CN204110029U - A kind of personal vehicle system of the Multi-sensor Fusion intelligent vehicle based on magnetic navigation - Google Patents
A kind of personal vehicle system of the Multi-sensor Fusion intelligent vehicle based on magnetic navigation Download PDFInfo
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- CN204110029U CN204110029U CN201420430269.9U CN201420430269U CN204110029U CN 204110029 U CN204110029 U CN 204110029U CN 201420430269 U CN201420430269 U CN 201420430269U CN 204110029 U CN204110029 U CN 204110029U
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Abstract
本实用新型涉及一种基于磁导航的多传感器融合智能车的自动驾驶系统，该自动驾驶系统包括智能车、车载传感器和运行车道，所述车载传感器包括磁传感器、激光传感器、超声波传感器、激光雷达、GPS天线和摄像头，所述智能车包括车载终端，所述车载终端、磁传感器激光传感器、超声波传感器、激光雷达、GPS天线和摄像头均安装在智能车上，所述车载终端与车载传感器中所有传感器连接，所述运行车道上埋设有磁钉。与现有技术相比，本实用新型具有建设成本低等优点。
The utility model relates to an automatic driving system of a multi-sensor fusion smart car based on magnetic navigation. The automatic driving system includes a smart car, a vehicle-mounted sensor and a running lane, and the vehicle-mounted sensor includes a magnetic sensor, a laser sensor, an ultrasonic sensor, and a laser radar. , GPS antenna and camera, the smart car includes a vehicle-mounted terminal, the vehicle-mounted terminal, magnetic sensor laser sensor, ultrasonic sensor, laser radar, GPS antenna and camera are all installed on the smart car, the vehicle-mounted terminal and all of the vehicle-mounted sensors The sensor is connected, and a magnetic nail is buried on the running lane. Compared with the prior art, the utility model has the advantages of low construction cost and the like.
Description
Technical field
The utility model relates to a kind of driverless operation public transport technology, especially relates to a kind of personal vehicle system of the Multi-sensor Fusion intelligent vehicle based on magnetic navigation.
Background technology
The navigate mode of driverless operation intelligent vehicle mainly can be divided into laser radar navigation, vision guided navigation, GPS navigation, magnetic navigation etc. according to the difference of forms of sensor.Laser radar navigates through the range information of laser-scan vehicle forward direction road and obstacle; Vision guided navigation is mainly through camera collection road ahead graphicinformation; GPS navigation is by GPS module collection vehicle GPS information; The electromagnetic signal that the magnetic signal of magnetic navigation perception pre-plugged magnetic nail in the road or electric wire produce.Magnetic navigation is relative to the navigate mode of other kinds, although require higher to basic traffic facilities, need to lay specific road in advance, and bury magnetic nail or electric wire underground at roadside, it is slightly aobvious loaded down with trivial details that implementation process compares other several navigate modes above-mentioned, but its technology mature and reliable more, and not by the impact of the natural conditions such as dust storm, heavy snow, simultaneously, can also by conversion magnetic pole towards etc. mode to magnetic nail encode, link characteristics information is transmitted, such as position, direction, road ahead characteristic, bend radius of curvature etc. to intelligent vehicle.In local transportation area, magnetic navigation can be used as the navigate mode of efficient stable.
External existing magnetic navigation automatic driving vehicle puts into effect at present, the such as Morgantown GRT system of the U.S. in 1999, the 2getthere system in the Abu Dhabi (Maas Da Er) put into effect for 2010, Ultra PRT system and the 2014 year Ultra PRT system etc. in India's Amritsar operation of London so far in 2011.
Summary of the invention
The purpose of this utility model is exactly the personal vehicle system of the Multi-sensor Fusion intelligent vehicle based on magnetic navigation providing a kind of low cost in order to overcome defect that above-mentioned prior art exists, easily realizing.
The purpose of this utility model can be achieved through the following technical solutions:
A kind of personal vehicle system of the Multi-sensor Fusion intelligent vehicle based on magnetic navigation, this personal vehicle system comprises intelligent vehicle, onboard sensor and operation track, described onboard sensor comprises Magnetic Sensor, laser sensor, ultrasonic transduter, laser radar, gps antenna and camera, described intelligent vehicle comprises car-mounted terminal, described car-mounted terminal, Magnetic Sensor laser sensor, ultrasonic transduter, laser radar, gps antenna and camera are installed on intelligent vehicle, described car-mounted terminal is connected with all the sensors in onboard sensor, described operation track is embedded with magnetic nail.
Described intelligent vehicle comprises and also comprises inter-vehicle communication device, and described inter-vehicle communication device is connected with car-mounted terminal, and described car-mounted terminal is also connected with remote monitoring center;
Described Magnetic Sensor is divided into two groups, front and back, often organizes the front-end and back-end that Magnetic Sensor is equidistantly arranged on intelligent vehicle respectively.
Described laser sensor is divided into two groups, front and back, is arranged on the front-end and back-end of intelligent vehicle respectively.
Described ultrasonic transduter comprises car side ultrasonic transduter and car front end ultrasonic transduter, and described car side ultrasonic transduter is arranged on intelligent vehicle both sides, and described car front end ultrasonic transduter is arranged on intelligent vehicle front end.
Described laser radar is arranged on intelligent vehicle front end.
Described intelligent vehicle is also provided with steer motor.
Compared with prior art, the utility model has the following advantages:
1) the utility model adopts Multi-sensor Fusion, the magnetic signal that the magnetic nail be embedded on road by Magnetic Sensor collection is produced, be aided with ultrasonic transduter, laser radar and laser sensor etc. and identify road markings and obstacle, control intelligent vehicle, can turn to by automatically controlling steer motor, controlling drive motor driving, control braking motor is braked, and realizes automatic running and automatic obstacle avoidance, passenger safety is sent to destination;
2) the utility model adopts Multi-sensor Fusion and inter-vehicle communication, can in the process travelled, ensure to remain on more than certain distance between Adjacent vehicles by laser sensor, in local scope, utilize inter-vehicle communication network and other vehicles to carry out information interaction to avoid contingent path conflict and traffic jam;
3) the utility model uses monitoring technique, and the information such as such as GPS location, speed, warning, fault in driving process are sent to remote monitoring center so that remote monitoring center United Dispatching by wireless network by vehicle-mounted end; In extraordinary circumstances or in emergency circumstances, the graphicinformation of camera collection can be passed to remote monitoring center, by remote monitoring center adapter intelligent vehicle, process emergency case.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model;
Wherein: 3, magnetic nail; 11, steer motor; 12, braking motor; 13, car-mounted terminal; 14, inter-vehicle communication device; 21, Magnetic Sensor; 22, laser sensor; 24, laser radar; 25, gps antenna; 26, camera; 231, car side ultrasonic transduter; 232, car front end ultrasonic transduter.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the utility model is described in detail.The present embodiment is implemented premised on technical solutions of the utility model, give detailed embodiment and concrete operating process, but protection domain of the present utility model is not limited to following embodiment.
A kind of personal vehicle system of the Multi-sensor Fusion intelligent vehicle based on magnetic navigation, as shown in Figure 1, this personal vehicle system comprises intelligent vehicle, onboard sensor and operation track, onboard sensor comprises Magnetic Sensor 21, laser sensor 22, ultrasonic transduter, laser radar 24, gps antenna 25 and camera 26, intelligent vehicle comprises car-mounted terminal 13, car-mounted terminal 13, Magnetic Sensor 21 laser sensor 22, ultrasonic transduter 23, laser radar 24, gps antenna 25 and camera 26 are installed on intelligent vehicle, car-mounted terminal 13 is connected with all the sensors in onboard sensor, run on track and be embedded with magnetic nail 3,
The magnetic signal of the magnetic nail 3 that intelligent vehicle detects using Magnetic Sensor 21 is as main navigation signal, and other sensor informations are as the signal of assisting navigation.
Intelligent vehicle comprises and also comprises inter-vehicle communication device 14, and inter-vehicle communication device 14 is connected with car-mounted terminal 13, and car-mounted terminal 13 is also connected with remote monitoring center;
Intelligent vehicle carries out information interaction by inter-vehicle communication device 14 and other intelligent vehicles of periphery, exchange running information, car-mounted terminal 13 is uploaded travelling data to remote monitoring center and is received the dispatch command of remote monitoring center, and travelling data comprises data, intelligent vehicle running state data and the inter-vehicle communication data that onboard sensor detects.
In the present embodiment, car-mounted terminal 13 is installed on the right side of car front deck.
Magnetic Sensor 21 is divided into two groups, front and back, often organizes the front-end and back-end that Magnetic Sensor 21 is equidistantly arranged on intelligent vehicle respectively; Wherein, as shown in Figure 1, in the present embodiment, two groups of Magnetic Sensors are arranged on below the bumper/spoiler of car front end and car rear end respectively, and are equally spaced about intelligent vehicle line of centers symmetry respectively.
Laser sensor 22 is divided into two groups, front and back, is arranged on the front-end and back-end of intelligent vehicle respectively and respectively probe vehicles front and the pedestrian at rear and the Distance geometry direction of obstacle distance intelligent vehicle, makes to remain on more than certain distance between Adjacent vehicles.Wherein, above the bumper/spoiler being arranged on car front end and car rear end in the present embodiment respectively, three, front end, two, rear end.
Ultrasonic transduter comprises car side ultrasonic transduter 231 and car front end ultrasonic transduter 232, and car side ultrasonic transduter 231 is arranged on intelligent vehicle both sides, and every each three, car front end ultrasonic transduter 232 is arranged on intelligent vehicle front end; Car side ultrasonic transduter 231 detects intelligent vehicle both sides road guard information, ensure vehicle body and road on both sides of the road guardrail distance within the specific limits; Car front end ultrasonic transduter 232 detects the distance between self and ground.
Wherein, in the present embodiment, car front end ultrasonic transduter 232 is arranged on below intelligent vehicle front end bumper with on Magnetic Sensor 21 same level height, therefore the car front end ultrasonic transduter 232 that in the present embodiment, car front end ultrasonic transduter 232 detects and the distance on ground are Magnetic Sensors 21 and the distance on ground, and according to this data as the supplementary of detection magnetic-field intensity.
Laser radar 24 is arranged in intelligent vehicle front end bumper, and detect the information such as distance, direction of the obstacle in more accurate intelligent vehicle front, gps antenna 25 is for receiving gps signal, and gps signal is also as a kind of mode of assisting navigation; Camera 26 is for taking road ahead information, and wherein in the present embodiment, camera 26 is arranged on vehicle front, in particular cases taking road ahead graphicinformation such as get congestion or accident etc. and graphicinformation is sent to remote monitoring center.
Intelligent vehicle is also provided with steer motor 11, and car-mounted terminal 13, according to vehicle body run-off-road distance between center line, drives intelligent vehicle steering shaft to rotate and then adjustment vehicle body direction by steer motor 11.In the present embodiment, steer motor 11 is arranged on steering shaft, according to multiple sensors determined vehicle body run-off-road position of center line information, drives steering shaft cw or the certain angle of left-hand revolution, completes turning function; In addition, the braking motor 12 on intelligent vehicle is arranged on above brake pedal, promotes brake pedal complete braking maneuver when needs parking, deceleration.
Intelligent vehicle receives the control command of shunting that remote monitoring center is sent, and travel to departure place, complete automatic shunting, waiting Passengen is got on the bus; After passenger loading, the magnetic signal that the magnetic nail 3 be embedded on road by Magnetic Sensor 21 collection is produced, be aided with ultrasonic transduter, laser radar 24 identifies road markings and obstacle with laser sensor 22 etc., control intelligent vehicle 1, can turn to by automatically controlling steer motor 11, controlling drive motor driving, control braking motor 12 to brake, realize automatic running and automatic obstacle avoidance, passenger safety is sent to destination; In the process travelled, ensure between Adjacent vehicles, to remain on more than certain distance by laser sensor 22, in local scope, utilize inter-vehicle communication network 14 and other vehicles to carry out information interaction to avoid contingent path conflict and traffic jam; The information such as such as GPS location, speed, warning, fault in driving process are sent to remote monitoring center by wireless network simultaneously, in extraordinary circumstances or in emergency circumstances, the graphicinformation that camera 26 gathers can be passed to remote monitoring center, by remote monitoring center adapter intelligent vehicle, process emergency case.
Claims (7)
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| Application Number | Priority Date | Filing Date | Title |
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| CN201420430269.9U CN204110029U (en) | 2014-07-31 | 2014-07-31 | A kind of personal vehicle system of the Multi-sensor Fusion intelligent vehicle based on magnetic navigation |
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| CN201420430269.9U CN204110029U (en) | 2014-07-31 | 2014-07-31 | A kind of personal vehicle system of the Multi-sensor Fusion intelligent vehicle based on magnetic navigation |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106448187A (en) * | 2016-11-14 | 2017-02-22 | 苏州大学 | Vehicle detection system and vehicle detection method based on fusion of magnetic sensor and ultrasonic sensor |
| CN107499309A (en) * | 2016-06-14 | 2017-12-22 | 德尔福技术有限公司 | For Lane Keeping System of the autonomous vehicle during camera is missed |
| CN108729397A (en) * | 2018-06-05 | 2018-11-02 | 广东纵行科技有限公司 | A driverless sweeper |
| CN111208816A (en) * | 2019-12-31 | 2020-05-29 | 珠海广通汽车有限公司 | Driving system based on magnetic nail navigation |
-
2014
- 2014-07-31 CN CN201420430269.9U patent/CN204110029U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107499309A (en) * | 2016-06-14 | 2017-12-22 | 德尔福技术有限公司 | For Lane Keeping System of the autonomous vehicle during camera is missed |
| CN107499309B (en) * | 2016-06-14 | 2020-04-03 | 安波福技术有限公司 | Lane Keeping System for Autonomous Vehicles During Camera Loss |
| CN106448187A (en) * | 2016-11-14 | 2017-02-22 | 苏州大学 | Vehicle detection system and vehicle detection method based on fusion of magnetic sensor and ultrasonic sensor |
| CN106448187B (en) * | 2016-11-14 | 2022-09-23 | 苏州大学 | Vehicle detection system and method based on fusion of magnetic sensor and ultrasonic sensor |
| CN108729397A (en) * | 2018-06-05 | 2018-11-02 | 广东纵行科技有限公司 | A driverless sweeper |
| CN108729397B (en) * | 2018-06-05 | 2020-08-07 | 广东纵行科技有限公司 | Unmanned motor sweeper |
| CN111208816A (en) * | 2019-12-31 | 2020-05-29 | 珠海广通汽车有限公司 | Driving system based on magnetic nail navigation |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150121 Termination date: 20200731 |