CN108762279A - A kind of parallel control loop - Google Patents
A kind of parallel control loop Download PDFInfo
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- CN108762279A CN108762279A CN201810634817.2A CN201810634817A CN108762279A CN 108762279 A CN108762279 A CN 108762279A CN 201810634817 A CN201810634817 A CN 201810634817A CN 108762279 A CN108762279 A CN 108762279A
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- 230000008447 perception Effects 0.000 claims abstract description 40
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- 230000007613 environmental effect Effects 0.000 claims abstract description 18
- 230000010354 integration Effects 0.000 claims abstract description 14
- 238000012545 processing Methods 0.000 claims abstract description 9
- 238000000034 method Methods 0.000 claims description 12
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- 230000006835 compression Effects 0.000 claims description 7
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- 238000004891 communication Methods 0.000 description 8
- 238000012423 maintenance Methods 0.000 description 6
- 230000006870 function Effects 0.000 description 4
- 238000012544 monitoring process Methods 0.000 description 4
- 230000006641 stabilisation Effects 0.000 description 4
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- 238000013473 artificial intelligence Methods 0.000 description 1
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- 238000001514 detection method Methods 0.000 description 1
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- 238000006467 substitution reaction Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
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Abstract
The present embodiments relate to a kind of parallel control loops, including：Car body, processor, transmission node, perception unit, the first coffret, the second coffret, bottom actuator and server；It includes environmental perception module and vehicle-state sensing module to perceive unit；Environmental perception module includes four different cameras in position；Transmission node receives the vehicle status data that perception unit is sent；Vehicle status data is sent to server by processor by the first coffret；Server receives the operational order that user inputs according to vehicle status data, and is sent to processor by the first coffret, and operation data is obtained to processor parsing operational order；Transmission node receives the operation data that processor is sent, and carries out integration processing to operation data；Bottom actuator is connected by the second coffret with actuator node, receives the operation data after the integration that transmission node is sent, and work according to the operation data after integration.
Description
Technical field
The present invention relates to automatic Pilot field more particularly to a kind of parallel control loops.
Background technology
System at present about parallel driving is few, is in theory stage mostly, and the parallel initial idea of driving is formed in 20
The mid-90 in century, the concept for formally proposing parallel driving in 2005, manual system and real system actual situation is interactive
Thought is applied to driving field, forms the instantly parallel blank for driving theory.
It is driven in general, the form of manual system and real system actual situation interaction is mostly used greatly wireless remote control technology and controls nobody
Sail vehicle.Complicated straighforward operation has may be implemented in the technology, has higher real-time and stability, but be generally limited with
Lower disadvantage：First, the wireless remote-control system of no interim data transmission, data transmission distance is short；There is interim data to transmit wireless
Remote control system, then it is of high cost to there is terminal, sets up the problems such as difficulty is big, and dedicated energy loss used in communicating thus compared with
It is high.Second, barrier penetration performance is poor, and it is big to penetrate signal decaying.Third, signal stabilization is poor, is easily disturbed and attacks, information
Easily leakage.4th, poor universality.5th, the small bulk information for causing to be difficult to monitor ambient enviroment generation of data volume so that manipulation
Person can not complete automatic driving vehicle more highly difficult operation.
Invention content
The purpose of the present invention is in view of the drawbacks of the prior art, providing a kind of parallel control loop, internet signal is turned
It is changed to vehicle control signal, and sends vehicle status data in real time, has ensured safety and stabilization of the user in manipulation.This implementation
The parallel control loop that example provides transmits information by means of shared Internet technology, realizes low cost, high real-time and high number
Unlimited widened remote range is exchanged for minimum delay according to the transmission of amount, also, by Internet technology, can be used for supporting not
It shows up convenient for maintenance personnel or the Driving Scene of hazardous environment, realizes conduct monitoring at all levels ambient enviroment so that maintenance personnel's is exhausted
To safety, also largely ensure the safety around driving environment.
To achieve the goals above, an embodiment of the present invention provides a kind of parallel control loops, including：
Car body, processor, transmission node, perception unit, the first coffret, the second coffret, bottom actuator and
Server；
The processor, the transmission node, first coffret, second coffret and the bottom are held
Row device is placed in the car body；
The bottom actuator is placed in the bottom of the car body；
The perception unit is set to top and/or the surrounding of the car body, for obtaining vehicle status data；The sense
Know that unit includes environmental perception module and vehicle-state sensing module；The environmental perception module, which includes that four positions are different, to be taken the photograph
As head；The environmental perception module and the vehicle-state sensing module monitor vehicle-state, obtain vehicle status data；
The transmission node is connected with the perception unit and the processor respectively, and institute is received to the transmission node
The vehicle status data that perception unit is sent is stated, and the vehicle status data is sent to the processor；
The processor is connected by first coffret with the server, is passed through to the processor described
The vehicle status data is sent to the server by the first coffret；
The server receives the operational order that user inputs according to the vehicle status data, and is passed by described first
Defeated interface is sent to the processor, and parsing the operational order to the processor obtains operation data；
The transmission node receives the operation data that the processor is sent, and is integrated to the operation data
Processing；
The bottom actuator is connected by second coffret with the actuator node；The bottom actuator
The operation data after the integration that the transmission node is sent is received, and is worked according to the operation data after the integration.
Preferably, the transmission node includes processor node and actuator node；
The processor node is connected with the perception unit and the processor respectively, receives the perception unit and sends
Vehicle status data, and the vehicle status data is sent to the processor；
The actuator node is connected with the processor and second coffret respectively, receives the processor hair
The operation data sent carries out integration processing to the operation data, and will be after integration by second coffret
Operation data is sent to the bottom actuator.
It is further preferred that the processor includes compression module；
The compression module is connected with the processor node and first coffret respectively, receives the processor
The vehicle status data that node is sent passes through after being compressed to the vehicle status data according to the position of the camera
Compressed vehicle status data is sent to the server by first coffret；
It is further preferred that the processor further includes parsing module and encrypting module；
The parsing module is connected with first coffret and the encrypting module respectively；Receive first transmission
The operational order that interface is sent carries out dissection process to the operational order, obtains operation data and be sent to the encryption
Module；
The encrypting module is connected with the actuator node；It, will be described after the operation data is encrypted
Encrypted operation data is sent to the actuator node.
It is further preferred that the server includes package module；
After the package module is packaged processing to the vehicle status data, by first coffret by institute
It states the vehicle status data after encapsulation and is sent to the encrypting module.
It is further preferred that the processor node also particularly useful for：
The processor node receives the vehicle status data that the perception unit is sent according to first time parameter；
It is when the processor node receives the vehicle status data that the perception unit is sent according to first time parameter
When empty, then a upper vehicle status data is sent to the processor by the processor node；
It is when the processor node receives the vehicle status data that the perception unit is sent according to the second time parameter
When empty, then the processor node sends braking instruction to the processor；
The braking instruction is sent to the bottom actuator by the processor, to the bottom actuator according to institute
State braking instruction work.
It is further preferred that the actuator node also particularly useful for：
The actuator node receives the operation data that the processor is sent according to third time parameter；
It is sky when the actuator node receives the operation data that the processor is sent according to third time parameter
When, then a upper operation data is sent to second coffret by the actuator node；
It is sky when the actuator node receives the operation data that the processor is sent according to the 4th time parameter
When, then the actuator node sends the braking instruction by second coffret to the bottom actuator, to
The bottom actuator works according to the braking instruction.
It is further preferred that the environmental perception module further includes GPS device, inertial navigation, laser radar, millimeter wave thunder
It is one or more in reaching；
The vehicle-state sensing module includes thermometer, wheel speed meter, fuel-quantity transducer, remaining capacity sensor, battery
It is one or more in health status sensor, wear sensor, tyre pressure sensor.
A kind of parallel control loop provided in an embodiment of the present invention, vehicle control signal is converted to by internet signal, and
Vehicle status data is sent in real time, has ensured safety and stabilization of the user in manipulation.Parallel driving system provided in this embodiment
System transmits information by means of shared Internet technology, realizes inexpensive, the transmission of high real-time and high data volume, also, logical
Cross Internet technology and unlimited widened remote range exchanged for minimum delay, can be used for supporting being not easy to maintenance personnel show up or
The Driving Scene of hazardous environment realizes conduct monitoring at all levels ambient enviroment so that maintenance personnel's is perfectly safe, also largely
Safety around upper guarantee driving environment.
Description of the drawings
Fig. 1 is a kind of schematic diagram of parallel control loop provided in an embodiment of the present invention.
Specific implementation mode
Below by drawings and examples, technical scheme of the present invention will be described in further detail.
The course of work of the parallel control loop proposed in order to better understand the present invention, first to the general of parallel driving
Thought illustrates.
So-called parallel driving is exactly to be combined automatic Pilot with drive simulating, in automatic driving mode and drive simulating mould
Safety, steady switching are carried out between formula, could realize parallel driving truly.Wherein, automatic driving mode can be managed
Solution is that automatic driving vehicle relies on artificial intelligence, vision calculating, radar, monitoring device and global positioning system cooperative cooperating, is allowed
Automatic driving vehicle can be under the operation of nobody class active, by the driving mode of required track automatic safe traveling.
Drive simulating pattern can be understood as user by virtual driving equipment, in virtual driving environment, control automatic driving car
By required track traveling driving mode.
Parallel control loop provided in an embodiment of the present invention, for controlling automatic driving car by network and Server remote
So that automatic driving vehicle switches between automatic driving mode and drive simulating pattern, according to user demand and combines real
Border situation work.
As shown in Figure 1, parallel control loop provided in an embodiment of the present invention includes, car body 1, perception unit 2, transmission node
3, processor 4, the first coffret 5, the second coffret 6, bottom actuator 7 and server 8.Wherein, car body 1 is appreciated that
For the shell of automatic driving vehicle, transmission node 3, processor 4, the first coffret 5, the second coffret 6 and bottom execute
Device 7 is placed in car body 1.Perception unit 2 is set to top and/or the surrounding of car body 1.Bottom actuator 7 is placed in car body 1
Bottom.
Upload below by data and two aspects of feedback to uploading data, to parallel driving provided in this embodiment
System illustrates.
First, originally it is that the parallel control loop of embodiment offer can be by automatic driving vehicle end in terms of data upload
Data be uploaded to server so that virtual manipulation end can obtain the related data that vehicle end uploads from server, be used for
User passes through virtual manipulation end remote control automatic driving vehicle by related data.
Specifically, perception unit 2 is used to obtain the vehicle status data of automatic driving vehicle, it can be understood as by a variety of
The mode of sensor fusion monitors the driving environment of vehicle itself and surrounding in real time, is provided for the automatic Pilot of vehicle
The unit of detailed accurate data information.It includes for obtaining the vehicle ring for representing vehicle periphery driving environment to perceive unit 2
The environmental perception module 21 of border video data, and the vehicle for obtaining the car status information for representing vehicle oneself state
State aware module 22.Vehicle environmental video data and car status information constitute vehicle status data.
Environmental perception module 21 includes but not limited to multiple cameras, GPS device, inertial navigation, laser radar and millimeter
It is one or more in wave radar (not marked in figure).Wherein, camera is for detecting traffic lights, traffic sign, obstacle
Object information, vehicle, pedestrian and other sensors can not accurate discrimination object.The vehicle periphery that each photographic device is monitored
The direction of environment is different, and the obtained orientation representated by vehicle environmental video data is also different, therefore the vehicle ring in each orientation
Border video data can all correspond to a camera position information.Vehicle environmental video data can be thus distinguished to come from specifically
The photographic device in which orientation.GPS device is used to obtain the latitude and longitude information of car body, to be positioned to car body.Inertia
Navigation estimates the athletic posture of vehicle according to the acceleration information of car body six-freedom degree and corrects location information.Swash
Optical radar is for detecting lane line edge, obstacle information, vehicle and pedestrian.Millimetre-wave radar is used for detection structure road
Vehicle.Vehicle-state sensing module 22 include but not limited to thermometer, wheel speed meter, fuel-quantity transducer, remaining capacity sensor,
It is one or more in cell health state sensor, wear sensor, tyre pressure sensor (not marked in figure) so that perception is single
Member 2 can monitor the driving environment of vehicle itself and surrounding in real time, obtain vehicle status data.
In some preferred embodiments, camera is four, is respectively arranged at four orientation all around of vehicle, this
The monitoring angle that four cameras are constituted is 360 °.
Transmission node 3 can be understood as having data-handling capacity and the module of data transmission capabilities.Transmission node 3 includes
Processor node 31.Processor node 31 is connected with perception unit 2 and processor 4 respectively, receives the vehicle that perception unit 2 is sent
Status data, and vehicle status data is sent to processor 4.
In some preferred embodiments, since network is obstructed or other factors may cause processor node 31 obtaining
There may be interim card or hysteresis when taking vehicle status data so that processor node 31 obtained within one section of short time less than
Vehicle status data.Two kinds of situation processing should be divided at this time.First, processor node 31 is perceived according to first time parameter acquiring
The vehicle status data that unit 2 is sent, when processor node 31 is not according to the vehicle status data of first time parameter acquiring
When empty, represent that remote channel control is unimpeded, then current accessed vehicle status data is sent to by processor node 31
Processor 4.When processor node 31 is empty according to the vehicle status data of first time parameter acquiring, remote control is represented
Channel is not smooth, and there are hysteresis for the transmission of vehicle status data, then processor node 31, which is given tacit consent to, sends a upper vehicle shape
State data are to processor 4.Second, when the vehicle status data that processor node 31 is obtained according to the second time parameter is still sky
When, represent that remote channel control is not smooth, the transmission of vehicle status data is there are Caton phenomenon, then processor node 31 is to place
It manages device 4 and sends braking instruction, braking instruction is sent to bottom actuator 7 by processor 4 again, to bottom actuator 7 according to system
Dynamic instruction works.Time representated by second time parameter is more than the time representated by first time parameter.This process can be with
It is interpreted as, if processor node 31 does not get vehicle status data within one section of short period, illustrates that remote control is logical
Road is not smooth, then processor node 31, which can be given tacit consent to, sends a upper vehicle status data.If processor node 31 is longer at one section
Still without vehicle status data is got in time, then the urgent parking of vehicle is to ensure traffic safety.
Processor 4 includes compression module 41.Compression module 41 respectively with 5 phase of processor node 31 and the first coffret
Even, the vehicle status data that processor node 31 is sent is received, vehicle status data is compressed according to the position of camera
Afterwards, compressed vehicle status data is sent to by server 8 by the first coffret 5.It is sent by vehicle status data
To server, first the vehicle environmental video data in vehicle status data is compressed according to the position of camera, be by
It is required in the clarity of the video to different direction generally also different.This process is appreciated that as according to photographic device
Specific orientation selects it to transmit the frame per second of image resolution ratio, the process compressed to video image according to frame per second accordingly.It is logical
Often, the location information of camera is higher than other vehicle environmentals for the image resolution ratio of the vehicle environmental video data in " front " and regards
Frequency evidence.First coffret can be understood as the communications technology interfaces such as 3G/4G/5G.
At this point, being uploaded to service by the vehicle status data acquired in the perception unit 2 in automatic driving vehicle end
Device 8.User can obtain vehicle status data by manipulating virtual manipulation end from server 8, and according to vehicle status data
Pass through virtual manipulation end remote control automatic driving vehicle.When remote control, user is empty by manipulating according to vehicle status data
Quasi- manipulation end is input operation instruction to server 8, and server 8 receives operational order input by user at this time, is originally that embodiment carries
The parallel control loop supplied enters the data feedback stage.
It is corresponding with above-mentioned first aspect, originally it is that the parallel control loop that embodiment provides may be used also in terms of data feedback
Operational order input by user to be fed back in automatic driving vehicle end so that the long-range behaviour of automatic driving vehicle relative users
Make.
Specifically, server 8 includes package module (not marked in figure).Package module carries out JSON to vehicle status data
After the encapsulation process of format, the vehicle status data after the encapsulation is sent to by processor by first coffret 5
4。
Processor 4 further includes parsing module 42 and encrypting module 43 in addition to including compression module 41.Parsing module 42 is distinguished
It is connected 43 with the first coffret 5 and encrypting module.Parsing module 42 receives the operational order that the first coffret 5 is sent, right
Operation, which executes, carries out dissection process, obtains operation data, and be sent to encrypting module 43.Encrypting module 43 and 3 phase of transmission node
Even, after operation being encrypted, encrypted operation data is sent to transmission node 3.
Transmission node 3 further includes actuator node 32 in addition to including processor node 31.Actuator node 32 respectively with add
Close module 43 is connected with the second coffret 6, receive encrypting module 43 send encrypted operation data, to operation data into
Row integration is handled, and the operation data after integration is sent to bottom actuator 7 by the second coffret 6.
Second coffret 6 can be understood as controller local area network (Controller Area Network, CAN) and connect
Mouthful.
Bottom actuator 7 can be understood as a microcontroller with processing function, for receiving and handling according to user
Operation data caused by remote operation, and convert and can be identified by each mechanical hardware in automatic driving vehicle end operation data to
Control parameter, to realize manipulation to automatic driving vehicle.
After bottom actuator 7 works according to operation data, perception unit 2 is still sent in real time to processor node 31
Vehicle status data so that pseudo operation end still can be with real-time reception to vehicle status data, so that user is according to real-time
Vehicle status data carry out remote control.
In some preferred embodiments, also due to network is obstructed or other factors may lead to actuator node 32
When obtaining operation data, there may be interim card or hysteresis so that actuator node 32 obtained within one section of short time less than
Operation data.Two kinds of situation processing should be equally divided at this time.First, actuator node 32 is handled according to third time parameter acquisition
The operation data that device 4 is sent is represented when actuator node 32 is not empty according to the operation data of first time parameter acquiring
Remote channel control is unimpeded, then current accessed operation data is sent to bottom actuator 7 by actuator node 32.When holding
When row device node 32 according to the operation data of first time parameter acquiring is empty, it is not smooth to represent remote channel control, operation
There are hysteresis, the then acquiescence of actuator node 32 to send a upper operation data to bottom actuator 7 for the transmission of data.The
Two, when the operation data that actuator node 32 is obtained according to the 4th time parameter is still empty, represent remote channel control not
It is unimpeded, the transmission of operation data there are Caton phenomenon, then actuator node 32 to by the second coffret 6 to bottom actuator
7 send braking instruction, are worked according to braking instruction to bottom actuator 7.Time representated by third time parameter is more than the
Time representated by four time parameters.If this process is not it is to be understood that actuator node 32 has within one section of short period
Operation data is got, then illustrates that remote channel control is not smooth, then actuator node 32, which can be given tacit consent to, sends a upper operand
According to.If actuator node 32 is still without operation data is got within one section of longer time, the urgent parking of vehicle is to ensure to go
Vehicle safety.
In another embodiment, processor node 31 and actuator node 32 can be integrated into a transmission node 3,
The time of data transfer between computer processes can be saved in this way.
It should be noted that the vehicle remote control of non-CAN interface equally may be implemented in the present embodiment, that is to say, that will hold
The carrier that the data of row device node are sent to bottom actuator can be any communications carrier, including but not limited to I2C buses,
USB, ultrasonic wave, laser, radio, even neutrino, gravitational wave, quantum entanglement etc. are developing or are not yet developing any
The communication technology.Equally, the communication of automatic driving vehicle end and server can use any internet or internet of can be used for become
The wireless communication technique of body and extension products and evolution product, that is to say, that if any communication technology be applied to internet or
Its variant, can be the carrier of automatic driving vehicle end and server communication, including but not limited to ultrasonic wave, laser, wirelessly
Electricity, even neutrino, gravitational wave, any communication technology that quantum entanglement etc. is developing or not yet developing.Automatic driving car
End can be any vehicle or vehicle variant and derivative, can be the vehicles or even military for any industry
The professional equipment in field moves or irremovable, is based on land, and the equipment in waters, sky, space is contained in the present invention
Alternative the most in scheme.
A kind of parallel control loop provided in an embodiment of the present invention, vehicle control signal is converted to by internet signal, and
Vehicle status data is sent in real time, has ensured safety and stabilization of the user in manipulation.Parallel driving system provided in this embodiment
System transmits information by means of shared Internet technology, realizes inexpensive, the transmission of high real-time and high data volume, also, logical
Cross Internet technology and unlimited widened remote range exchanged for minimum delay, can be used for supporting being not easy to maintenance personnel show up or
The Driving Scene of hazardous environment realizes conduct monitoring at all levels ambient enviroment so that maintenance personnel's is perfectly safe, also largely
Safety around upper guarantee driving environment.
Professional should further appreciate that, described in conjunction with the examples disclosed in the embodiments of the present disclosure
Unit and algorithm steps, can be realized with electronic hardware, computer software, or a combination of the two, hard in order to clearly demonstrate
The interchangeability of part and software generally describes each exemplary composition and step according to function in the above description.
These functions are implemented in hardware or software actually, depend on the specific application and design constraint of technical solution.
Professional technician can use different methods to achieve the described function each specific application, but this realization
It should not be considered as beyond the scope of the present invention.
The step of method described in conjunction with the examples disclosed in this document or algorithm, can use hardware, user terminal to execute
Software module or the combination of the two implement.Software module can be placed in random access memory (RAM), memory, read-only storage
Device (ROM), electrically programmable ROM, electrically erasable ROM, register, hard disk, moveable magnetic disc, CD-ROM or technology neck
In any other form of storage medium well known in domain.
Above-described specific implementation mode has carried out further the purpose of the present invention, technical solution and advantageous effect
It is described in detail, it should be understood that the foregoing is merely the specific implementation mode of the present invention, is not intended to limit the present invention
Protection domain, all within the spirits and principles of the present invention, any modification, equivalent substitution, improvement and etc. done should all include
Within protection scope of the present invention.
Claims (8)
1. a kind of parallel control loop, which is characterized in that the parallel control loop includes：
Car body, processor, transmission node, perception unit, the first coffret, the second coffret, bottom actuator and service
Device；
The processor, the transmission node, first coffret, second coffret and the bottom actuator
It is placed in the car body；
The bottom actuator is placed in the bottom of the car body；
The perception unit is set to top and/or the surrounding of the car body, for obtaining vehicle status data；The perception is single
Member includes environmental perception module and vehicle-state sensing module；The environmental perception module includes four different camera shootings in position
Head；The environmental perception module and the vehicle-state sensing module monitor vehicle-state, obtain vehicle status data；
The transmission node is connected with the perception unit and the processor respectively, and the sense is received to the transmission node
Know the vehicle status data that unit is sent, and the vehicle status data is sent to the processor；
The processor is connected by first coffret with the server, passes through described first to the processor
The vehicle status data is sent to the server by coffret；
The server receives the operational order that user inputs according to the vehicle status data, and is connect by first transmission
Mouth is sent to the processor, and parsing the operational order to the processor obtains operation data；
The transmission node receives the operation data that the processor is sent, and is carried out at integration to the operation data
Reason；
The bottom actuator is connected by second coffret with the actuator node；The bottom actuator receives
Operation data after the integration that the transmission node is sent, and worked according to the operation data after the integration.
2. parallel control loop according to claim 1, which is characterized in that the transmission node include processor node and
Actuator node；
The processor node is connected with the perception unit and the processor respectively, receives the vehicle that the perception unit is sent
Status data, and the vehicle status data is sent to the processor；
The actuator node is connected with the processor and second coffret respectively, receives what the processor was sent
The operation data carries out integration processing to the operation data, and by second coffret by the operation after integration
Data are sent to the bottom actuator.
3. parallel control loop according to claim 2, which is characterized in that the processor includes compression module；
The compression module is connected with the processor node and first coffret respectively, receives the processor node
The vehicle status data of transmission, after being compressed to the vehicle status data according to the position of the camera, by described
Compressed vehicle status data is sent to the server by the first coffret.
4. parallel control loop according to claim 2, which is characterized in that the processor further includes parsing module and adds
Close module；
The parsing module is connected with first coffret and the encrypting module respectively；Receive first coffret
The operational order sent carries out dissection process to the operational order, obtains operation data and be sent to the encrypting module；
The encrypting module is connected with the actuator node；After the operation data is encrypted, by the encryption
Operation data afterwards is sent to the actuator node.
5. parallel control loop according to claim 4, which is characterized in that the server includes package module；
After the package module is packaged processing to the vehicle status data, by first coffret by the envelope
Vehicle status data after dress is sent to the encrypting module.
6. parallel control loop according to claim 2, which is characterized in that the processor node also particularly useful for：
The processor node receives the vehicle status data that the perception unit is sent according to first time parameter；
When the processor node according to first time parameter to receive vehicle status data that the perception unit is sent be empty when,
Then a upper vehicle status data is sent to the processor by the processor node；
When the processor node according to the second time parameter to receive vehicle status data that the perception unit is sent be empty when,
Then the processor node sends braking instruction to the processor；
The braking instruction is sent to the bottom actuator by the processor, to the bottom actuator according to the system
Dynamic instruction works.
7. parallel control loop according to claim 2, which is characterized in that the actuator node also particularly useful for：
The actuator node receives the operation data that the processor is sent according to third time parameter；
When the actuator node according to third time parameter to receive the operation data that the processor is sent be empty when, then
A upper operation data is sent to second coffret by the actuator node；
When the actuator node according to the 4th time parameter to receive the operation data that the processor is sent be empty when, then
The actuator node sends the braking instruction by second coffret to the bottom actuator, to the bottom
Layer actuator works according to the braking instruction.
8. parallel control loop according to claim 2, which is characterized in that the environmental perception module further includes GPS dresses
It sets, is in inertial navigation, laser radar, millimetre-wave radar one or more；
The vehicle-state sensing module includes thermometer, wheel speed meter, fuel-quantity transducer, remaining capacity sensor, battery health
It is one or more in state sensor, wear sensor, tyre pressure sensor.
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