The invention belongs to the field of automatic driving robot control, and particularly relates to an automatic driving robot control system. The system comprises a main controller which is used for receiving an upper control instruction sent by a vehicle-mounted upper controller, generating a target value and sensor data and sending the target value and the sensor data to the vehicle-mounted upper controller; a vehicle-mounted upper controller which is used for sending an upper control instruction to the main controller and controlling the position and the speed of the vehicle through sensordata; a driving communication module which is used for data interaction between the main controller and each driver; the steering driver is used for driving the steering motor to complete steering wheel angle control according to the steering target value; an accelerator driver which is used for driving an accelerator motor to complete accelerator pedal depth control according to the accelerator target value; and a brake driver which is used for driving the brake motor to finish brake pedal depth control according to the brake target value. Compared with an original manual mode, the automaticdriving robot control system has the advantages of being high in precision, high in durability, high in response speed, capable of continuously collecting test parameters and the like.
本发明属于自动驾驶机器人控制领域,具体说是一种自动驾驶机器人控制系统。本发明包括:主控制器,用于接收车载上位控制器发送的上位控制指令并生成目标值以及传感器数据并发送给车载上位控制器;车载上位控制器,用于发送上位控制指令至主控制器,并通过传感器数据控制车辆的位置和速度;驱动通讯模块,用于主控制器与各驱动器之间的数据交互;转向驱动器,用于根据转向目标值驱动转向电机完成方向盘转角控制;油门驱动器,用于根据油门目标值驱动油门电机完成油门踏板深度控制;制动驱动器,用于根据制动目标值驱动制动电机完成制动踏板深度控制。本发明与原有人工方式相比具有精度高、耐久性强、响应速度快、测试参数连续采集等特点。
Automatic driving robot control system
一种自动驾驶机器人控制系统
2020-06-30
Patent
Electronic Resource
Chinese
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G01M TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES , Prüfen der statischen oder dynamischen Massenverteilung rotierender Teile von Maschinen oder Konstruktionen / G05B Steuer- oder Regelsysteme allgemein , CONTROL OR REGULATING SYSTEMS IN GENERAL |
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