle, the road surface condition and the like.

5. The automatic traveling system of an electric vehicle according to claim 1, characterized in that: the vehicle receiving equipment is a GPS, GLONASS or BDS satellite receiver, and meanwhile, the vehicle receiving equipment obtains the observation value of the observation station and the broadcast ephemeris of the area network through an external network.

6. The automatic traveling system of an electric vehicle according to claim 1, characterized in that: and at least one motion trail is selected from the multiple motion trails as a prediction result.

7. The automatic traveling system of an electric vehicle according to claim 1, characterized in that: the prediction module detects surrounding obstacles when sensing the stationary obstacles, and continues driving if the surrounding obstacles are still stationary.

8. The automatic traveling system of an electric vehicle according to claim 1, characterized in that: the vehicle state includes a travel speed, an acceleration, a heading angle, and a heading angular velocity.

9. The automatic traveling system of an electric vehicle according to claim 1, characterized in that: and in the turning control process, if the auxiliary road line exists in the vehicle path, judging the road surface condition and then performing turning control, and if the auxiliary road line does not exist in the vehicle path, performing turning control.

10. The automatic traveling system of an electric vehicle according to claim 1, characterized in that: the planning subassembly is after planning the stroke, through the battery power of judging the vehicle, can also recommend nearby charge point to charge.

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