Assisted driving system and device, and scooter

Abstract

An assisted driving system and device, and a scooter. A control module (11) of the assisted driving system can acquire environmental information around a scooter by means of a sensing module (14). The control module (11) can also generate a control instruction on the basis of the environmental information. The control module (11) can also acquire time information from a clock chip (13) and store the time information together with the environmental information and the control instruction. Therefore, the road condition information of the scooter is detected by means of acquiring the environmental information, so that the driving safety of the scooter is improved; moreover, the time information is added to the environmental information and the control instruction, so that the use efficiency of data in the subsequent analysis and tracing is improved.

Description

Assisted driving systems, equipment and mobility scooters

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on July 31, 2023, with application number 202310956504X and application name “Assisted Driving System, Equipment and Vehicle”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the field of electronics, and in particular to an assisted driving system, device, and vehicle. Background Art

[0003] Many elderly, disabled, and injured people have difficulty walking. Despite these difficulties, they still have a need for mobility scooters, which provide convenience for these users.

[0004] In the prior art, a user can control the mobility scooter to drive it. When the mobility scooter malfunctions, a technician usually needs to determine the scenario in which the malfunction occurred with the user, simulate the scenario, and drive the mobility scooter in the scenario to restore the malfunction.

[0005] This exception restoration method has the problem of low restoration efficiency. Even when the exception is sporadic or the scene restoration is difficult, the exception may not be restored.

[0006] Summary of the Invention

[0007] The present application provides an assisted driving system, device and mobility scooter to solve the problem of low abnormality recovery efficiency of mobility scooters.

[0008] In a first aspect, the present application provides an assisted driving system, comprising:

[0009] Control module, storage module and clock chip;

[0010] The control module is connected to the clock chip and is used to obtain time information from the clock chip when obtaining information to be stored;

[0011] 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.

[0012] Optionally, the control module includes: a transmission unit;

[0013] 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;

[0014] The transmission unit is connected to the storage module and is configured to upload the time information and the information to be stored to the storage module after acquiring the time information.

[0015] Optionally, the control module further includes: a sensing unit, a planning unit and a control unit;

[0016] The perception unit is connected to the sensor and is used to obtain environmental information uploaded by the sensor and generate obstacle information based on 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;

[0017] 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 based on 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;

[0018] The control unit is connected to the planning unit for obtaining 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.

[0019] Optionally, the system further includes: a backup power supply module;

[0020] 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 to the clock chip is abnormal.

[0021] Optionally, the backup power module is a rechargeable button battery.

[0022] Optionally, the system further includes: a restoration module;

[0023] 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 vehicle at the historical moment corresponding to the storage information according to the storage information.

[0024] Optionally, the system further includes: a sensing module;

[0025] 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.

[0026] Optionally, when the sensing module includes a camera sensor, the camera sensor specifically includes: a binocular camera and an image processor;

[0027] 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.

[0028] Optionally, the sensing module further includes an ultrasonic sensor and / or a laser sensor;

[0029] 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;

[0030] and / or,

[0031] The laser sensor is connected to the perception unit and is used to send laser information to the perception unit so that the perception unit can identify obstacles in the laser information and improve the obstacle information.

[0032] 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.

[0033] In a third aspect, the present application provides a mobility scooter equipped with the auxiliary driving device as shown in the second aspect.

[0034] In the assisted driving system, device, and mobility scooter provided by this application, the control module can obtain environmental information about the mobility scooter's surroundings through the sensor module. The control module can also generate control instructions based on this environmental information. The control module can also obtain time information from a clock chip and store this time information together with the environmental information and control instructions to detect the mobility scooter's road conditions, thereby improving the mobility scooter's driving safety. At the same time, by adding time information to the environmental information and control instructions, the efficiency of using the data in subsequent analysis and tracing is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] 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 any creative work.

[0036] FIG1 is a schematic structural diagram of a driving assistance system provided by an embodiment of the present application;

[0037] FIG2 is a schematic structural diagram of a driving assistance system provided in one embodiment of the present application;

[0038] FIG3 is a schematic structural diagram of a driving assistance system provided in one embodiment of the present application;

[0039] FIG4 is a schematic diagram of the hardware structure of a mobility scooter provided in one embodiment of the present application;

[0040] FIG5 is a schematic diagram of an algorithm flow of a mobility scooter provided in one embodiment of the present application;

[0041] FIG6 is a partial top view of a sensor of a mobility scooter provided in one embodiment of the present application;

[0042] FIG7 is a partial side view of a sensor for a mobility scooter provided in one embodiment of the present application. DETAILED DESCRIPTION

[0043] To make the objectives, technical solutions, and advantages of this application more clear, the technical solutions in this application will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described are only part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0044] The terms "first," "second," "third," "fourth," and the like in the specification and claims of this application and the accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequential sequence. It should be understood that the data used in this manner can be interchanged where appropriate. For example, without departing from the scope of this document, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. In addition, the terms "including" and "having," and any variations thereof, are intended to cover non-exclusive inclusions, for example, a process, method, system, product, or apparatus comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products, or apparatus.

[0045] The word "if" as used herein may be interpreted as "when" or "when" or "in response to determining," depending on the context.

[0046] 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.

[0047] The terms "or" and "and / or" as used herein are to be interpreted as inclusive, or mean any one or any combination. Thus, "A, B, or C" or "A, B, and / or C" means "any one of the following: A; B; C; A and B; A and C; B and C; A, B, and C." An exception to this definition occurs only when a combination of elements, functions, steps, or operations are inherently mutually exclusive in some manner.

[0048] 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 mobility scooters 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 equipped with storage chips. When an abnormality occurs in a mobility scooter, technicians usually need to determine with the user the scenario in which the abnormality occurred, simulate the scenario, and drive the mobility scooter in the scenario to restore the abnormality. Even when the abnormality is sporadic or the scenario restoration is difficult, the abnormality may not be restored. Therefore, the prior art has the problem of low efficiency in abnormality restoration.

[0049] In order to solve the above technical problems, the assisted driving system provided in the embodiments of the present application obtains environmental information about the scooter by arranging a sensor module on the scooter. This environmental information includes but is not limited to obstacles such as obstacles, pits, steps, and conventional road surfaces such as road surfaces, uphill slopes, downhill slopes, turns, and forks. The control module in the scooter can process this environmental information and obtain control instructions. The scooter can send the control instructions to the corresponding actuator through the control module and implement 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 a storage module. The addition of this time information can facilitate better restoration of the execution scene when tracing back the execution status of the scooter at a later stage. The scooters of the present application include scooters, electric wheelchairs, etc. used by the elderly and disabled.

[0050] The following specific embodiments are used to describe the technical solution of the present application in detail. 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.

[0051] FIG1 is a schematic diagram showing the structure of an assisted driving system according to an embodiment of the present application. As shown in FIG1 , the assisted driving system 10 of this embodiment may include: a control module 11 , a storage module 12 , and a clock chip 13 .

[0052] The control module 11 can be connected to a clock chip 13. Upon receiving the stored information, the control module 11 can obtain time information from the clock chip 13. Specifically, upon receiving the information to be stored, the control module 11 can send a request to the clock chip 13. In response to the request, the clock chip 13 can send the time information to the control module 11. The control module 11 is connected to a storage module 12. The control module 11 is configured to store the stored information and time information together in the storage module 12, facilitating traceability of the mobility scooter's performance in scenarios such as maintenance. The storage of this time information allows both environmental information and control instructions to be associated with time points, which not only enables unified data recording but also improves the efficiency of subsequent data analysis. During the subsequent data analysis process, technicians can also use this time information to sequentially obtain the mobility scooter's vehicle status and health status at various moments. Based on this vehicle status and health status, technicians can match the environmental information and control instructions at each moment, thereby optimizing the pre-set algorithm for environmental information processing and improving the efficiency and effectiveness of control instruction generation.

[0053] Optionally, in order to improve the accuracy of multimodal data analysis in the event of a fault or abnormality, a unique baseline can be configured for each sensor in the sensor module 14. The setting of the baseline can improve the storage efficiency of key data.

[0054] Optionally, the control module 11 may be connected to the storage module 12 and the clock chip 13 through communication.

[0055] 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.

[0056] Optionally, the control module 11 can be connected to the cloud for communication. When the preset algorithm in the cloud is updated, the cloud can also synchronize the preset algorithm to the control module 11 of the mobility scooter.

[0057] In one example, the assisted driving system 10 of this embodiment may further include a backup power module 15 .

[0058] 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 outage 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 time information attached to 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 abnormality of the mobility scooter.

[0059] Therefore, the present application adds a backup power supply module 15. This backup power supply module 15 is used to power the clock chip 13 in the event of a power failure. This ensures that the clock chip is always in operation and that the network calibration time is guaranteed. Optionally, the clock chip 13 can also be the RTC clock chip of a single-chip microcomputer.

[0060] Optionally, the backup power module 15 can be a rechargeable button battery. While the rechargeable button battery is powering the clock chip 13, it does not power other devices. This configuration can extend the use and service life of the rechargeable button battery. Optionally, the backup power module 15 can also be provided with a step-down circuit. When the rechargeable button battery needs to be charged, the step-down circuit can charge the rechargeable button battery.

[0061] Optionally, the clock chip 13 can be connected to the scooter's control module 11 via a communication line, thereby achieving networking. Alternatively, the control module 11 can also upload data to the cloud via the clock chip, thus including time information when the data is uploaded. The cloud can then analyze the data using event detection algorithms.

[0062] 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 mobility scooter, the restoration module can obtain the storage information in the storage module and restore the historical moment corresponding to the storage information and the performance of the mobility scooter based on 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 performance of the mobility scooter that needs to be restored. The historical moment can be a time point or a time period. After the restoration module obtains the restoration instruction, the restoration module can obtain the corresponding storage information from the storage module based on the historical moment. The restoration module can restore the driving condition of the mobility scooter at the historical moment based on the storage information. The algorithm used in the restoration process can be an existing algorithm or an improved algorithm.

[0063] 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 using the data in subsequent analysis and tracing. When a scooter breaks down, technicians can locate the obstacle information and control instructions at the time of the fault based on the time information stored simultaneously with the obstacle information and control instructions, thereby better restoring the scene where the fault occurred, realizing fault recording in the scooter, and improving the efficiency of performing scene restoration during maintenance. Among them, the use of the backup power supply module improves the stability and efficiency of the clock chip.

[0064] FIG2 shows a schematic diagram of the structure of an assisted driving system provided by an embodiment of the present application. Based on the embodiment shown in FIG1 , as shown in FIG2 , the assisted driving system 10 of this embodiment may further include: a sensor module 14 .

[0065] The sensing module 14 can be connected to the control module 11. The sensing module 14 can upload the acquired environmental information around the mobility scooter to the control module 11. Optionally, the environmental information around the mobility scooter can be environmental information within a certain range of the mobility scooter. For example, the environmental information can be environmental information within three meters around the mobility scooter. For another example, the environmental information can include environmental information 5 meters in front of the mobility scooter, environmental information 3 meters behind the mobility scooter, and environmental information 1 meter on both sides. Optionally, the environmental information acquired by the sensing module 14 can be sensor information directly acquired by the sensor. For example, when the sensor is a camera, the environmental information can be a scene image. For another example, when the sensor is an ultrasonic sensor, the environmental information can be ultrasonic information. Optionally, the environmental information acquired by the sensing 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 image.

[0066] Optionally, to enable the wheelchair to drive autonomously and avoid obstacles, the sensing module 14 may include at least one of a camera sensor, an ultrasonic sensor, and a laser sensor. Optionally, the sensing module 14 may include at least one of each type of sensor. Optionally, when the sensing 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 scene images captured by the binocular camera. The image processor is connected to the perception unit and transmits the three-dimensional point cloud to the perception unit, enabling the perception unit to identify obstacles in the three-dimensional point cloud and obtain obstacle information. Optionally, when the sensing module 14 includes an ultrasonic sensor, the ultrasonic sensor may transmit ultrasonic information to the perception unit, enabling the perception unit to identify obstacles in the ultrasonic information and improve the obstacle information. Optionally, when the sensing module 14 includes a laser sensor, the laser sensor may transmit laser information to the perception unit, enabling the perception unit to identify obstacles in the laser information and improve the obstacle information.

[0067] Optionally, each sensor in the sensing module 14 can be individually connected to the control module 11. Optionally, this connection can be a CAN bus connection. Furthermore, each sensor in the sensing module 14 can be independently driven. This individual connection and independent drive configuration can be achieved through hardware isolation, enabling independent use of each sensor and facilitating replacement or addition / removal of individual sensors.

[0068] The control module 11 may store a preset algorithm. After obtaining the environmental information, the control module 11 may input the environmental information into the preset algorithm and make a decision to obtain a control instruction for 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, or other component with certain computing capabilities. Optionally, the control instruction may be a specific driving instruction for 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 remind the user that there is an obstacle ahead.

[0069] Optionally, the control module 11 can also obtain user instructions from the user. The mobility scooter may include an upper controller. The user can generate user instructions through the operation control panel and / or control keys of the mobility 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 mobility 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.

[0070] The assisted driving system provided by the present application is such that the control module can obtain environmental information about the surroundings of the mobility scooter through the sensor module. The control module can also generate 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 together with time information in the storage module. In the present application, by obtaining environmental information, the recording of environmental information is achieved; by obtaining the environmental information, the identification and recording of obstacle information is achieved; by using the obstacle information, the generation and recording of control instructions are achieved; 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.

[0071] Figure 3 shows a schematic diagram of the structure of an assisted driving system provided by an embodiment of the present application. Based on the embodiments shown in Figures 1 and 2, as shown in Figure 3, the control module 11 of this embodiment specifically includes: a perception unit 111, a planning unit 112, a control unit 113, and a transmission unit 114.

[0072] The perception unit 111 is connected to the sensor module 14. Specifically, the perception unit 111 can be individually connected to each sensor in the sensor module 14. The perception unit 111 is used to obtain environmental information from the sensor module 14. The perception unit 111 may store a perception algorithm that can be used to analyze and process the environmental information to obtain obstacle information. This obstacle information may include information such as obstacle location, size, and 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 mobility scooter based on the scene image. The obstacle perception algorithm can be used to identify obstacles from environmental information such as the three-dimensional point cloud, ultrasonic information, and laser information. The obstacle recognition algorithm can also integrate obstacle information obtained from multiple environmental information sources to obtain more complete obstacle information. The perception unit 111 may be connected to the transmission unit 114. Upon obtaining environmental information, the perception unit 111 can transmit this 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.

[0073] 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 determine the control instructions for 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 instructions, the planning unit 112 can send the control instructions to the transmission unit 14.

[0074] The control unit 113 is connected to the planning unit 112. The control unit 113 can obtain control instructions generated by the planning unit 112. The control unit 113 is also connected to the upper controller of the mobility scooter. The control unit 113 can send the control instructions to the upper controller of the mobility scooter, which then controls the mobility scooter according to the control instructions.

[0075] The transmission unit 114 can be connected to a clock chip. Optionally, the connection can be a communication connection. Information received by the transmission unit 114 from other units 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, requesting the clock chip 13 to obtain time information. Upon receiving the request, the clock chip 13 can return the time information to the transmission unit 114. The transmission unit 114 can be connected to the storage module 12. After obtaining the time information, the transmission unit 114 can upload the information to be stored, along with the time information, to the storage module 12 for storage. For example, after obtaining environmental information and time information, the transmission unit 114 can upload the environmental information and time information to the storage module. The transmission module 114 can also upload the obstacle information and time information to the storage module after obtaining the obstacle information and 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.

[0076] 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 instructions to the actuator to realize the control of the mobility scooter. The control module can also obtain time information from the clock chip, thereby storing the time information together with the environmental information, and storing the time information together with the control instructions. In the present application, the control module analyzes and processes the environmental information to realize the decision-making of the control instructions, thereby improving the safety of the mobility scooter during driving. In the present application, by adding time information to the environmental information and the control instructions, the efficiency of using the data in subsequent analysis and tracing is improved.

[0077] Based on the above embodiment, the hardware solution of the mobility scooter is described using an electric wheelchair as an example, as shown in FIG4 . Specifically, a binocular camera, a perception algorithm board, and a CAN interface board can constitute a camera sensor. The perception algorithm board can include an image parsing algorithm. The perception algorithm board can then acquire the scene image captured by the binocular camera and analyze it to obtain a three-dimensional point cloud. The CAN interface board is used to transmit the three-dimensional point cloud to a handboard on the left armrest via the CAN bus. The left armrest board can be a board fixed to the electric wheelchair. The left armrest board can transmit the three-dimensional point cloud to the upper controller. After acquiring the three-dimensional point cloud, the upper controller can generate corresponding control instructions based on the three-dimensional point cloud to control the electric wheelchair.

[0078] Based on the above embodiment, the specific algorithm process for an electric wheelchair can be shown in Figure 5. The binocular camera can send image information to the perception algorithm board. The perception algorithm board can include a point cloud generation algorithm and an obstacle perception algorithm. The point cloud generation algorithm can generate a three-dimensional point cloud based on the scene image captured 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 this obstacle information to the CAN interface board. The CAN interface board can include a communication interface. This communication interface is used to connect to the perception algorithm board to obtain obstacle information from the perception algorithm board. The communication interface is also used to connect to the ultrasonic sensor and the laser sensor to obtain ultrasonic and laser information. The ultrasonic sensor can include an ultrasonic drive circuit, and the laser sensor can include a time-of-flight drive circuit. The CAN interface board can include a planning and control algorithm, which can specifically be a decision-making algorithm. The CAN interface board can generate control instructions based on the obstacle information, ultrasonic information, and laser information. For example, the control instruction can be a speed instruction. The CAN interface board can transmit the speed instruction to the mobility scooter via CAN communication. The mobility scooter can also include an upper controller. The upper controller can be arranged on the armrest. For example, in this embodiment, the upper controller can be arranged on the left armrest. The scooter can also include a brushless driver. The control instructions of the scooter can be driven by the brushless driver.

[0079] Based on the above embodiment, taking an electric wheelchair as an example, the sensor distribution in the mobility scooter can be shown in Figure 6 from above, and in Figure 7 from the side. Circles 1, 2, and 3 represent three ultrasonic sensors. Their detection area is the area indicated by the upper diagonal shading at the rear of the electric wheelchair. Circles 4 and 5 represent two ultrasonic sensors. Their detection area is the area indicated by the upper diagonal shading at the side of the electric wheelchair. Circles 6 and 7 represent two ultrasonic sensors. Their detection area is the area indicated by the upper diagonal shading at the front of the electric wheelchair. Circle 8 represents a binocular camera. This location is at the front of the left armrest. Optionally, the binocular camera can be located at an unobstructed location on the front of the electric wheelchair, such as at the front of the right armrest. The detection area of ​​the binocular camera can be the area indicated by the black dot shading. Circles 9 and 10 represent two laser sensors. These laser sensors can be single-point laser sensors. Their detection areas can be the areas indicated by the vertical shading at the front and rear of the electric wheelchair. This laser information is used to obtain road surface height information in front of and behind the electric wheelchair. In actual detection, the electric wheelchair can obtain only road surface height information detected by the first single-point laser sensor when moving forward. Alternatively, the electric wheelchair can obtain only road surface height information detected by the second single-point laser sensor when moving backward. Alternatively, the electric wheelchair can obtain road surface height information detected by both the first and second single-point laser sensors while driving. Optionally, the first and second single-point laser sensors can be single-point TOF laser sensors.

[0080] The present application also provides an assisted driving device, which may include some or all of the components of the embodiments shown in Figures 1 to 7 above. Optionally, the assisted driving device can be integrated into a universal accessory for an electric wheelchair. For example, the assisted 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. The integration process of the assisted driving device may also include information such as the mechanical structure of the armrest, the installation position and angle of the sensors, and the complementarity between the various sensors.

[0081] This embodiment further provides an electric wheelchair, on which the auxiliary driving device shown in the above embodiment is installed.

[0082] In the several embodiments provided in this 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. In actual implementation, there may be other division methods, such as 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.

[0083] Finally, it should be noted that the above embodiments are intended only to illustrate the technical solutions of this application and are not intended to limit them. Although this application has been described in detail with reference to the aforementioned embodiments, those skilled in the art will appreciate that they may modify the technical solutions described in the aforementioned embodiments or replace some or all of the technical features therein with equivalents. However, such modifications or replacements do not deviate from the essence of the corresponding technical solutions within the scope of the various embodiments of this 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 The clock chip is powered at the same time.

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.

Images