Reduced scale intelligent network connection vehicle system and control method thereof

Abstract

The invention discloses a reduced scale intelligent network connection vehicle system and a control method thereof, and the method comprises the steps: receiving a human control simulation signal through a communication module, simulating a physical steering wheel state and an accelerator brake state of a real vehicle to obtain a first reference control quantity, and transmitting the first reference control quantity to a switch selection element of a vehicle chassis; and receiving and processing the sensing information through a vehicle-mounted core computing power module, and then carrying out automatic driving intelligent decision calculation, intelligent path planning calculation and reference control quantity calculation to obtain a second reference control quantity, or receiving a multi-vehicle cooperative control instruction sent by the road end centralized cooperative controller, and sending the multi-vehicle cooperative control instruction to the road end centralized cooperative controller. And a third reference control quantity is generated according to the multi-vehicle cooperative control instruction, the second reference control quantity / the third reference control quantity is sent to a switch selection element of a vehicle chassis, and the access reference control quantity is selected to a power mechanism through the switch selection element. The credibility and the control effectiveness of the reduced scale intelligent network connection vehicle system can be improved, and the method can be widely applied to the technical field of intelligent vehicles.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent vehicles, and in particular, to a scaled intelligent connected vehicle system and its control method. Background Art

[0002] With the continuous increase in the vehicle ownership, the technological development of intelligent vehicles is also continuously advancing, and "network connection" has become a key word. Intelligent connected vehicles integrate a variety of innovative technologies such as the Internet of Things, cloud computing, big data, artificial intelligence, and control science, and are a new competitive focus for the development of emerging industries globally. The application of intelligent connected vehicle technology can effectively improve driving safety and road traffic efficiency.

[0003] The physical scaling technology is a new generation of electronic and electrical technology. Compared with full-scale prototype vehicles, scaled vehicles have the following advantages: 1) Cost controllable. The research, development, manufacturing, and experiments of scaled vehicles cost less; 2) Risk controllable. Using scaled vehicles for testing can reduce the losses of personal and property caused by potential collision risks during the testing process; 3) Iterative update convenient. Scaled vehicles are convenient for rapid iterative design and accelerate the R & D process.

[0004] Scaled vehicles have been applied in fields such as technology verification, education, environmental adaptability testing, and regulation and standard formulation. However, there is still a significant gap compared with the application requirements of real scaled intelligent connected vehicles, specifically manifested as: the network connection parameters are not real enough, the on-vehicle computing power of intelligent vehicles is insufficient, and the intelligent control method is inconsistent with the real scenario. Based on the above background, relevant research has put forward higher requirements for the design of scaled intelligent connected vehicle systems in terms of credibility. Summary of the Invention

[0005] In order to solve the above technical problems, the purpose of the present invention is to provide a scaled intelligent connected vehicle system and its control method, which can improve the credibility and control effectiveness of the scaled intelligent connected vehicle system. At the same time, the system can be widely applied in the testing, teaching, demonstration, and policy formulation in fields such as autonomous driving and vehicle networking, and has important value.

[0006] The first technical solution adopted by the present invention is:

[0007] A scaled intelligent connected vehicle system includes a vehicle chassis, an energy supply mechanism, a power mechanism, an in-vehicle core computing power module, a detachable vehicle shell, a global positioning and perception module, vehicle-end perception devices, and a communication module, wherein:

[0008] The vehicle chassis includes a vehicle carrying mechanism, wheels, a suspension mechanism, a load space, and a transmission mechanism. Each component in the vehicle chassis is obtained by reducing a real vehicle in a preset proportion, and the linkage mode of each component is the same as that of the real vehicle. The vehicle chassis is used to carry the energy supply mechanism, the power mechanism, the vehicle-mounted core computing module, the detachable vehicle shell, and the communication module;

[0009] The energy supply mechanism is used to supply energy to the power mechanism, the vehicle-mounted core computing module, the vehicle-end sensing device, and the communication module through a direct current output device;

[0010] The power mechanism includes a motor and a steering servo. The power mechanism is used to control the motor to drive the wheels to move forward and backward and / or control the steering servo to drive the wheels to turn left and right according to the drive control signal output by the vehicle-mounted core computing module;

[0011] The vehicle-mounted core computing module includes a main board and a high-computing core board and an embedded system microcontroller mounted on the main board;

[0012] The detachable vehicle shell is installed on the wheel carrying mechanism, and the detachable vehicle shell is obtained by reducing a real vehicle in the preset proportion;

[0013] The global positioning and sensing module and the vehicle-end sensing device are both arranged on the detachable vehicle shell. The global positioning and sensing module is used to simulate the vehicle's geodetic coordinate positioning and the perception of the vehicle by the roadside unit in vehicle-road collaborative research. The vehicle-end sensing device is used to simulate the vehicle's perception of the surrounding environment;

[0014] The communication module is used for the information transfer of sensing information and control signals from the acquisition end to the execution end.

[0015] Further, the scaled intelligent connected vehicle system can simulate human driving control, autonomous driving control, and regional centralized dispatching control, where:

[0016] When simulating human driving control, the communication module receives the human control simulation signal sent by a remote controller or a driving simulation device, and obtains a first reference control quantity by simulating the physical steering wheel state and the throttle and brake states of a real vehicle according to the human control simulation signal. Then, the power mechanism is driven to perform corresponding actions through the first reference control quantity;

[0017] When simulating autonomous driving control, the vehicle-mounted core computing module receives sensing information, processes the sensing information, and then performs autonomous driving intelligent decision-making calculation, intelligent path planning calculation, and reference control quantity calculation, and drives the power mechanism to perform corresponding actions according to the obtained second reference control quantity;

[0018] When performing centralized scheduling and control in the simulation area, the vehicle-mounted core computing power module receives the multi-vehicle collaborative control instructions sent by the roadside centralized collaborative controller, generates a third reference control quantity according to the multi-vehicle collaborative control instructions, and then drives the power mechanism to perform corresponding actions according to the third reference control quantity.

[0019] Furthermore, the second reference control quantity and the third reference control quantity are generated by selection through the vehicle-mounted core computing power module. The vehicle chassis further includes a switch selection element, which is used to select and connect the first reference control quantity and the second reference control quantity / the third reference control quantity to the power mechanism.

[0020] Furthermore, the vehicle-mounted core computing power module is communicatively connected to an external control device of the system through the communication module. The external control device of the system is used to configure the parameters of the vehicle during the simulation of the ADAS system of a real vehicle to complete autonomous driving control.

[0021] Furthermore, the vehicle carrying mechanism is made of hard plastic or carbon fiber material, the wheels are made of rubber material, the suspension mechanism is one of a MacPherson suspension mechanism, a double wishbone suspension mechanism, and a multi-link suspension mechanism. The load space is used to stably load the weight to simulate the inertia of a real vehicle, and the transmission mechanism reduces the transmission play through precise tuning.

[0022] Furthermore, an operating system is installed inside the high-computing-power core board. The high-computing-power core board is used to receive perception information and control signals, perform information decoding, perception fusion calculation, and automatic control calculation, and then transmit an executable reference control quantity to the embedded system microcontroller. The embedded system microcontroller is used to convert the reference control quantity into a PWM signal and send it to the motor and the steering gear.

[0023] Furthermore, the vehicle-end perception devices include a monocular camera, a binocular camera, a lidar, an inertial sensor, an odometer, and a steering angle feedback device.

[0024] Furthermore, the communication module includes a WIFI module, a wireless serial port antenna, a remote control receiver, and a direct connection communication bus.

[0025] Furthermore, the high-computing-power core board is built-in with a serial port service function package, an information integration function package, a perception fusion function package, a motion control algorithm function package, and a chassis drive function package, where:

[0026] The serial port service function package is used to receive wireless serial port message packets, parse the content into multi-vehicle motion capture positioning information and control instructions, and then send the multi-vehicle motion capture positioning information to the perception fusion function package through ROS internal messages for perception fusion calculation, and send the control instructions to the motion control algorithm function package through ROS internal messages for control quantity calculation;

[0027] The information integration function package is used to receive the information of the perception fusion function package, the motion control algorithm function package, and the chassis drive function package and integrate them to realize the UDP reporting of the vehicle state and perception information;

[0028] The perception fusion function package is used to fuse the data of the inertial sensor and the odometer with the multi-vehicle motion capture positioning information to obtain global positioning perception data, and perform multi-modal data fusion on the image data of the camera and the point cloud data of the lidar to obtain vehicle-end perception information, and then send the global positioning perception data and the vehicle-end perception information to the motion control algorithm function package and the information integration function package;

[0029] The motion control algorithm function package is used to receive the global positioning perception data, the vehicle-end perception information of the perception fusion function package, and the control instructions of the serial port service function package, use the motion control algorithm to realize the path following of the vehicle along the reference path according to the control instructions, and perform local decision-making on path adjustment and reference speed control by using the global positioning perception data and the vehicle-end perception information, and then send the calculated speed and angular velocity to the chassis drive function package for execution;

[0030] The chassis drive function package is used to receive the control quantity of the control algorithm function package, process the control quantity into a form that the vehicle chassis can execute, and send it to the vehicle chassis for execution through the serial port, and is also used to report the speed information and power information uploaded by the vehicle chassis to the information integration function package.

[0031] The second technical solution adopted by the present invention is:

[0032] A control method for a scaled intelligent connected vehicle system, which is used to be executed by the above-mentioned scaled intelligent connected vehicle system, and includes the following steps:

[0033] Receive the human control simulation signal sent by the remote control or the driving simulation device through the communication module, and obtain the first reference control quantity by simulating the physical steering wheel state and the throttle and brake states of the real vehicle according to the human control simulation signal, and then send the first reference control quantity to the switch selection element of the vehicle chassis;

[0034] Receive sensing information through the in-vehicle core computing power module, process the sensing information, and then perform autonomous driving intelligent decision-making calculations, intelligent path planning calculations, and reference control quantity calculations to obtain a second reference control quantity. Or, receive a multi-vehicle collaborative control instruction sent by a roadside centralized collaborative controller through the in-vehicle core computing power module, generate a third reference control quantity according to the multi-vehicle collaborative control instruction, and then send the second reference control quantity / the third reference control quantity to the switching selection element of the vehicle chassis;

[0035] When the switching selection element is in the human driving control state, connect the first reference control quantity to the power mechanism so that the power mechanism performs corresponding actions;

[0036] When the switching selection element is in the intelligent driving control state, connect the second reference control quantity / the third reference control quantity to the power mechanism so that the power mechanism performs corresponding actions.

[0037] The beneficial effects of the present invention are as follows: The present invention provides a scaled intelligent connected vehicle system and its control method. The scaled intelligent connected vehicle system includes a vehicle chassis, an energy supply mechanism, a power mechanism, an in-vehicle core computing power module, a detachable vehicle shell, a global positioning and sensing module, vehicle-end sensing devices, and a communication module. Receive a human control simulation signal sent by a remote controller or a driving simulation device through the communication module, and obtain a first reference control quantity by simulating the physical steering wheel state and the throttle and brake states of a real vehicle according to the human control simulation signal. Then send the first reference control quantity to the switching selection element of the vehicle chassis. Receive sensing information through the in-vehicle core computing power module, process the sensing information, and then perform autonomous driving intelligent decision-making calculations, intelligent path planning calculations, and reference control quantity calculations to obtain a second reference control quantity. Or, receive a multi-vehicle collaborative control instruction sent by a roadside centralized collaborative controller through the in-vehicle core computing power module, generate a third reference control quantity according to the multi-vehicle collaborative control instruction, and then send the second reference control quantity / the third reference control quantity to the switching selection element of the vehicle chassis. When the switching selection element is in the human driving control state, connect the first reference control quantity to the power mechanism so that the power mechanism performs corresponding actions. When the switching selection element is in the intelligent driving control state, connect the second reference control quantity / the third reference control quantity to the power mechanism so that the power mechanism performs corresponding actions. The present invention can improve the credibility and control effectiveness of the scaled intelligent connected vehicle system. At the same time, the system can be widely applied in the testing, teaching, display, and policy formulation of fields such as autonomous driving and vehicle networking, and has important value. Description of the Drawings

[0038] Figure 1 It is a module block diagram of a scaled intelligent connected vehicle system provided by an embodiment of the present invention;

[0039] Figure 2 Schematic diagram of a scaled vehicle model of a scaled intelligent connected vehicle system provided by an embodiment of the present invention;

[0040] Figure 3 Schematic diagram of power supply provided by an embodiment of the present invention;

[0041] Figure 4 Schematic diagram of data interaction of a high - computing - power core board provided by an embodiment of the present invention;

[0042] Figure 5 Schematic diagram of control signal transmission provided by an embodiment of the present invention;

[0043] Figure 6 Autopilot interaction interface intention provided by an embodiment of the present invention;

[0044] Figure 7 Flowchart of steps of a control method for a scaled intelligent connected vehicle system provided by an embodiment of the present invention. Detailed implementation manners

[0045] The following further elaborates on the present invention in detail with reference to the accompanying drawings and specific embodiments. For the step numbers in the following embodiments, they are only set for the convenience of explanation and illustration, and no limitation is imposed on the order between the steps. The execution order of each step in the embodiments can be adaptively adjusted according to the understanding of those skilled in the art.

[0046] In the description of the present invention, "a plurality" means more than two. If there is a description of the first and the second, it is only for the purpose of distinguishing technical features and cannot be construed as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features or implicitly indicating the sequence of the indicated technical features. In addition, unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field to which this application belongs. The terms used in the description of this specification are only for describing specific embodiments and are not intended to limit the present invention.

[0047] Referring to Figure 1 , the present invention provides a scaled intelligent connected vehicle system, including a vehicle chassis, a power supply mechanism, a power mechanism, an in - vehicle core computing power module, a detachable vehicle shell, a global positioning and perception module, vehicle - end perception devices, and a communication module, wherein:

[0048] The vehicle chassis includes a vehicle bearing mechanism, wheels, a suspension mechanism, a load space, and a transmission mechanism. Each component in the vehicle chassis is obtained by reducing a full - scale vehicle in a preset ratio, and the linkage mode of each component is the same as that of the full - scale vehicle. The vehicle chassis is used to carry the power supply mechanism, the power mechanism, the in - vehicle core computing power module, the detachable vehicle shell, and the communication module;

[0049] The energy supply mechanism is used to supply energy to the power mechanism, in-vehicle core computing module, vehicle-end sensing device, and communication module through a DC power output device;

[0050] The power mechanism includes a motor and a steering servo. The power mechanism is used to control the motor to drive the wheels to move forward and backward and / or control the steering servo to drive the wheels to turn left and right according to the drive control signal output by the in-vehicle core computing module;

[0051] The in-vehicle core computing module includes a main board, a high-computing power core board, and an embedded system microcontroller mounted on the main board;

[0052] The detachable vehicle shell is installed on the wheel bearing mechanism and is obtained by reducing the real vehicle in a preset proportion;

[0053] The global positioning and sensing module and the vehicle-end sensing device are both arranged on the detachable vehicle shell. The global positioning and sensing module is used to simulate the vehicle's geodetic coordinate positioning and the perception of the vehicle by the roadside unit in vehicle-road collaborative research. The vehicle-end sensing device is used to simulate the vehicle's perception of the surrounding environment;

[0054] The communication module is used for the information transmission of sensing information and control signals from the acquisition end to the execution end.

[0055] Specifically, the vehicle chassis widely adopts an Ackermann steering mechanism, including a vehicle bearing mechanism, wheels, a suspension mechanism, a load space, a transmission mechanism, etc. The power mechanism, energy supply mechanism, detachable vehicle shell, and vehicle-end sensing and computing devices are carried on it. Each component in the vehicle chassis is obtained by reducing the real vehicle in the same proportion. The linkage mode of each mechanism does not change the original vehicle design, but appropriate adjustments can be made in terms of material selection and the occupation of the original passenger space.

[0056] The energy supply mechanism is used to supply energy to various in-vehicle electrical devices. The energy source is a DC power output device, including but not limited to lithium batteries, solar cells, etc. After being output from the unified source, voltage regulation needs to be carried out according to the rated voltage before accessing each device. The devices that need to be supplied with energy include but are not limited to the following devices: in-vehicle core computing unit, vehicle sensors, power mechanism (such as motors, steering servos), communication components, electronic control components (such as electronic speed controllers, wireless receivers, relays, encoders), etc. After the energy supply mechanism outputs the voltage from the energy source, it first leads to the electronic speed controller. After stabilizing the voltage and limiting the current by the electronic speed controller, it then changes the voltage and supplies power in the order of the rated voltages of each device from large to small.

[0057] The power mechanism mainly refers to the motor that drives the vehicle to move forward and backward and the steering servo that drives the vehicle's front wheels to turn left and right. The power mechanism receives the control signal PWM wave sent by the main board and executes the corresponding control amount according to its duty cycle, so that the vehicle generates corresponding movements.

[0058] The in-vehicle core computing power is borne by a main board, which contains various interfaces, antennas, circuit connections between device components, etc., and also bears a high-computing-power core board and an embedded system microcontroller.

[0059] The detachable vehicle body shell and the global positioning and perception module are installed on the vehicle bearing mechanism. This part simulates the earth coordinate positioning of the vehicle and the perception of the vehicle by the roadside unit in vehicle-road cooperation research. Its forms include outdoor GPS and rigid bodies of indoor motion capture systems, etc. The vehicle body shell represents the outer edge of the space occupied by the vehicle and needs to be scaled down in the same proportion as the bearing mechanism. In addition, the global positioning and perception needs to uniquely identify the vehicle.

[0060] Further as an optional implementation manner, the vehicle bearing mechanism is made of hard plastic or carbon fiber material, the wheels are made of rubber material, the suspension mechanism is one of MacPherson suspension mechanism, double-wishbone suspension mechanism and multi-link suspension mechanism. The load space is used to stably load the weight to simulate the inertia of a real vehicle, and the transmission mechanism reduces the transmission play through precise tuning.

[0061] Specifically, the vehicle bearing mechanism is made of materials with good bearing capacity such as hard plastic and carbon fiber; the wheels are made of soft materials with good friction such as rubber, and the suspension mechanism is mostly MacPherson type, double-wishbone type, multi-link type, etc.; the load space is used to stably load the weight to simulate the inertia of a real vehicle; the transmission mechanism needs to be precisely tuned to reduce the transmission play and ensure the accuracy of control.

[0062] Further as an optional implementation manner, the high-computing-power core board is internally equipped with an operating system. The high-computing-power core board is used to receive perception information and control signals, and perform information decoding, perception fusion calculation and automatic control calculation, and then transmit an executable reference control quantity to the embedded system microcontroller. The embedded system microcontroller is used to convert the reference control quantity into a PWM signal and send it to the motor and the servo.

[0063] Specifically, the core board has high computing power and is internally equipped with an operating system. Its main uses are: receiving information such as positioning and control, performing operation tasks such as information decoding, perception fusion calculation, and automatic control algorithm calculation inside, and then transmitting an executable reference control quantity to the embedded system microcontroller. At the same time, it reports the status of the vehicle sensed by the sensors connected to the main board. The single-vehicle autonomous driving calculation depends on this core board; the embedded system microcontroller executes the reference control quantity sent by the core board, converts it into a PWM wave signal and gives it to the motor and the servo to execute, and also collects the chassis sensor information and sends it to the core board.

[0064] Further as an optional implementation manner, the vehicle-end perception devices include a monocular camera, a binocular camera, a lidar, an inertial sensor, an odometer and a steering angle feedback device.

[0065] Specifically, the vehicle-end sensing devices include, but are not limited to, monocular cameras, binocular cameras, lidar, inertial sensors (IMUs), odometers (ODOMs), and steering angle feedback devices, etc. Monocular and binocular cameras can provide image and depth image information for the vehicle, lidar can provide point cloud information of surrounding objects, IMUs can provide vehicle attitude information, and ODOMs can provide motor speed and mileage information; IMUs and ODOMs can be fused with GPS data during the dynamic driving of the vehicle to obtain more accurate global positioning information, and cameras and lidar can obtain real-time surrounding environment information to support autonomous driving.

[0066] Further as an optional implementation manner, the communication module includes a WIFI module, a wireless serial port antenna, a remote control receiver, and a direct connection communication bus.

[0067] Specifically, the communication module includes, but is not limited to, a WIFI antenna, a wireless serial port antenna, remote control and receivers, and direct connection communication between vehicle internal devices, etc. This mechanism is responsible for the information transfer work of all sensing information and control information from the acquisition end to the execution end. Through effective communication design, the vehicle-end computing can be offloaded to edge devices, effectively making up for the shortage of vehicle-end computing power.

[0068] Further as an optional implementation manner, the scaled intelligent connected vehicle system can simulate human driving control, autonomous driving control, and regional centralized scheduling control, where:

[0069] When simulating human driving control, the communication module receives the human control simulation signal sent by the remote control or driving simulation device, and according to the human control simulation signal, simulates the physical steering wheel state and throttle and brake states of the real vehicle to obtain a first reference control amount, and then drives the power mechanism to perform corresponding actions through the first reference control amount;

[0070] When simulating autonomous driving control, the on-vehicle core computing power module receives sensing information, processes the sensing information, and then performs autonomous driving intelligent decision-making calculations, intelligent path planning calculations, and reference control amount calculations, and drives the power mechanism to perform corresponding actions according to the obtained second reference control amount;

[0071] When simulating regional centralized scheduling control, the on-vehicle core computing power module receives the multi-vehicle cooperative control instruction sent by the road-end centralized cooperative controller, generates a third reference control amount according to the multi-vehicle cooperative control instruction, and then drives the power mechanism to perform corresponding actions according to the third reference control amount.

[0072] Further as an optional implementation manner, the second reference control quantity and the third reference control quantity are generated by being selected by the in-vehicle core computing power module, and the vehicle chassis further includes a switch selection element, which is used to select and connect the first reference control quantity and the second reference control quantity / the third reference control quantity to the power mechanism.

[0073] Specifically, the present invention can implement the simulation of the three-layer control of "human driving - autonomous driving - regional centralized dispatching control" for the scaled intelligent connected vehicle.

[0074] The intelligent vehicle simulates human driving control by using a remote control or a driving simulation device, and its signal controls the vehicle movement through a radio frequency signal. The remote control or the driving simulation device directly sends the control signal to the receiver on the intelligent vehicle chassis, and the receiver controls the driving actuator according to the control signal. This channel simulates the physical steering wheel and throttle brake of a real intelligent vehicle, and its priority is higher than the control quantities output by all intelligent driving algorithms to ensure the underlying safety of vehicle driving.

[0075] The intelligent vehicle simulates autonomous driving control by using in-vehicle computing power. This process includes receiving perception information, processing perception information, autonomous driving intelligent decision-making calculation, intelligent path planning calculation, and reference control quantity calculation, etc. The control quantity of the simulated autonomous driving layer is calculated by the main board and then output to the chassis actuator for execution, thereby controlling the vehicle movement. Its control quantity and the above-mentioned simulated human driving control quantity are selected by the switch selection element on the chassis. The autonomous driving layer is set to normally closed, and in an emergency, the simulated human driving device issues a command to make the selection element normally open, thereby taking over the vehicle movement. In addition, the intelligent vehicle needs to complete the line following control and dynamic obstacle avoidance control to a specified target point based on information such as video, lidar point cloud, built-in regional high-precision map, and GPS.

[0076] The intelligent vehicle simulates regional centralized dispatching control to simulate the intelligent transportation scenario that will be realized in the future and complete the collaborative control task of multi-vehicle networking. Its control instruction is issued by the road-end centralized collaborative controller, and the vehicle selects whether to follow the controller's instruction. The switching between the simulated regional centralized dispatching control and the autonomous driving control mode is completed by the software system on the in-vehicle main board computing power. Its control quantity is also sent by the main board to the chassis switch selection element, and after being selected with the simulated human driving mode, it is given to the actuator to control the vehicle operation.

[0077] Further as an optional implementation manner, the in-vehicle core computing power module is communicatively connected with an external control device of the system through a communication module, and the external control device of the system is used to simulate the ADAS system of a real vehicle to complete the parameter configuration of vehicle driving during autonomous driving control.

[0078] Specifically, an external control device is required for the scaled intelligent vehicle system to simulate the ADAS (Advanced Driver Assistance System) system in the real scenario and complete the parameter configuration of vehicle driving by humans during autonomous driving, such as setting the cruise control speed, setting the following distance, setting the driving mode, and setting the target point, etc.; the external control device of the system needs to be able to achieve network communication with the computing device on the vehicle mainboard, so as to interact with the autonomous driving computing device in real time and adjust algorithm parameters, etc.

[0079] Further as an optional implementation, the high-computing power core board is built-in with a serial port service function package, an information integration function package, a perception fusion function package, a motion control algorithm function package, and a chassis drive function package, among which:

[0080] The serial port service function package is used to receive wireless serial port message packets, parse the content into multi-vehicle motion capture positioning information and control instructions, and then send the multi-vehicle motion capture positioning information to the perception fusion function package through ROS internal messages for perception fusion calculation, and send the control instructions to the motion control algorithm function package through ROS internal messages for control quantity calculation;

[0081] The information integration function package is used to receive the information from the perception fusion function package, the motion control algorithm function package, and the chassis drive function package and integrate them to realize the UDP reporting of the vehicle's own state and perception information;

[0082] The perception fusion function package is used to fuse the data of the inertial sensor and the odometer with the multi-vehicle motion capture positioning information to obtain global positioning perception data, and perform multi-modal data fusion on the image data of the camera and the point cloud data of the lidar to obtain vehicle-end perception information, and then send the global positioning perception data and the vehicle-end perception information to the motion control algorithm function package and the information integration function package;

[0083] The motion control algorithm function package is used to receive the global positioning perception data, the vehicle-end perception information of the perception fusion function package, and the control instructions of the serial port service function package, use the motion control algorithm to achieve path following of the vehicle along the reference path according to the control instructions, and perform local decision-making on path adjustment and reference speed control by using the global positioning perception data and the vehicle-end perception information, and then send the calculated speed and angular velocity to the chassis drive function package for execution;

[0084] The chassis drive function package is used to receive the control quantity of the control algorithm function package, process the control quantity into a form that the vehicle chassis can execute, and send it to the vehicle chassis for execution through the serial port, and is also used to report the speed information and power information uploaded by the vehicle chassis to the information integration function package.

[0085] The following further illustrates the scaled intelligent networked vehicle system of the present invention in conjunction with a specific embodiment.

[0086] As Figure 2 shown in the figure is a schematic diagram of a scaled - down intelligent connected vehicle system provided by an embodiment of the present invention, involving 1 scaled - down vehicle model, 1 set of main board, 1 Arduino board, 1 set of motor and servo, several sensors, 1 receiver, 1 relay, 1 battery, 1 encoder, and 1 electronic speed controller (ESC).

[0087] The scaled - down vehicle model is made of hard plastic. It adopts an Ackermann steering mechanism, with multi - link suspensions at both the front and rear, and a 4 - wheel drive form. This model vehicle is scaled down according to the ratio of 10:1 of the actual vehicle. After scaling down, the size is 50 cm in length, 22 cm in width, and 13.5 cm in height. The maximum driving speed is about 5 m / s. The car body and the chassis bearing mechanism are connected by buckles, and reflective markings are fixed on the car body for the optical motion capture system to identify the position of the vehicle.

[0088] The servo, motor, ESC, encoder, battery, receiver, relay, Arduino board, and main board are all placed on the chassis bearing mechanism using 3D - printed fixtures.

[0089] The servo controls the deflection angle of the front wheels of the intelligent vehicle. Theoretically, it has an angle of rotation of 0 - 180°, but the program restricts its rotation amplitude. When in the normal position, the servo rotation angle is 90°.

[0090] The motor is the power drive device of the entire intelligent vehicle. Both the main board or the remote control can change the input voltage to control the motor speed and direction by sending PWM wave commands to the ESC.

[0091] The encoder detects the motor speed optically and can calculate the actual running speed of the intelligent vehicle in combination with the wheel size.

[0092] The battery uses a lithium - ion battery with a rated voltage of 7.4V, a full - charge voltage of 8.4V, a rated power of 53.28Wh, and a rated capacity of 7200mAh.

[0093] As Figure 3 shown in the figure is the power supply schematic diagram provided by an embodiment of the present invention. The lithium - ion battery outputs 7.4V direct current to the ESC. On the one hand, the ESC outputs a variable voltage to the motor according to the control signal to complete the motor speed control. On the other hand, it stabilizes the voltage and limits the current, and outputs a regulated 7.4V to the receiver. The receiver then distributes the regulated 7.4V power into three paths and outputs them to the main board, Arduino board, and servo respectively. Among them, the power supply to the main board is stepped down to 5V inside the main board and then distributed into four paths and output to the relay, encoder, camera, and lidar respectively.

[0094] The receiver receives the radio frequency signal from the remote control, converts it into a control signal for transmission, and controls the relay to close and the motor and servo to operate.

[0095] After being programmed, the Arduino board controls the closing of the relay according to the instructions.

[0096] In the embodiment of the present invention, the sensor includes a micro IMU, an encoder, a monocular camera, and a lidar. The micro IMU is arranged on the main board, the encoder is connected to the motor through a shaft on the chassis, and the camera and the lidar are fixed above the vehicle body; the encoder selects an incremental encoder, which is a high-precision encoder with 1024 lines, and the maximum rotation speed can reach 12,000 rpm to meet the speed measurement task when the vehicle is driving at high speed; the monocular camera selects a 12-million-pixel 15-frame industrial camera, and the supported lens focal length is from 3.7 mm to 12 mm; the lidar is a single-line lidar, with a ranging range of 40 m, a scanning frequency of 10 Hz, a sampling frequency of 9.2 kHz, and a product weight of 105 g.

[0097] In the embodiment of the present invention, the main board includes a micro IMU sensor, a USB interface, a network interface, a WiFi antenna, a wireless serial port antenna, a servo interface, an ESC (motor) interface, an encoder interface, a main board power interface, a high-computing power core board, an embedded system microcontroller and other device components and the circuits therebetween.

[0098] In the embodiment of the present invention, the high-computing power core board uses an RK3399 six-core 64-bit (A72x2 + A53x4) processor with a main frequency of 1.8 GHz, and supports multiple network interfaces: dual-band WIFI, Bluetooth 4.1, gigabit Ethernet, Mini PCIE (expanding 3G / 4G communication module) and has high-performance peripheral interfaces. The operating system in the core board is Linux, and the intelligent vehicle control system is built using the ROS (Robot Operating System) framework. Existing programs use C++ as the programming language, and ROS also supports Python compatibility.

[0099] The main purpose of the core board is: receiving the information sent by the wireless serial port (positioning + control), performing operation tasks such as information decoding, positioning fusion, and automatic control algorithm calculation internally, and then transmitting an executable reference control amount to the execution elements on the chassis downward, and reporting the status of the vehicle to the upper-layer server through UDP upward.

[0100] Specifically, as Figure 4 shown is the data interaction schematic diagram of the high-computing power core board provided by the embodiment of the present invention, which is divided into five ROS function packages:

[0101] 1) Serial Port Service Function Package: This function package receives wireless serial port message packets, parses the content into multi-vehicle motion capture positioning information and control instructions, and then sends the positioning and control instructions to other function packages for execution through the internal message passing of ROS. Among them, the positioning information is given to the perception fusion function package for perception fusion calculation, and the control instruction information is given to the motion control algorithm function package for control quantity calculation;

[0102] 2) Information Integration Function Package: This function package receives information from the perception fusion function package, motion control algorithm function package, and chassis drive function package, and realizes the UDP reporting of the vehicle's own state and perception information;

[0103] 3) Perception Fusion Function Package: This function package receives sensor data. First, it fuses the positioning data of the motion capture system with IMU and ODOM data as global positioning or roadside perception data;

[0104] Then, it fuses the image data of the camera and the point cloud data of the lidar on the one hand as vehicle-end perception information, and then sends all the processed information to the motion control algorithm function package in an available coordinate form for the latter to execute decision-making and control. On the other hand, it sends the information to the information integration and sending function package to upload and save the data;

[0105] 4) Motion Control Algorithm Function Package: This function package receives the positioning information from the perception fusion function package and the control instructions from the serial port service function package. According to the control instructions, it uses the motion control algorithm to achieve the path following of the vehicle along the reference path, and then uses the fused perception information for local decision-making, including path adjustment and reference speed control. Finally, it sends the calculated speed and angular velocity control quantities to the chassis drive function package for execution;

[0106] 5) Chassis Drive Function Package: This function package receives the control quantities from the control algorithm function package, processes the control quantities into a form that the chassis can execute, and sends them to the chassis through the serial port for execution. On the other hand, it reports information such as speed and power uploaded by the chassis to the information integration function package.

[0107] The system microcontroller uses an STM32 chip. This chip is an MCU (STM32F103RCT6) with an ARM Cortex-M3 kernel architecture. STM32 executes the control quantities sent from the core board in control, converts them into PWM wave signals for the motor and servo to execute, and collects the chassis sensor information and sends it to the core board.

[0108] As Figure 5 shown is the schematic diagram of the control signal transmission provided by the embodiment of the present invention. The embodiment of the present invention can simulate the switching between the human driving mode and the autonomous driving mode:

[0109] The control mode of simulating human driving is realized by a remote controller, which has a push-type switch control, a non-gear throttle, and a steering control function. The control signal is sent to the vehicle receiver through radio frequency. The control signal of simulating human driving is transmitted in two paths at the receiver. One path of the switch control signal is converted into an executable signal by the Arduino board to control the relay to close, so as to realize taking over the vehicle. The other path of the throttle and steering control signals is connected to the normally open end of the relay. If the relay closes, they are sent to the servo and motor for execution.

[0110] The control signal of simulating autonomous driving is calculated by in-vehicle computing power or a centralized control device outside the system, corresponding to the simulation of single-vehicle autonomous driving control and regional centralized scheduling control respectively. The two types of control signals are selected and switched by software on the core board, and the unified reference control quantity is output to the STM32 on the main board, and the latter converts the control quantity into an executable signal and sends it to the relay, which is connected to the normally closed end of the relay.

[0111] The autonomous driving control signal is sent by an external control device, and the content includes path selection, cruise speed control, obstacle avoidance function switch, etc. The external control device is a Windows system computer, which completes the interaction task between the operator and the autonomous driving algorithm. The autonomous driving interaction interface deployed on it is as Figure 6 shown. On the left side of the interface, functions such as vehicle start, stop, speed control, mode switching (line tracking, following), and route switching can be completed. The middle part of the interface displays the content uploaded by the vehicle, including video stream and status quantity output. On the right side of the interface, the parameters of the autonomous driving algorithm can be adjusted. The computer accesses the local area network through a wired network, and the program connects to a specific scaled intelligent vehicle through a specific IP and port number, receives the information reported by the vehicle, and at the same time sends the vehicle control information to each intelligent vehicle.

[0112] In the embodiment of the present invention, the line tracking function uses a pure tracking algorithm on the core board of the intelligent vehicle to complete the lateral control, calculates the reference control quantity and outputs it to the chassis actuator; the following function uses PID distance control on the core board of the intelligent vehicle to calculate the reference speed and output it to the chassis actuator.

[0113] The present invention can improve the credibility and control effectiveness of the scaled intelligent connected vehicle system. At the same time, the system can be widely used in the testing, teaching, demonstration and policy formulation in the fields of autonomous driving, vehicle networking, etc., and has important value.

[0114] Compared with the prior art, the embodiment of the present invention also has the following advantages:

[0115] 1) The present invention combines electronic and electrical technology, network communication technology, and control automation technology to provide a scaled intelligent connected vehicle system for networked vehicle-road cooperation testing, including a vehicle chassis, an energy supply mechanism, a power mechanism, in-vehicle core computing power, a vehicle shell, a global positioning and perception module, vehicle-end perception equipment, a communication module, etc.

[0116] 2) The three-layer control method proposed by the present invention maximally restores the true autonomous driving logic of intelligent connected vehicles. The perception, communication, decision-making, and control processes are all equivalent to those of real vehicles, ensuring the underlying safety and credibility of the supported teaching, scientific research, and testing.

[0117] 3) The scaled system solution proposed by the present invention realizes real-time simulation and semi-physical display. The experimental effect is highly visible, and the data is reproducible. It can effectively support the work related to intelligent connected vehicles such as testing, teaching, display, and scientific research innovation, and has the advantages of strong operability, high safety, and low cost.

[0118] Refer to Figure 7 , the embodiment of the present invention provides a control method for a scaled intelligent connected vehicle system, which is implemented through the above-mentioned scaled intelligent connected vehicle system, and includes the following steps:

[0119] S101. Receive the human control simulation signal sent by the remote control or driving simulation device through the communication module, and simulate the physical steering wheel state and throttle brake state of the real vehicle according to the human control simulation signal to obtain the first reference control amount, and then send the first reference control amount to the switch selection element of the vehicle chassis;

[0120] S102. Receive the perception information through the in-vehicle core computing power module, process the perception information, and then perform autonomous driving intelligent decision-making calculation, intelligent path planning calculation, and reference control amount calculation to obtain the second reference control amount. Or, receive the multi-vehicle cooperative control instruction sent by the roadside centralized cooperative controller through the in-vehicle core computing power module, generate the third reference control amount according to the multi-vehicle cooperative control instruction, and then send the second reference control amount / third reference control amount to the switch selection element of the vehicle chassis;

[0121] S103. When the switch selection element is in the human driving control state, connect the first reference control amount to the power mechanism so that the power mechanism performs corresponding actions;

[0122] S104. When the switch selection element is in the intelligent driving control state, connect the second reference control amount / third reference control amount to the power mechanism so that the power mechanism performs corresponding actions.

[0123] The content in the above system embodiment is applicable to the method embodiment of the present invention. The functions specifically implemented by the method embodiment of the present invention are the same as those of the above system embodiment, and the beneficial effects achieved are also the same as those of the above system embodiment.

[0124] It should be recognized that embodiments of the present invention can be implemented or carried out by computer hardware, a combination of hardware and software, or by computer instructions stored in a non-transitory computer-readable memory. The above methods can be implemented in a computer program using standard programming techniques—including a non-transitory computer-readable storage medium configured with the computer program, where the storage medium so configured causes the computer to operate in a specific and predefined manner—in accordance with the methods and drawings described in the specific embodiments. Each program can be implemented in a high-level procedural or object-oriented programming language to communicate with a computer system. However, if desired, the program can be implemented in assembly or machine language. In any case, the language can be a compiled or interpreted language. In addition, for this purpose the program is capable of running on a programmed application-specific integrated circuit.

[0125] In addition, the operations of the processes described herein can be performed in any suitable order, unless otherwise indicated herein or otherwise clearly contradicted by the context. The processes described herein (or variations and / or combinations thereof) can be performed under the control of one or more computer systems configured with executable instructions and can be implemented as code (e.g., executable instructions, one or more computer programs, or one or more applications) collectively executed on one or more processors, by hardware, or by a combination thereof. The above computer programs include a plurality of instructions executable by one or more processors.

[0126] Furthermore, the above methods can be implemented in any type of computing platform operably connected, including but not limited to personal computers, minicomputers, mainframes, workstations, network or distributed computing environments, separate or integrated computer platforms, or communicating with charged particle tools or other imaging devices, etc. Aspects of the present invention can be implemented in machine-readable code stored on a non-transitory storage medium or device, whether removable or integrated into the computing platform, such as a hard disk, optical read and / or write storage medium, RAM, ROM, etc., such that it can be read by a programmable computer and, when read by the storage medium or device, can be used to configure and operate the computer to perform the processes described herein. In addition, the machine-readable code, or portions thereof, can be transmitted via a wired or wireless network. When such media include instructions or programs that implement the above-described steps in conjunction with a microprocessor or other data processor, the inventions described herein include these and other different types of non-transitory computer-readable storage media. When programmed according to the methods and techniques described in the present invention, the present invention also includes the computer itself.

[0127] A computer program can be applied to input data to perform the functions described herein, thereby transforming the input data to generate output data stored in a non-volatile memory. The output information can also be applied to one or more output devices such as a display. In a preferred embodiment of the present invention, the transformed data represents physical and tangible objects, including specific visual depictions of the physical and tangible objects produced on the display.

[0128] As described above, it is only a preferred embodiment of the present invention. The present invention is not limited to the above-described embodiments. As long as the same means are used to achieve the technical effects of the present invention, any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention shall be included within the scope of protection of the present invention. Within the scope of protection of the present invention, various different modifications and variations can be made to its technical solutions and / or implementation manners.

Claims

1. A scaled intelligent connected vehicle system, characterized in that, It includes a vehicle chassis, an energy supply mechanism, a power mechanism, an in-vehicle core computing power module, a detachable vehicle body, a global positioning and sensing module, vehicle-end sensing devices, and a communication module, where: The vehicle chassis includes a vehicle bearing mechanism, wheels, a suspension mechanism, a load space, and a transmission mechanism. Each component in the vehicle chassis is obtained by reducing a real vehicle in a preset proportion, and the linkage mode of each component is the same as that of the real vehicle. The vehicle chassis is used to carry the energy supply mechanism, the power mechanism, the in-vehicle core computing power module, the detachable vehicle body, and the communication module; The energy supply mechanism is used to supply energy to the power mechanism, the in-vehicle core computing power module, the vehicle-end sensing devices, and the communication module through a direct current output device; The power mechanism includes a motor and a steering gear. The power mechanism is used to control the motor to drive the wheels to move forward and backward and / or control the steering gear to drive the wheels to turn left and right according to the driving control signal output by the in-vehicle core computing power module; The in-vehicle core computing power module includes a main board and a high-computing-power core board and an embedded system microcontroller mounted on the main board; The detachable vehicle body is installed on the wheel bearing mechanism, and the detachable vehicle body is obtained by reducing a real vehicle in the preset proportion; Both the global positioning and sensing module and the vehicle-end sensing devices are arranged on the detachable vehicle body. The global positioning and sensing module is used to simulate the geodetic coordinate positioning of the vehicle and the perception of the vehicle by the road end in vehicle-road collaborative research. The vehicle-end sensing devices are used to simulate the perception of the vehicle of the surrounding environment; The communication module is used for the information transfer of sensing information and control signals from the acquisition end to the execution end.

2. The scaled intelligent connected vehicle system according to claim 1, wherein, The scaled intelligent connected vehicle system can simulate human driving control, autonomous driving control, and regional centralized dispatching control, where: When simulating human driving control, the communication module receives the human control simulation signal sent by a remote control or a driving simulation device, and simulates the physical steering wheel state and the throttle and brake states of a real vehicle according to the human control simulation signal to obtain a first reference control quantity, and then drives the power mechanism to perform corresponding actions through the first reference control quantity; When simulating autonomous driving control, the in-vehicle core computing power module receives sensing information, processes the sensing information, and then performs autonomous driving intelligent decision-making calculation, intelligent path planning calculation, and reference control quantity calculation, and drives the power mechanism to perform corresponding actions according to the obtained second reference control quantity; When simulating regional centralized dispatching control, the in-vehicle core computing power module receives the multi-vehicle collaborative control instruction sent by the road-end centralized collaborative controller, generates a third reference control quantity according to the multi-vehicle collaborative control instruction, and then drives the power mechanism to perform corresponding actions according to the third reference control quantity.

3. The scaled intelligent connected vehicle system according to claim 2, wherein: The second reference control quantity and the third reference control quantity are generated by selection through the in-vehicle core computing power module. The vehicle chassis further includes a switch selection element, and the switch selection element is used to select and connect the first reference control quantity and the second reference control quantity / the third reference control quantity to the power mechanism.

4. The scaled intelligent networked vehicle system according to claim 2, wherein: The in-vehicle core computing power module is communicatively connected to an external control device of the system through the communication module. The external control device of the system is used to simulate the ADAS system of a real vehicle to complete parameter configuration of vehicle driving during autonomous driving control.

5. The scaled intelligent connected vehicle system according to claim 1, wherein: The vehicle bearing mechanism is made of hard plastic or carbon fiber material. The wheels are made of rubber material. The suspension mechanism is one of a MacPherson suspension mechanism, a double-wishbone suspension mechanism, and a multi-link suspension mechanism. The load space is used to stably load the load to simulate the inertia of a real vehicle. The transmission mechanism reduces transmission play through precise tuning.

6. The scaled intelligent connected vehicle system according to claim 1, wherein: An operating system is installed inside the high-computing-power core board. The high-computing-power core board is used to receive perception information and control signals, perform information decoding, perception fusion calculation, and automatic control calculation, and then transmit an executable reference control quantity to the embedded system microcontroller. The embedded system microcontroller is used to convert the reference control quantity into a PWM signal and send it to the motor and the steering gear.

7. The scaled intelligent connected vehicle system according to claim 1, characterized in that: The vehicle-end perception devices include a monocular camera, a binocular camera, a lidar, an inertial sensor, an odometer, and a steering angle feedback device.

8. The scale intelligent networked vehicle system according to claim 1, wherein: The communication module includes a WIFI module, a wireless serial port antenna, a remote control receiver, and a direct connection communication bus.

9. A scaled intelligent connected vehicle system according to any one of claims 1 to 8, characterized in that, The high-computing-power core board is built-in with a serial port service function package, an information integration function package, a perception fusion function package, a motion control algorithm function package, and a chassis drive function package, where: The serial port service function package is used to receive wireless serial port message packets, parse the content into multi-vehicle motion capture positioning information and control instructions, then send the multi-vehicle motion capture positioning information to the perception fusion function package through ROS internal messages for perception fusion calculation, and send the control instructions to the motion control algorithm function package through ROS internal messages for control quantity calculation; The information integration function package is used to receive the information of the perception fusion function package, the motion control algorithm function package, and the chassis drive function package and integrate them to realize UDP reporting of the vehicle state and perception information; The perception fusion function package is used to fuse the data of the inertial sensor and the odometer with the multi-vehicle motion capture positioning information to obtain global positioning perception data, perform multi-modal data fusion on the image data of the camera and the point cloud data of the lidar to obtain vehicle-end perception information, and then send the global positioning perception data and the vehicle-end perception information to the motion control algorithm function package and the information integration function package; The motion control algorithm function package is used to receive the global positioning perception data, the vehicle-end perception information of the perception fusion function package, and the control instructions of the serial port service function package, use the motion control algorithm to achieve path following of the vehicle along the reference path according to the control instructions, perform local decision-making on path adjustment and reference speed control using the global positioning perception data and the vehicle-end perception information, and then send the calculated speed and angular velocity to the chassis drive function package for execution; The chassis drive function package is used to receive the control quantity of the control algorithm function package, process the control quantity into a form that the vehicle chassis can execute, and then send it to the vehicle chassis through the serial port for execution. It is also used to report the speed information and power information uploaded by the vehicle chassis to the information integration function package.

10. A control method for a scaled intelligent connected vehicle system, which is used to be executed by the scaled intelligent connected vehicle system according to any one of claims 1 to 9, characterized in that, It includes the following steps: Receive the human control simulation signal sent by the remote controller or driving simulation device through the communication module, and simulate the physical steering wheel state and throttle brake state of the real vehicle according to the human control simulation signal to obtain the first reference control quantity, and then send the first reference control quantity to the switch selection element of the vehicle chassis; Receive the perception information through the in-vehicle core computing power module, process the perception information, and then perform autonomous driving intelligent decision-making calculation, intelligent path planning calculation, and reference control quantity calculation to obtain the second reference control quantity. Alternatively, receive the multi-vehicle collaborative control instruction sent by the road-end centralized collaborative controller through the in-vehicle core computing power module, generate the third reference control quantity according to the multi-vehicle collaborative control instruction, and then send the second reference control quantity / the third reference control quantity to the switch selection element of the vehicle chassis; When the switch selection element is in the human driving control state, connect the first reference control quantity to the power mechanism so that the power mechanism performs corresponding actions; When the switch selection element is in the intelligent driving control state, connect the second reference control quantity / the third reference control quantity to the power mechanism so that the power mechanism performs corresponding actions.

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