The invention discloses an uphill and downhill control system based on an unmanned vehicle. The uphill and downhill control system comprises an integrated controller and two crossed infrared distancemeasuring detectors installed in front of the joint of the vehicle and an electric control chassis, wherein an included angle is formed between the two crossed infrared distance measuring detectors inthe vertical direction; the integrated controller is in communication connection with the two crossed infrared distance measuring detectors and is used for calculating a ramp inclination angle in front of the vehicle according to infrared signals uploaded by the two crossed infrared distance measuring detectors and acquiring a vehicle safe passing speed corresponding to the ramp inclination anglein combination with a preset uphill and downhill vehicle speed real-time control mathematical model; and whether the current speed of the vehicle is greater than the vehicle safe passing speed or notis judged, if yes, a deceleration instruction is output to a vehicle control unit, and the vehicle is controlled to decelerate to the vehicle safe passing speed before going uphill and downhill through the vehicle control unit. According to the uphill and downhill control system, the uphill and downhill speed control of a road in a complex environment can be realized, and an uphill and downhill automatic speed limiting scene of an open road by unmanned driving is satisfied.
本发明公开了一种基于无人驾驶车的上下坡控制系统,其包括:集中控制器,以及安装在车辆与电控底盘接合部前方的两个交叉红外测距探测器;其中,两个交叉红外测距探测器在竖直方向形成夹角;集中控制器,与两个交叉红外测距探测器通信连接,用于根据两个交叉红外测距探测器上传的红外信号,计算车辆前方的坡道倾斜角,并结合预设的上下坡车速实时控制数学模型,获取坡道倾斜角对应的车辆安全通行速度,且判断车辆的当前速度是否大于车辆安全通行速度,若是,则输出减速指令至整车控制器,通过整车控制器控制车辆在上下坡前减速至车辆安全通行速度。本发明可以实现复杂环境下道路的上下坡车速控制,满足无人驾驶面对开放道路的上下坡自动限速场景。
Uphill and downhill control system and method based on unmanned vehicle
一种基于无人驾驶车的上下坡控制系统及方法
2020-12-22
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 |
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