Auxiliary driving system and device and scooter

Abstract

The invention provides an auxiliary driving system and device and a scooter, and relates to the field of electronics, in particular to the field of auxiliary driving. The method comprises the steps that the control module can obtain environment information around the scooter through the sensing module; the control module can also generate a control instruction according to the environment information. The control module can also obtain time information from the clock chip and store the time information, the environment information and the control instruction together. According to the method, detection of the road condition information of the scooter is achieved by obtaining the environment information, the driving safety of the scooter is improved, and the use efficiency of data in follow-up analysis and tracing is improved by adding time information for the environment information and the control instruction.

Description

Technical Field

[0001] The present application relates to the field of electronics, and in particular to an assisted driving system, device and a mobility scooter. Background Art

[0002] Among the elderly, disabled and injured, there are a large number of users who have difficulty walking. Although these users have difficulty walking, they still have certain travel needs. Using a mobility scooter provides convenience for these users.

[0003] In the prior art, a user can drive the scooter by controlling the scooter. When the scooter has an abnormality, a technician usually needs to determine the scene where the abnormality occurs with the user, simulate the scene, and drive the scooter in the scene to restore the abnormality.

[0004] This abnormal restoration method has the problem of low restoration efficiency. Even when the abnormality is sporadic or the scene restoration is difficult, the abnormality may not be restored. Summary of the invention

[0005] The present application provides an auxiliary driving system, equipment and a mobility scooter, which are used to solve the problem of low abnormal recovery efficiency of the mobility scooter.

[0006] In a first aspect, the present application provides an assisted driving system, comprising:

[0007] Control module, storage module and clock chip;

[0008] The control module is connected to the clock chip and is used to obtain time information from the clock chip when the information to be stored is obtained;

[0009] The control module is connected to the storage module and is used to store the information to be stored together with the time information in the storage module.

[0010] Optionally, the control module includes: a transmission unit;

[0011] The transmission unit is connected to the clock chip and is used to request the clock chip to obtain time information when obtaining information to be stored;

[0012] The transmission unit is connected to the storage module, and is used for uploading the time information and the information to be stored to the storage module after acquiring the time information.

[0013] Optionally, the control module further includes: a sensing unit, a planning unit and a control unit;

[0014] The perception unit is connected to the sensor and is used to obtain environmental information uploaded by the sensor and generate obstacle information according to the environmental information; the perception unit is connected to the transmission unit and is used to send the environmental information as information to be stored to the transmission unit when the environmental information is obtained, and to send the obstacle information as information to be stored to the transmission unit when the obstacle information is generated;

[0015] The planning unit is connected to the perception unit, and is used to obtain the environmental information and the obstacle information from the perception unit, and plan and generate control instructions for the mobility scooter according to the environmental information and the obstacle information; the planning unit is connected to the transmission unit, and is used to send the control instructions as information to be stored to the transmission unit when generating the control instructions;

[0016] The control unit is connected to the planning unit for acquiring the control instruction; the control unit is also connected to the actuator of the mobility scooter for sending the control instruction to the corresponding actuator in the mobility scooter so that the control instruction is executed.

[0017] Optionally, the system further comprises: a backup power supply module;

[0018] The backup power supply module is connected to the clock chip and is used to supply power to the clock chip when the power supply of the clock chip is abnormal.

[0019] Optionally, the backup power module is a rechargeable button battery.

[0020] Optionally, the system further comprises: a restoration module;

[0021] The restoration module is connected to the storage module, and is used to obtain the storage information in the storage module, and restore the execution status of the mobility scooter at the historical moment corresponding to the storage information according to the storage information.

[0022] Optionally, the system further comprises: a sensing module;

[0023] The sensor module is connected to the control module and is used to upload the collected environmental information around the mobility scooter to the control module, so that the control module generates corresponding control instructions according to the environmental information to control the mobility scooter.

[0024] Optionally, when the sensing module includes a camera sensor, the camera sensor specifically includes: a binocular camera and an image processor;

[0025] The image processor is connected to the binocular camera and is used to generate a three-dimensional point cloud based on the scene picture taken by the binocular camera; the image processor is also connected to the perception unit and is used to send the three-dimensional point cloud to the perception unit so that the perception unit can identify obstacles in the three-dimensional point cloud and obtain obstacle information.

[0026] Optionally, the sensing module further includes an ultrasonic sensor and / or a laser sensor;

[0027] The ultrasonic sensor is connected to the sensing unit and is used to send ultrasonic information to the sensing unit so that the sensing unit can identify obstacles in the ultrasonic information and improve the obstacle information;

[0028] and / or,

[0029] The laser sensor is connected to the sensing unit and is used to send laser information to the sensing unit so that the sensing unit can identify obstacles in the laser information and improve the obstacle information.

[0030] In a second aspect, the present application provides an assisted driving device, in which the assisted driving system shown in the first aspect is provided.

[0031] In a third aspect, the present application provides a mobility scooter on which is installed the auxiliary driving device as shown in the second aspect.

[0032] The assisted driving system, device and scooter provided by the present application can obtain environmental information around the scooter through the sensor module. The control module can also generate control instructions based on the environmental information; the control module can also obtain time information from the clock chip and store the time information together with the environmental information and control instructions to realize the function of detecting the road condition information of the scooter, thereby improving the driving safety of the scooter. At the same time, by adding time information to the environmental information and control instructions, the efficiency of using data in subsequent analysis and tracing is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the technical solutions in the present application or the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0034] Figure 1 A schematic diagram of the structure of an assisted driving system provided in one embodiment of the present application;

[0035] Figure 2A schematic diagram of the structure of an assisted driving system provided in one embodiment of the present application;

[0036] Figure 3 A schematic diagram of the structure of an assisted driving system provided in one embodiment of the present application;

[0037] Figure 4 A schematic diagram of the hardware structure of a mobility scooter provided in one embodiment of the present application;

[0038] Figure 5 A schematic diagram of an algorithm flow of a mobility scooter provided in one embodiment of the present application;

[0039] Figure 6 A partial top view of a sensor of a mobility scooter provided in one embodiment of the present application;

[0040] Figure 7 A partial side view of a sensor for a mobility scooter provided in one embodiment of the present application. DETAILED DESCRIPTION

[0041] In order to make the purpose, technical solutions and advantages of this application clearer, the technical solutions in this application will be clearly and completely described below in conjunction with the drawings in this application. Obviously, the described embodiments are part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0042] The terms "first", "second", "third", "fourth", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable under appropriate circumstances. For example, without departing from the scope of this article, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0043] The word "if" as used herein may be interpreted as "when" or "when" or "in response to determining," depending on the context.

[0044] Furthermore, as used herein, the singular forms “a”, “an” and “the” are intended to include the plural forms as well, unless the context indicates otherwise.

[0045] The terms "or" and "and / or" used herein are interpreted as inclusive, or mean any one or any combination. Thus, "A, B or C" or "A, B and / or C" means "any of the following: A; B; C; A and B; A and C; B and C; A, B and C". An exception to this definition will only occur when a combination of elements, functions, steps or operations are inherently mutually exclusive in some manner.

[0046] Among the elderly, disabled and injured, there are a large number of users who have difficulty walking. Although these users have difficulty walking, they still have certain travel needs. Using a mobility scooter to travel provides convenience for these users. The emergence of mobility scooters has enabled these users to travel without relying on the help of others, which has improved the convenience of travel for these users. Users can drive the mobility scooter by controlling it. In the prior art, mobility scooters are usually not provided with storage chips. When an abnormality occurs in a mobility scooter, the technician usually needs to determine with the user the scenario in which the abnormality occurs, and then simulate the scenario and drive the mobility scooter in the scenario to restore the abnormality. Even when the abnormality is sporadic or the scene restoration is difficult, the abnormality may not be restored. Therefore, the prior art has the problem of low efficiency in abnormality restoration.

[0047] In order to solve the above technical problems, the assisted driving system provided in the embodiment of the present application realizes the acquisition of environmental information around the scooter by setting a sensor module on the scooter. The environmental information includes but is not limited to obstacles such as obstacles, pits, steps, and conventional roads such as road surfaces, uphills, downhills, turns, and forks. The control module in the scooter can process the environmental information and obtain control instructions. The scooter can send the control instructions to the corresponding actuator through the control module and realize the auxiliary control of the scooter. The scooter can also include a clock chip. The controller of the scooter can obtain time information from the clock chip when storing environmental information, obstacle information and control instructions, and store the time information together with the environmental information, obstacle information and control instructions in the storage module. The addition of the time information can facilitate the better restoration of the execution scene when tracing back the execution of the scooter in the later stage. The scooter of the present application includes scooters, electric wheelchairs, etc. used by the elderly and disabled.

[0048] The technical solution of the present application is described in detail with specific embodiments below. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.

[0049] Figure 1 FIG. 1 is a schematic diagram showing the structure of an auxiliary driving system provided by an embodiment of the present application. Figure 1As shown, the assisted driving system 10 of this embodiment may include: a control module 11, a storage module 12 and a clock chip 13.

[0050] The control module 11 can be connected to the clock chip 13. The control module 11 can obtain time information from the clock chip 13 when obtaining the generation storage information. Specifically, the control module 11 can send a request to the clock chip 13 when obtaining the information to be stored. The clock chip 13 can send time information to the control module 11 in response to the request. The control module 11 is connected to the storage module 12. The control module 11 is used to store the information to be stored and the time information together in the storage module 12, so as to realize the traceability of the execution of the scooter in scenes such as maintenance. The storage of the time information can make the environmental information and the control instructions correspond to time points, which can not only realize the unified recording of data, but also improve the efficiency of subsequent data analysis. In the subsequent data analysis process, the technician can also sequentially obtain the body state and the health state of the body of the scooter at each moment according to the time information. The technician can correspond to the environmental information and control instructions at each moment according to the body state and the health state of the body, thereby realizing the optimization of the preset algorithm for environmental information processing, improving the generation efficiency of control instructions, and the generation effectiveness of control instructions.

[0051] Optionally, in order to improve the accuracy of multimodal data analysis in the event of a fault or abnormality, a unique baseline may be configured for each sensor in the sensor module 14 in the mobility scooter. The setting of the baseline may improve the storage efficiency of key data.

[0052] Optionally, the control module 11 may be connected to the storage module 12 and the clock chip 13 through communication.

[0053] Optionally, the storage module 12 can also upload data to the cloud. The cloud can further analyze whether the control instructions generated by the environmental information at each moment are reasonable based on the data uploaded by the storage module 12, thereby optimizing the preset algorithm in the control module.

[0054] Optionally, the control module 11 may be connected to the cloud for communication. When the preset algorithm in the cloud is updated, the cloud may also synchronize the preset algorithm to the control module 11 of the mobility scooter.

[0055] In one example, the assisted driving system 10 of this embodiment may further include a backup power module 15 .

[0056] In normal use, the clock chip 13 is fixed on the board of the control module 11 and is directly powered by the board of the control module 11. When the power supply of the board of the control module 11 is abnormal, or the power supply of the board of the control module 11 to the clock chip 13 is abnormal, the clock chip 13 may be powered off. The power failure of the clock chip 13 may make it impossible to calibrate the time online in real time. If the time of the clock chip 13 is inaccurate, the advantage of the environmental information, obstacle information and control instructions stored in the storage module 12 of the present application will no longer exist. The erroneous time information has no effect on tracing the abnormal situation of the mobility scooter.

[0057] Therefore, the present application adds a backup power supply module 15. The backup power supply module 15 is used to power the clock chip 13 when the power supply of the clock chip 13 is abnormal. Thereby ensuring that the clock chip is always in operation and ensuring the network calibration time. Optionally, the clock chip 13 can also be an RTC clock chip of a single-chip microcomputer.

[0058] Optionally, the backup power module 15 can be a rechargeable button battery. When the rechargeable button battery supplies power to the clock chip 13, it does not supply power to other devices. This setting can increase the use time and service life of the rechargeable button battery. Optionally, a step-down circuit can also be provided in the backup power module 15. When the rechargeable button battery needs to be charged, the step-down circuit can be used to charge the button rechargeable battery.

[0059] Optionally, the clock chip 13 can be connected to the control module 11 of the scooter through a communication line to achieve networking. Optionally, the control module 11 can also upload data to the network through the clock chip to the cloud, so that the data carries time information when it is uploaded. The cloud can analyze the data through an event detection algorithm.

[0060] In one example, the assisted driving system 10 of this embodiment may further include a restoration module 16. The restoration module is connected to the storage module. The restoration module can be used in a maintenance scenario. When a technician needs to restore the driving scene of the vehicle for mobility scooters, the restoration module can obtain the storage information in the storage module, and restore the historical moment corresponding to the storage information and the execution status of the vehicle for mobility scooters according to the storage information. Specifically, the technician can send a restoration instruction to the restoration module. The restoration instruction may include the historical moment of the execution status of the vehicle for mobility scooters that needs to be restored. The historical moment may be a time point or a time period. After the restoration module obtains the restoration instruction, the restoration module may obtain the corresponding storage information from the storage module according to the historical moment. The restoration module may restore the driving status of the vehicle for mobility scooters at the historical moment according to the storage information. The algorithm used in the restoration process may be an existing algorithm or an improved algorithm.

[0061] The assisted driving system provided by the present application can obtain time information from the clock chip when the control module obtains the information to be processed, and store the time information together with the information to be stored in the storage module. The addition of time information in the storage module enables the information to be stored to correspond to a time point, improves the search and acquisition of the information to be stored during data acquisition, and improves the efficiency of data use in subsequent analysis and tracing. When a scooter breaks down, the technician can locate the obstacle information and control instructions when the fault occurs based on the time information stored simultaneously with the obstacle information and control instructions, so as to better restore the scene where the fault occurs, realize the fault record in the scooter, and improve the efficiency of scene restoration during maintenance. Among them, the use of the backup power supply module improves the stability and use efficiency of the clock chip.

[0062] Figure 2 FIG. 1 shows a schematic diagram of the structure of an assisted driving system provided by an embodiment of the present application. Figure 1 Based on the embodiment shown, Figure 2 As shown, the assisted driving system 10 of this embodiment may further include: a sensor module 14.

[0063] The sensor module 14 can be connected to the control module 11. The sensor module 14 can upload the environmental information around the vehicle to the control module 11. Optionally, the environmental information around the vehicle can be environmental information within a certain range of the vehicle. For example, the environmental information can be environmental information within three meters around the vehicle. For another example, the environmental information can include environmental information 5 meters in front of the vehicle, 3 meters behind it, and 1 meter on both sides. Optionally, the environmental information obtained by the sensor module 14 can be sensor information directly obtained by the sensor. For example, when the sensor is a camera, the environmental information can be a scene picture. For another example, when the sensor is an ultrasonic sensor, the environmental information can be ultrasonic information. Optionally, the environmental information obtained by the sensor module 14 can be processed sensor information. For example, when the sensor is a binocular camera, the environmental information can be depth information or point cloud information obtained after processing the scene picture.

[0064] Optionally, in order to enable the wheelchair to have the functions of autonomous driving and autonomous obstacle avoidance, the sensor module 14 may include at least one of a camera sensor, an ultrasonic sensor, and a laser sensor. Optionally, each sensor in the sensor module 14 may include at least one. Optionally, when the sensor module 14 includes a camera sensor, the camera sensor may specifically include a binocular camera and an image processor. The image processor is connected to the binocular camera. The image processor may generate a three-dimensional point cloud based on the scene image captured by the binocular camera. The image processor is connected to the perception unit and sends the three-dimensional point cloud to the perception unit so that the perception unit identifies obstacles in the three-dimensional point cloud and obtains obstacle information. Optionally, when the sensor module 14 includes an ultrasonic sensor, the ultrasonic sensor may send ultrasonic information to the perception unit so that the perception unit identifies obstacles in the ultrasonic information and improves the obstacle information. Optionally, when the sensor module 14 includes a laser sensor, the laser sensor may send laser information to the perception unit so that the perception unit identifies obstacles in the laser information and improves the obstacle information.

[0065] Optionally, each sensor in the sensor module 14 can be connected to the control module 11 separately. Optionally, the connection mode can be a CAN bus connection. At the same time, the drive of each sensor in the sensor module 14 can be independent. The separate connection mode and the setting of independent drive can be isolated by hardware to achieve independent use of each sensor, which is convenient for replacement or addition and reduction of a single sensor.

[0066] The control module 11 may store a preset algorithm. After acquiring the environmental information, the control module 11 may input the environmental information into the preset algorithm, and make a decision to obtain the control instruction of the scooter. The control module 11 may send the control instruction to the upper controller of the scooter. The upper controller may control the scooter according to the control instruction. The control module 11 may include at least one controller, processor, single-chip microcomputer, chip and other components with certain computing capabilities. Optionally, the control instruction may be a specific driving instruction of the scooter. For example, the control instruction may be to decelerate to 5m / s, stop, accelerate to 5m / s, drive at a speed of 5m / s, etc. Optionally, the control instruction may also be used to send prompt information. For example, the control instruction may be used to control the voice device of the scooter to send a voice prompt to inform the user of the steps ahead. For another example, the control instruction may be used to control the vibration of the handrail of the scooter to prompt the user that there is an obstacle ahead.

[0067] Optionally, the control module 11 can also obtain user instructions from the user. The scooter may include an upper controller. The user can generate user instructions through the operation control panel and / or control keys of the scooter. The upper controller can obtain the user instructions. The control module 11 can obtain the user instructions from the upper controller. The control module 11 can generate corresponding control instructions based on the user instructions and environmental information. For example, when the user instruction is to move forward, and the environmental information indicates that there are steps ahead, the control instruction can be used to control the scooter to stop and prompt the user that there are steps ahead. Optionally, the upper controller can be connected to the control module 11 via a CAN bus.

[0068] In the assisted driving system provided by the present application, the control module can obtain the environmental information around the mobility scooter through the sensor module. The control module can also realize the generation of control instructions based on the environmental information. The present application can store the environmental information, control instructions and other contents as information to be stored in the storage module together with the time information. In the present application, by obtaining the environmental information, the recording of the environmental information is realized; by obtaining the environmental information, the identification and recording of the obstacle information is realized; by the obstacle information, the generation and recording of the control instructions are realized; the use of the control instructions improves the driving safety of the mobility scooter; at the same time, the recording of the environmental information, obstacle information and control instructions improves the efficiency of the mobility scooter in performing scene restoration during maintenance.

[0069] Figure 3 FIG. 1 shows a schematic diagram of the structure of an assisted driving system provided by an embodiment of the present application. Figure 1 and Figure 2 Based on the embodiment shown, Figure 3 As shown, the control module 11 of this embodiment specifically includes: a sensing unit 111 , a planning unit 112 , a control unit 113 and a transmission unit 114 .

[0070] Among them, the perception unit 111 is connected to the sensor module 14. Specifically, the perception unit 111 can be connected to each sensor in the sensor module 14 separately. The perception unit 111 is used to obtain environmental information from the sensor module 14. The perception unit 111 can store a perception algorithm, which can be used to analyze and process the environmental information to obtain obstacle information. The obstacle information may include information such as the obstacle position, obstacle size, and obstacle type. Optionally, the perception algorithm may include a point cloud generation algorithm and an obstacle perception algorithm. For example, the point cloud generation algorithm can generate a three-dimensional point cloud of the scene in front of the scooter based on the scene picture. The obstacle perception algorithm can be used to identify obstacles in environmental information such as three-dimensional point clouds, ultrasonic information, and laser information. The obstacle recognition algorithm can also integrate the obstacle information obtained by identifying multiple environmental information to obtain more complete obstacle information. The perception unit 111 can be connected to the transmission unit 114. When the environmental information is obtained, the perception unit 111 can send the environmental information to the transmission unit 114. The sensing unit 111 may also send the obstacle information to the transmission unit 114 after generating the obstacle information.

[0071] Among them, the planning unit 112 is connected to the perception unit 111. The planning unit 112 can directly obtain environmental information and obstacle information from the perception unit 111. The planning unit 112 can plan and generate control instructions for the mobility scooter based on the environmental information and obstacle information. Optionally, a decision algorithm can be preset in the planning unit 112. The decision algorithm is used to enable the planning unit 112 to obtain the control instructions of the mobility scooter based on the obstacle information. The planning unit 112 can also be connected to the transmission unit 114. After generating the control instruction, the planning unit 112 can send the control instruction to the transmission unit 14.

[0072] The control unit 113 is connected to the planning unit 112. The control unit 113 can obtain the control instruction generated by the planning unit 112. The control unit 113 is also connected to the upper controller of the scooter. The control unit 113 can send the control instruction to the upper controller of the scooter, and the upper controller specifically executes the control of the scooter according to the control instruction.

[0073] Among them, the transmission unit 114 can be connected to the clock chip. Optionally, the connection mode can be a communication connection. The information sent by other units received by the transmission unit 114 is the information to be stored. When the transmission unit 114 receives the information to be stored, the transmission unit 114 can generate a request. The transmission unit 114 can send the request to the clock chip 13 and request the clock chip 13 to obtain time information. The clock chip 13 can return the time information to the transmission unit 114 when receiving the request. The transmission unit 114 can be connected to the storage module 12. When the transmission unit 114 obtains the time information, the transmission unit 114 can upload the information to be stored together with the time information to the storage module 12 for storage. For example, after obtaining the environmental information and the time information, the transmission unit 114 can upload the environmental information and the time information to the storage module. The transmission module 114 can also upload the obstacle information and the time information to the storage module after obtaining the obstacle information and the time information. After acquiring the control instruction and the time information, the transmission module 114 may also upload the control instruction and the time information to the storage module.

[0074] In the assisted driving system provided by the present application, the perception unit in the control module can process the environmental information through a preset algorithm and perceive the obstacle information therein. The planning unit in the control module can make decisions on the obstacle information through a decision-making algorithm and generate control instructions. The control unit in the control module can send the control instruction to the actuator to realize the control of the scooter. The control module can also obtain time information from the clock chip, so as to store the time information together with the environmental information, and store the time information together with the control instruction. In the present application, the decision of the control instruction is realized by analyzing and processing the environmental information by the control module, thereby improving the safety of the scooter during driving. In the present application, the efficiency of using the data in subsequent analysis and tracing is also improved by adding time information to the environmental information and the control instructions.

[0075] Based on the above embodiments, Figure 4 The hardware solution of the scooter is illustrated by taking an electric wheelchair as an example. Among them, a binocular camera, a perception algorithm board and a CAN interface board can form a camera sensor. The perception algorithm board can include an image parsing algorithm. The perception algorithm board can obtain the scene picture taken by the binocular camera and parse it to obtain a three-dimensional point cloud. The CAN interface board is used to send the three-dimensional point cloud to the handboard of the left armrest through the CAN bus. The left armrest board can be a board fixed to the electric wheelchair. The left armrest board can send the three-dimensional point cloud to the upper controller. After obtaining the three-dimensional point cloud, the upper controller can generate corresponding control instructions according to the three-dimensional point cloud to realize the control of the electric wheelchair.

[0076] Based on the above embodiment, the specific algorithm process of the electric wheelchair can be as follows: Figure 5 As shown. The binocular camera can send image information to the perception algorithm board. The perception algorithm board may include a point cloud generation algorithm and an obstacle perception algorithm. Among them, the point cloud generation algorithm can generate a three-dimensional point cloud based on the scene picture taken by the binocular camera. The obstacle perception algorithm can identify obstacles in the point cloud and generate obstacle information. The perception algorithm board can send the obstacle information to the CAN interface board. The CAN interface board may include a communication interface. The communication interface is used to connect with the perception algorithm board to obtain obstacle information from the perception algorithm board. The communication interface is also used to connect with an ultrasonic sensor and a laser sensor to obtain ultrasonic information and laser information. Among them, the ultrasonic sensor may include an ultrasonic drive circuit. The laser sensor may include a TOF drive circuit. The CAN interface board may include a planning control algorithm. The planning control algorithm may specifically be a decision algorithm. The CAN interface board may generate a control instruction based on the obstacle information, ultrasonic information and laser information. For example, the control instruction may be a speed instruction. The CAN interface board may send the speed instruction to the scooter through CAN communication. The scooter may include an upper controller. The upper controller may be set on the armrest board. For example, in this embodiment, the upper controller can be arranged on the left armrest plate. The scooter can also include a brushless driver. The control instructions of the scooter can be driven by the brushless driver.

[0077] Based on the above embodiments, taking an electric wheelchair as an example, a top view of the distribution of sensors in the vehicle can be as follows: Figure 6 As shown, the side view can be Figure 7As shown. Among them, the positions shown by circles 1, 2 and 3 are three ultrasonic sensors. The detection area of ​​the three ultrasonic sensors is the area shown by the upper diagonal shadow at the rear of the electric wheelchair. The positions shown by circles 4 and 5 are two ultrasonic sensors. The detection area of ​​the two ultrasonic sensors is the area shown by the upper diagonal shadow on the side of the electric wheelchair. The positions shown by circles 6 and 7 are two ultrasonic sensors. The detection area of ​​the two ultrasonic sensors is the area shown by the upper diagonal shadow in front of the electric wheelchair. The position where circle 8 is located can be a binocular camera. This position is the front end of the left armrest. Optionally, the binocular camera can also be set at a position where the front side of the electric wheelchair is not blocked, such as the front end of the right armrest. The detection area of ​​the binocular camera can be the area shown by the black dot shadow. The positions shown by circles 9 and 10 are two laser sensors. The two laser sensors can be single-point laser sensors. The detection areas of the two laser sensors can be the areas shown by the vertical line shadows on the front and rear sides of the electric wheelchair. The laser information is used to obtain the road height information in front and behind the electric wheelchair. In actual detection, the electric wheelchair can only obtain the road height information detected by the first single-point laser sensor when moving forward. Alternatively, the electric wheelchair can only obtain the road height information detected by the second single-point laser sensor when moving backward. Alternatively, the electric wheelchair can simultaneously obtain the road height information detected by the first single-point laser sensor and the second single-point laser sensor when driving. Optionally, the first single-point laser sensor and the second single-point laser sensor can be single-point TOF laser sensors.

[0078] The embodiment of the present application also provides a driving assistance device, which may include the above-mentioned Figures 1 to 7 Some or all of the components in the illustrated embodiment. Optionally, the auxiliary driving device can be integrated into a universal accessory of an electric wheelchair. For example, the auxiliary driving device can be integrated into an armrest. The armrest can be made into an industry-wide accessory that is compatible with all electric wheelchairs in the wheelchair industry. During the integration process of the auxiliary driving device, information such as the mechanical structure of the armrest, the installation position and angle of the sensor, and the complementarity between the various sensors can also be included.

[0079] This embodiment also provides an electric wheelchair, on which the auxiliary driving device shown in the above embodiment is installed.

[0080] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of modules is only a logical function division. There may be other division methods in actual implementation. For example, multiple modules can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or modules, which can be electrical, mechanical or other forms.

[0081] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the above embodiments, a person of ordinary skill in the art should understand that the technical solutions described in the above embodiments can still be modified, or some or all of the technical features can be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A driving assistance system, characterized in that: The system comprises: a control module, a storage module and a clock chip; The control module is connected to the clock chip and is used to obtain time information from the clock chip when the information to be stored is obtained; The control module is connected to the storage module and is used to store the information to be stored together with the time information in the storage module.

2. The system according to claim 1, characterized in that The control module comprises: a transmission unit; The transmission unit is connected to the clock chip and is used to request the clock chip to obtain time information when obtaining information to be stored; The transmission unit is connected to the storage module, and is used for uploading the time information and the information to be stored to the storage module after acquiring the time information.

3. The system according to claim 2, characterized in that The control module further includes: a sensing unit, a planning unit and a control unit; The perception unit is connected to the sensor and is used to obtain environmental information uploaded by the sensor and generate obstacle information according to the environmental information; the perception unit is connected to the transmission unit and is used to send the environmental information as information to be stored to the transmission unit when the environmental information is obtained, and to send the obstacle information as information to be stored to the transmission unit when the obstacle information is generated; The planning unit is connected to the perception unit, and is used to obtain the environmental information and the obstacle information from the perception unit, and plan and generate control instructions for the mobility scooter according to the environmental information and the obstacle information; the planning unit is connected to the transmission unit, and is used to send the control instructions as information to be stored to the transmission unit when generating the control instructions; The control unit is connected to the planning unit for acquiring the control instruction; the control unit is also connected to the actuator of the mobility scooter for sending the control instruction to the corresponding actuator in the mobility scooter so that the control instruction is executed.

4. The system according to any one of claims 1 to 3, characterized in that: The system further includes: a backup power supply module; The backup power supply module is connected to the clock chip and is used to supply power to the clock chip when the power supply of the clock chip is abnormal.

5. The system according to claim 4, characterized in that The backup power supply module is a rechargeable button battery.

6. The system according to any one of claims 1 to 3, characterized in that: The system further includes: a restoration module; The restoration module is connected to the storage module, and is used to obtain the storage information in the storage module, and restore the execution status of the mobility scooter at the historical moment corresponding to the storage information according to the storage information.

7. The system according to any one of claims 1 to 3, characterized in that: The system further includes: a sensor module; The sensor module is connected to the control module and is used to upload the collected environmental information around the mobility scooter to the control module, so that the control module generates corresponding control instructions according to the environmental information to control the mobility scooter.

8. The system according to claim 7, characterized in that When the sensing module includes a camera sensor, the camera sensor specifically includes: a binocular camera and an image processor; The image processor is connected to the binocular camera and is used to generate a three-dimensional point cloud based on the scene picture taken by the binocular camera; the image processor is also connected to the perception unit and is used to send the three-dimensional point cloud to the perception unit so that the perception unit can identify obstacles in the three-dimensional point cloud and obtain obstacle information.

9. The system according to claim 8, characterized in that The sensing module also includes an ultrasonic sensor and / or a laser sensor; The ultrasonic sensor is connected to the sensing unit and is used to send ultrasonic information to the sensing unit so that the sensing unit can identify obstacles in the ultrasonic information and improve the obstacle information; and / or, The laser sensor is connected to the sensing unit and is used to send laser information to the sensing unit so that the sensing unit can identify obstacles in the laser information and improve the obstacle information.

10. A driving assistance device, characterized in that: The assisted driving device is provided with the assisted driving system as shown in any one of claims 1-8.

11. A mobility scooter, characterized in that: The scooter is equipped with the auxiliary driving device as shown in claim 9.

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