CN221251146U - A body assembly for an autonomous vehicle - Google Patents

Abstract

The utility model relates to a body component of an autonomous driving vehicle, including a body, a laser radar and a depth camera are arranged on the body, the body includes a chassis, a left wheel and a right wheel are arranged on the chassis, a steering wheel is arranged in the middle of the chassis, a left motor, a right motor and a steering servo are also arranged on the chassis, the output shafts of the left motor and the right motor are respectively connected to the left wheel and the right wheel, and the steering wheel is installed on the steering wheel of the steering servo; a mounting plate is also arranged above the chassis, a top plate is arranged above the mounting plate, a plurality of first support columns are connected between the mounting plate and the chassis, and a plurality of second support columns are arranged between the mounting plate and the top plate; the laser radar is arranged on the top plate, an inertial navigation satellite combined navigation module is also arranged on the top plate, an antenna is also arranged on the mounting plate, the bottom end of the antenna is installed on the mounting plate, and the depth camera is installed on the front end of the chassis. The body component of the autonomous driving vehicle of the utility model integrates inertial navigation positioning, has high positioning accuracy and reliability, and is suitable for driving in complex environments.

Description

A body assembly for an autonomous vehicle

Technical Field

The utility model relates to the technical field of autonomous driving, and in particular to a body component of an autonomous driving vehicle.

Background technique

With the rapid development of autonomous driving technology, small autonomous driving vehicles have shown broad application potential in multiple fields due to their high flexibility and low cost.

The Chinese patent with publication number "CN219601461U" discloses a modular artificial intelligence inspection vehicle with a multi-line laser radar and an RGBD depth camera installed on its roof. The modular artificial intelligence inspection vehicle realizes the automatic driving function through the setting of the above-mentioned multi-line laser radar and RGBD depth camera and other devices. However, it is still limited in adaptability, precise control and decision-making processing in complex environments. Specifically, although the modular artificial intelligence inspection vehicle only realizes the obstacle avoidance function through laser radar and depth camera, it only creates maps through laser radar data, and its positioning accuracy and reliability are low. At the same time, when encountering complex environments, such as when the vehicle turns too far or avoids obstacles in an emergency, the purpose of path tracking cannot be achieved by relying solely on front-wheel steering.

Utility Model Content

In order to solve the above technical problems, the utility model provides a body component of an autonomous driving vehicle that integrates inertial navigation positioning, has high positioning accuracy and reliability, and is suitable for driving in complex environments.

The body assembly of the automatic driving vehicle of the utility model includes a body, a laser radar and a depth camera are arranged on the body, the body includes a chassis, a left wheel and a right wheel are arranged on the chassis, a steering wheel is arranged in the middle of the chassis, a left motor, a right motor and a steering servo are arranged on the chassis, the output shaft of the left motor is connected to the middle shaft of the left wheel, the output shaft of the right motor is connected to the middle shaft of the right wheel, and the steering wheel is connected to the output end of the steering servo;

A mounting plate is also provided above the chassis, a top plate is provided above the mounting plate, a plurality of first support columns are connected between the mounting plate and the chassis, a plurality of second support columns are provided between the mounting plate and the top plate, two ends of the first support columns are respectively fixedly connected to the chassis and the mounting plate, and two ends of the second support columns are respectively fixedly connected to the mounting plate and the top plate;

The laser radar is arranged on the top plate, and an inertial navigation satellite combined navigation module is also arranged on the top plate. An antenna is also arranged on the mounting plate, and the bottom end of the antenna is mounted on the mounting plate. The depth camera is installed at the front end of the chassis.

The advantage of the body assembly of the autonomous driving vehicle is that a steering servo for mounting a steering wheel is provided on the chassis, and a left motor and a right motor are provided on the chassis for driving the left wheel and the right wheel to rotate respectively. The arrangement of the steering servo, the left motor and the right motor enables the body assembly of the autonomous driving vehicle to not only realize the steering function of the vehicle through the steering servo, but also the left motor and the right motor can drive the left wheel and the right wheel respectively, so that the left wheel and the right wheel rotate at a differential speed, thereby increasing its steering function and enabling it to easily turn in complex environments.

At the same time, the body components of the autonomous vehicle are not only equipped with a laser radar on the top plate and a depth camera on the chassis, which can effectively avoid obstacles. In addition, the inertial navigation satellite combined navigation module and antenna on the top plate further improve the accuracy and reliability of its positioning, enabling it to achieve efficient path planning, obstacle avoidance and safe driving.

In addition, the body assembly of the autonomous driving vehicle realizes the connection between the mounting plate and the chassis through the first support column, and realizes the connection between the mounting plate and the top plate through the second support column. The setting of the mounting plate facilitates the installation of components such as the antenna and the top plate, and at the same time divides the body into two layers, the lower layer is used to install electrical components such as the control mainboard, the left motor, and the right motor, and the upper space formed by the top plate and the mounting plate can be used to place items.

Furthermore, in the body assembly of the autonomous driving vehicle of the present invention, a control mainboard and a motor driver are provided on the chassis, the control mainboard and the motor driver are connected by wires, and the left motor, the right motor and the motor driver are connected by wires.

The settings of the control main board and the motor driver realize the differential drive function of the left motor and the right motor, so that the body components of the autonomous driving vehicle can control the steering of the vehicle through the left motor and the right motor, thereby improving its steering ability in complex environments.

Furthermore, in the body assembly of the autonomous driving vehicle of the present invention, an upper controller is installed on the chassis, and the laser radar, depth camera, and inertial navigation satellite combined navigation module are all connected to the upper controller through wires, and the upper controller is connected to the control main board through a CAN bus.

The upper controller and the above-mentioned control main board are fixed on the chassis for controlling the entire vehicle.

Furthermore, in the body assembly of the autonomous driving vehicle of the present invention, the motor driver includes a BTS7960 chip, and every two BTS7960 chips form an H-bridge circuit for driving the left motor or the right motor.

Furthermore, in the body assembly of the autonomous driving vehicle of the present invention, the number of antennas is two groups, and the two groups of antennas are respectively arranged on the front and rear sides of the top plate.

The setting of two sets of antennas not only improves the positioning accuracy of the body components of the autonomous driving vehicle, but the dual antenna design can also complete the direction finding function.

Furthermore, in the body assembly of the autonomous driving vehicle of the present invention, the edges on both sides of the chassis are respectively provided with positioning grooves penetrating the chassis.

The setting of the positioning groove realizes the positioning function of the left wheel and the right wheel, thereby facilitating the operator to position and install the left wheel and the right wheel.

Furthermore, in the body assembly of the autonomous driving vehicle of the present invention, the number of the first support pillars and the number of the second support pillars are both four.

This arrangement improves the connection reliability between the top plate, the mounting plate and the chassis, and ensures the overall stability of the vehicle body.

Furthermore, in the body assembly of the autonomous driving vehicle of the present invention, the surface of the mounting plate is provided with a threading hole that penetrates the mounting plate.

The provision of threading holes facilitates the connection of wires.

The above description is only an overview of the technical solution of the utility model. In order to more clearly understand the technical means of the utility model and implement it in accordance with the contents of the specification, the following is a detailed description of the embodiments of the utility model.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG1 is a schematic diagram of the structure of the body assembly of an autonomous driving vehicle, wherein components such as the left wheel, right wheel, left motor, right motor, and steering servo are not shown.

FIG. 2 is a perspective view of a body assembly of the autonomous vehicle of FIG. 1 .

FIG3 is a schematic diagram showing the distribution of components such as the control main board, steering servo, upper controller, and motor driver on the chassis.

FIG4 is a system block diagram of the autonomous driving vehicle.

FIG. 5 is a circuit diagram of an H-bridge circuit in a motor driver.

In the figure, laser radar 1, depth camera 2, chassis 3, left wheel 4, right wheel 5, left motor 6, right motor 7, steering servo 8, mounting plate 9, top plate 10, first support column 11, second support column 12, inertial navigation satellite integrated navigation module 13, antenna 14, control main board 15, motor driver 16, upper controller 17, BTS7960 chip 18, H-bridge circuit 19, 74HC244 chip 20, positioning groove 21, and threading hole 22.

Detailed ways

The following is a further detailed description of the specific implementation of the present invention in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

Embodiment 1: Referring to Figures 1 to 5, the body assembly of the autonomous driving vehicle of this embodiment includes a body, on which a laser radar 1 and a depth camera 2 are provided, the body includes a chassis 3, on which a left wheel 4 and a right wheel 5 are provided, a steering wheel is provided in the middle of the chassis, and a left motor 6, a right motor 7 and a steering servo 8 are also provided on the chassis, the output shaft of the left motor is connected to the middle shaft of the left wheel, the output shaft of the right motor is connected to the middle shaft of the right wheel, and the steering wheel is connected to the output end of the steering servo;

A mounting plate 9 is also provided above the chassis, a top plate 10 is provided above the mounting plate, a plurality of first support columns 11 are connected between the mounting plate and the chassis, a plurality of second support columns 12 are provided between the mounting plate and the top plate, the two ends of the first support columns are respectively fixedly connected to the chassis and the mounting plate, and the two ends of the second support columns are respectively fixedly connected to the mounting plate and the top plate;

The laser radar is arranged on the top plate, and an inertial navigation satellite combined navigation module 13 is also arranged on the top plate. An antenna 14 is arranged on the mounting plate, and the bottom end of the antenna is mounted on the mounting plate. The depth camera is installed at the front end of the chassis.

The body assembly of the automatic driving vehicle of the utility model has a steering servo for mounting a steering wheel on the chassis, and a left motor and a right motor for driving the left wheel and the right wheel to rotate respectively. The arrangement of the steering servo, the left motor and the right motor enables the body assembly of the automatic driving vehicle to not only realize the steering function of the vehicle through the steering servo, but also the left motor and the right motor can drive the left wheel and the right wheel respectively, so that the left wheel and the right wheel rotate at a differential speed, thereby increasing its steering function and enabling it to easily turn in complex environments.

At the same time, the body components of the autonomous vehicle are not only equipped with a laser radar on the top plate and a depth camera on the chassis, which can effectively avoid obstacles. In addition, the inertial navigation satellite combined navigation module and antenna on the top plate further improve the accuracy and reliability of its positioning, enabling it to achieve efficient path planning, obstacle avoidance and safe driving.

In addition, the body assembly of the autonomous driving vehicle realizes the connection between the mounting plate and the chassis through the first support column, and realizes the connection between the mounting plate and the top plate through the second support column. The setting of the mounting plate facilitates the installation of components such as the antenna and the top plate, and at the same time divides the body into two layers, the lower layer is used to install electrical components such as the control mainboard, the left motor, and the right motor, and the upper space formed by the top plate and the mounting plate can be used to place items.

Among them, the left motor and the right motor are used to control the rotation of the left wheel and the right wheel respectively to realize their differential function, thereby improving the steering ability of the body assembly of the autonomous driving vehicle.

In specific implementation, a control mainboard 15 and a motor driver 16 are arranged on the chassis, the control mainboard is connected to the motor driver through a wire, the left motor and the right motor are connected to the motor driver through a wire, and the motor driver receives the duty cycle signal of the control mainboard, thereby realizing the driving and control of the left motor and the right motor respectively. The control mainboard, the motor driver, the left motor, the right motor and the steering servo are all fixed on the chassis.

In this embodiment, the motor driver uses a 74HC244 chip 20 and a BTS7960 chip. Every two BTS7960 chips 18 form an H-bridge circuit 19 to drive the left motor or the right motor to achieve forward and reverse rotation of the motor and precise speed control. The specific circuit structure can be referred to Figure 5, which will not be repeated here. The use of two motors can control the wheel differential and improve the handling stability. When working, the motor driver receives the duty cycle signal output by the control main board, and then drives and controls the rotation of the left motor and the right motor. The above-mentioned buffer chip 74HC244 can effectively prevent the large current in the motor driver from damaging the main controller.

The chassis is also equipped with an upper controller 17, and the laser radar, depth camera, and inertial navigation satellite integrated navigation module are all connected to the upper controller through wires. The upper controller and the control mainboard are fixed on the chassis to control the entire vehicle.

The upper-level controller processes the information transmitted by the above-mentioned laser radar and depth camera, and then maps the vehicle's environment, detects targets and performs path planning; the above-mentioned control main board is connected to the upper-level controller through a connector, and the control main board receives information from the upper-level controller and controls the steering servo and motor driver.

The steering servo is used to drive the steering wheel to rotate, thereby realizing the steering function of the autonomous driving vehicle. Its body is fixed on the chassis, and the steering wheel is installed on its output end. Specifically, the number of steering wheels can be two, and the two steering wheels are driven by the steering servo. The ends of the central axes of the two steering wheels are connected to hinged plates, one end of the hinged plate is hinged to the chassis, and the other end is hinged to the tie rod, and the tie rod is also hinged to the output shaft of the steering servo. When steering, the output end of the steering servo swings, and then drives the steering shaft to steer through the tie rod and the hinge shaft.

The above two groups of antennas are used to receive satellite information and transmit the satellite information to the inertial navigation satellite integrated navigation module, which are respectively fixed on the front and rear sides of the top plate.

The inertial navigation satellite combined navigation module is fixed on the surface of the top plate. It eliminates errors in satellite information through 4G network communication with fixed base stations to achieve accurate positioning of the vehicle.

The depth camera is fixed to the front end of the chassis and is used to detect elements in the environment in front of the vehicle.

During operation, the lidar and depth camera collect information about the environment for data fusion. The upper-level controller detects obstacles based on the fused data and uses RTK [carrier phase differential technology] technology to fuse GNSS and inertial navigation device information to achieve precise positioning.

During automatic driving, the upper-level controller will generate the turning angle and speed information that the vehicle should execute based on the path and obstacle information, and output it to the control main board through CAN bus communication. The control main board will control the vehicle's steering servo and motor driver based on the received turning angle and speed information to achieve vehicle steering and speed control.

Among them, the laser radar can adopt Laser Intelligent's C16 laser radar, which can scan 360 degrees and perceive obstacles in the environment through TOF ranging method.

Laser Intelligence's C16 laser radar can measure obstacle information within a range of 70-150 meters, and is capable of high-frequency information collection and rapid data processing, which can fully meet the data processing needs of vehicles traveling at normal speeds and has high safety.

Depth cameras are used to perceive information that lidar cannot perceive, such as lane line information, object shape information, traffic light information, etc. However, the depth camera's ability to perceive information will drop sharply in dark and strong light environments. Therefore, using depth cameras and lidar for data fusion can fully obtain the shape, color and distance information of objects in the environment.

The depth camera may adopt the Astra Pro Plus depth camera produced by Aozhong Biguang, which has a maximum measurement range of 8 meters and is suitable for three-dimensional environment construction.

The inertial navigation satellite combined navigation module and two sets of antennas in front and behind the top plate form a positioning system; the inertial navigation satellite combined navigation module can adopt the DETA100R4G module of Anhui Feidi Aviation Technology Co., Ltd., which communicates with the fixed base station through 4G network to achieve differential positioning, and the dual antenna design can also complete the direction finding function.

The inertial navigation satellite integrated navigation module includes an inertial navigation device and a satellite navigation device. The inertial navigation device uses gyroscopes and accelerometers as sensitive devices to solve navigation parameters, and the satellite navigation device uses RTK technology to obtain corrected GNSS positioning signals. Standard GNSS [Global Navigation Satellite System] positioning determines the user's position by measuring the flight time of the signal from the satellite to the receiver, but the accuracy of this method is affected by many factors such as satellite clock error, atmospheric delay, and multipath error; RTK improves the accuracy of GNSS positioning by using fixed reference base stations with known positions. These stations continuously observe satellite signals and calculate corrections to errors. The RTK receiver applies these corrections in real time to improve its position accuracy; through the vehicle's precise position information in the environment, the fusion with the data from the lidar and depth camera can achieve more accurate trajectory tracking.

The above-mentioned control mainboard includes multiple components such as a main controller, a voltage stabilization circuit, a communication circuit and a drive circuit. Among them, the main controller uses the STM32F407VET6 chip of STMicroelectronics. The main controller receives and processes the information transmitted by the upper controller, and controls the motor driver and steering servo through the control mainboard.

The STM32F407VET6 chip's advantages such as high performance, low power consumption and multiple communication interfaces allow the vehicle to respond faster in processing corner and motor information, and can achieve more precise control of the vehicle's position during autonomous driving.

The above voltage stabilizing circuit adopts devices such as RT8289 voltage stabilizing chip and RT9013 voltage stabilizing chip. The voltage stabilizing circuit steps down the power supply voltage to meet the requirements of other modules on the control mainboard.

When connected, the VIN pin of the RT8289 chip is connected to the power supply, the GND pin and PAD pin of the chip are connected to the power supply through a bypass capacitor, and the SW pin of the RT8289 chip outputs a 5V voltage through a set of rectifier and filter circuits to provide it to the module on the control mainboard that needs a 5V voltage; the VIN pin of the RT9013 chip is connected to the 5V output of the RT8289 chip as the voltage input of the RT9013 chip, and the VOUT pin outputs a 3.3V voltage to provide it to the module on the control mainboard that needs a 3.3V voltage. The above-mentioned 5V voltage module and 3.3V voltage module are conventional technologies in this field, and their specific circuit structures are not repeated here.

The communication circuit uses the SN65HVD230DR chip, and the communication circuit adopts the CAN bus communication protocol to realize the communication between the upper controller and the control mainboard.

CAN bus communication is the mainstream communication method in vehicles. It can resist high electromagnetic interference, has high transmission efficiency and real-time performance. It can ensure that data is transmitted within strict time limits and can meet the requirements of autonomous driving vehicles for rapid response of vehicle modules.

Preferably, the edges of both sides of the chassis are respectively provided with positioning grooves 21 penetrating the chassis, the number of the first support columns and the number of the second support columns are four, and the surface of the mounting plate is provided with threading holes 22 penetrating the mounting plate.

When working, the laser radar emits an infrared beam to detect the distance between the object and the vehicle in the environment, the depth camera detects the shape and color of the object in the environment through the visual algorithm, and the inertial navigation satellite combined positioning module determines the location of the vehicle by obtaining the location information of the satellite and the base station for differential positioning. The laser radar, the depth camera and the inertial navigation satellite combined positioning module transmit the data to the upper controller through the wire, and the upper controller establishes a 3D image of the environment in which the vehicle is located based on the received information. After determining the destination of the vehicle, the upper controller generates a global planning path through the high-precision map and generates a real-time local path based on the obstacle information in the real-time environment of the vehicle. The upper controller transmits the turning angle and speed information required by the vehicle to the control main board through the CAN bus communication based on the local path information. The control main board converts the turning angle and speed information into a duty cycle signal and transmits it to the steering servo and motor driver through the wire. The steering servo drives the steering wheel to realize the steering function. The motor driver drives the left motor and the right motor to rotate in combination with the duty cycle signal and the power supply. At the same time, the encoder calculates the speed data of the left rear wheel and the right rear wheel and feeds it back to the control main board to realize the speed closed loop, so as to achieve the purpose of accurately controlling the vehicle speed.

When the vehicle turns too far or needs to avoid an obstacle, the path tracking cannot be achieved by steering the steering wheel alone. At this time, the independently driven left and right wheels can be differentially driven to assist the vehicle in steering and enable the vehicle to reach the predetermined path.

When a vehicle using the control system of the utility model is driving automatically, the upper controller can control the change of vehicle speed in real time according to environmental information, thereby improving the efficiency of automatic driving of the vehicle; when the vehicle is accelerating or decelerating, the vehicle encoder will continuously calculate the speed of the vehicle and transmit the speed information to the control main board, and the control main board will compare the vehicle speed calculated by the encoder with the speed value transmitted by the upper controller, and change the duty cycle signal through the deviation value between the two so that the vehicle speed reaches the speed output by the upper controller, thereby improving the efficiency of automatic driving.

The above is only a preferred embodiment of the utility model, which is used to assist those skilled in the art to implement the corresponding technical solution, and is not used to limit the scope of protection of the utility model. The scope of protection of the utility model is defined by the attached claims. It should be pointed out that for ordinary technicians in this field, on the basis of the technical solution of the utility model, several equivalent improvements and variations can be made, and these improvements and variations should also be regarded as the scope of protection of the utility model. At the same time, it should be understood that although this specification is described in accordance with the above-mentioned embodiments, not every embodiment contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions of each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims (8)

1. The utility model provides a car body subassembly of autopilot vehicle, includes the automobile body, is equipped with laser radar (1) and depth camera (2) on the automobile body, and the automobile body includes chassis (3), is equipped with left wheel (4) and right wheel (5) on the chassis, and the middle part on chassis is equipped with steering wheel, its characterized in that: the chassis is also provided with a left motor (6), a right motor (7) and a steering engine (8), an output shaft of the left motor is connected with a left wheel center shaft, an output shaft of the right motor is connected with a right wheel center shaft, and the steering wheel is connected with an output end of the steering engine;

A mounting plate (9) is further arranged above the chassis, a top plate (10) is arranged above the mounting plate, a plurality of first support columns (11) are connected between the mounting plate and the chassis, a plurality of second support columns (12) are arranged between the mounting plate and the top plate, two ends of each first support column are respectively fixedly connected with the chassis and the mounting plate, and two ends of each second support column are respectively fixedly connected with the mounting plate and the top plate;

The laser radar is arranged on a top plate, an inertial navigation satellite integrated navigation module (13) is further arranged on the top plate, an antenna (14) is further arranged on the mounting plate, the bottom end of the antenna is mounted on the mounting plate, and the depth camera is mounted at the front end of the chassis.

2. The body assembly of an autonomous vehicle of claim 1, wherein: the chassis is provided with a control main board (15) and a motor driver (16), the control main board is connected with the motor driver through a wire, and the left motor and the right motor are connected with the motor driver through wires.

3. The body assembly of an autonomous vehicle of claim 2, wherein: the chassis is also provided with an upper controller (17), the laser radar, the depth camera and the inertial navigation satellite combined navigation module are all connected with the upper controller through wires, and the upper controller is connected with the control main board through a CAN bus.

4. The body assembly of an autonomous vehicle of claim 2, wherein: the motor driver includes BTS7960 chips, and each two BTS7960 chips constitutes an H-bridge circuit for driving the left motor or the right motor.

5. The body assembly of an autonomous vehicle of claim 1, wherein: the number of the antennas is two, and the two groups of antennas are respectively arranged on the front side and the rear side of the top plate.

6. The body assembly of an autonomous vehicle of claim 1, wherein: the edges of the two sides of the chassis are respectively provided with a positioning groove (21) penetrating through the chassis.

7. The body assembly of an autonomous vehicle of claim 1, wherein: the number of the first support columns and the second support columns is four.

8. The body assembly of an autonomous vehicle of claim 1, wherein: the surface of the mounting plate is provided with a threading hole (22) penetrating through the mounting plate.