Automatic driving device and control method for intelligent vehicle

Abstract

The invention relates to an automatic driving device for an intelligent vehicle. The device comprises an automatic driving actuating mechanism and a control system, the automatic driving actuating mechanism comprises a steering actuating mechanism, a brake actuating mechanism, an accelerator actuating mechanism and a gear actuating mechanism, and the control system comprises a decoder, a serial communication unit, a single chip microcomputer, a CAN (controller area network) interface, a data storage unit, a reset circuit and a power conversion unit. By the aid of modular design, a steering module is directly and additionally mounted on a steering wheel through an upper steering wheel fixture and a lower steering wheel fixture in a synchronous belt transmission mode, the driving performance of an original vehicle cannot be affected as the original vehicle is slightly modified, the automatic driving device is applicable to various vehicle types with different steering wheel sizes, a brake module, an accelerator module and a gear module control states of a brake, an accelerator and gears as a direct current servo motor drives a ball screw to pull a flexible shaft, and manual driving cannot be affected. Four actuating modules are connected by a CAN bus, so that the automatic driving device is high in automatic control accuracy and fast in response.

Description

technical field [0001] The invention belongs to the technical field of intelligent vehicles, and in particular relates to an automatic driving device and a control method of an intelligent vehicle. Background technique [0002] Intelligent vehicles are one of the best platforms to verify theories, methods and technologies of machine perception and cognition. Intelligent vehicles not only have broad application prospects in dangerous and harsh environments such as military, expedition, and rescue, but also key technologies such as various automotive sensors, environmental perception systems, driving safety warnings, and assisted driving intelligent decision-making involved in intelligent vehicles are crucial to improving The degree of intelligence and driving safety of artificially driven cars is of great significance. Therefore, the world's major developed countries regard smart vehicles as an important platform to demonstrate the level of artificial intelligence technology...

AI Technical Summary

Problems solved by technology

However, there is still no perfect solution for the automatic driving device of intelligent vehicles

Retrieve the existing technical literature, the Chinese patent application number is 201110261026.8, the name: an automatic driving robot for vehicle road test, this patent can realize the automatic driving of the vehicle, but the automatic driving robot occupies the driving space, the automatic driving and It is inconvenient to switch between the two modes of manual driving, and it is mainly used for road tests of vehicles; Chinese patent application number is 201010104800.X, publication date: July 27, 2011, name: a steering device and its control for unmanned vehicles Method, this patent can realize the automatic steering of intelligent vehicles, but the mechanical structure of the original vehicle has been modified a lot, which is easy to affect the performance of the original vehicle, and can only be used for limited models; US Patent No.: US7628239B1, name: Adaptable Remote Control Driving is mainly used in the modification of self-driving vehicles, but it is expensive and the position control accuracy of the steering device is not high, the transmission is not stable, etc.

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