1. The low-speed automatic driving system for the vehicle production line is characterized by comprising an AVP cloud server (1), a production line site server (2), a vehicle server (3), a control unit (4) and a handheld PDA terminal (5), wherein the AVP cloud server (1) is in wireless network connection with the handheld PDA terminal (5) through the vehicle server (3), the AVP cloud server (1) is connected with the control unit (4) through the production line site server (2), and the control unit (4) is connected with the vehicle server (3);

the production line site server side (2) comprises an edge server module (21), an RSU road side module (22), a site side sensing module (23) and a site side calibration module (24), wherein the site side calibration module (24) is connected with the edge server module (21) through the site side sensing module (23), and the edge server module (21) is connected with the control unit (4) through the RSU road side module (22).

2. The low-speed automatic driving system for vehicle production line according to claim 1, characterized in that: the control unit (4) comprises an OBU communication module (41), a controller (42), a display module (43) and a storage module (44), the RSU road side module (22) is connected with the controller (42) through the OBU communication module (41), and the controller (42) is connected with the storage module (44) through the display module (43).

3. A low-speed automatic driving system for a vehicle production line according to claim 2, characterized in that: the field end perception module (23) comprises an SRR short-range radar and a radar high-resolution radar.

4. A low-speed automatic driving system for a vehicle production line according to claim 3, characterized in that: the field end calibration module (24) comprises a production field road boundary line.

5. The low-speed automatic driving system for vehicle production line according to claim 4, characterized in that: the vehicle end service end (3) comprises a vehicle end receiving module (31), a vehicle end look-around module (32), a driving module (33) and an active safety module (34).

6. The low-speed automatic driving system for vehicle production line according to claim 5, characterized in that: the vehicle end looking-around module (32) comprises a front camera, a rear camera, a left camera, a right camera, a DVR camera and a DSM camera which are arranged on the outer side of the electric vehicle.

7. A low-speed automatic driving method for a vehicle production line, characterized by being used in the low-speed automatic driving system for a vehicle production line of claim 6, the method comprising the steps of:

s1: firstly, collecting a map of a production line and planning the production line;

s2: drawing a clear road boundary line on a planned field, and installing a field end sensing module (23) at a production station;

s3: setting isolation fences on two sides of a planned road;

s4: the AVP cloud server (1) or the handheld PDA terminal (5) sends out an instruction, and then the instruction is received by the vehicle server (3);

s5: the automatic driving of the electric automobile is realized by the matching of the vehicle end look-around module (3), the field end sensing module (23) and the field end calibration module (24);

s6: and then moving the electric automobile to the next station according to a preset instruction.

8. The low-speed automatic driving method for a vehicle production line according to claim 7, characterized in that: the S1 further includes the following steps when collecting a map of a production line and planning the route:

marking the traveling destination of the flexibly scheduled vehicle on a map;

a path for vehicle control is planned.

9. The low-speed automatic driving method for a vehicle production line according to claim 7, characterized in that: the step of installing the field end sensing module (23) at the production station in the step of S2 further comprises the following steps:

setting an automatic calibration procedure on a travel path;

and the vehicle passes through the sensor to be calibrated in real time in the process of running.

Background

The production line of automobiles is the last link in vehicle production. In this process, a plurality of parking spaces are generally included, and the finished vehicle is assembled into a final automobile from parts. Aiming at the current intelligent electric vehicle, in the last steps of the production line, calibration stations of sensors are generally included, and some calibration stations or even several calibration stations realize calibration of different sensors. After calibration, the vehicles basically reach the final state, and according to the layout of a production line, the driver is required to drive the vehicles to some temporary parking areas, and finally the vehicles are placed out of the factory.

In the production process of the vehicle, the last stations and the temporary final parking area require drivers to drive the vehicles of the production line to continuously circulate among the stations. In order to improve the productivity of automobiles, the tact of a general production line is compact, and the calibration of a sensor of a vehicle is required to be completed within one minute. Therefore, the working intensity for drivers in the automobile production process is also higher.

The intelligent electric vehicle can have automatic driving capability by being equipped with corresponding sensors at present. The vehicle may be enabled to drive automatically in low speed scenarios, such as via sensors. These systems are becoming more and more popular, but their main applications are all based on scenes of daily life, such as parking lots and the like. The use of systems for automatic driving in the production of motor vehicles has not been known for a while.

The automobile production line has fixed and controllable scenes, but requires high efficiency and safety. Before the vehicle is finally taken off line, the sensors of the vehicle may be in an uncalibrated state, and the autopilot system cannot be correctly enabled.

To this end, a low-speed automatic driving system for a vehicle production line and a method thereof are designed to solve the above-mentioned problems.

Disclosure of Invention

To solve the problems set forth in the background art described above. The invention provides a low-speed automatic driving system and a low-speed automatic driving method for a vehicle production line, which can realize automatic driving of vehicles on the production line, thereby improving the vehicle offline efficiency and saving manpower.

In order to achieve the purpose, the invention provides the following technical scheme: a low-speed automatic driving system for a vehicle production line comprises an AVP cloud server, a production line site server, a vehicle end server, a control unit and a handheld PDA terminal, wherein the AVP cloud server is in wireless network connection with the handheld PDA terminal through the vehicle end server, the AVP cloud server is connected with the control unit through the production line site server, and the control unit is connected with the vehicle end server;

the production line site server side comprises an edge server module, an RSU road side module, a site side sensing module and a site side calibration module, wherein the site side calibration module is connected with the edge server module through the site side sensing module, and the edge server module is connected with the control unit through the RSU road side module.

Preferably, the control unit comprises an OBU communication module, a controller, a display module and a storage module, wherein the RSU road side module is connected with the controller through the OBU communication module, and the controller is connected with the storage module through the display module.

Preferably, the field end sensing module comprises an SRR short-range radar and a radar high-resolution radar.

As a preferable aspect of the low-speed autopilot system for a vehicle production line of the present invention, the field-end calibration module includes a production field road boundary line.

Preferably, the low-speed automatic driving system for the vehicle production line comprises a vehicle-end receiving module, a vehicle-end looking-around module, a driving module and an active safety module.

Preferably, the vehicle end looking-around module comprises a front camera, a rear camera, a left camera, a right camera, a DVR camera and a DSM camera which are arranged outside the electric vehicle.

According to another aspect of the present invention, there is also provided a low speed automatic driving method for a vehicle production line to realize low speed automatic driving of an electric vehicle production line, the method including the steps of:

s1: firstly, collecting a map of a production line and planning the production line;

s2: drawing a clear road boundary line on a planned site, and installing a site end sensing module at a production station;

s3: setting isolation fences on two sides of a planned road;

s4: sending an instruction through an AVP cloud server or a handheld PDA terminal, and then receiving the instruction by a vehicle server;

s5: the automatic driving of the electric automobile is realized by the matching of the vehicle end look-around module, the field end sensing module and the field end calibration module;

s6: and then moving the electric automobile to the next station according to a preset instruction.

Preferably, in the low-speed automatic driving method for a vehicle production line according to the present invention, the step S1 further includes the following steps when collecting a map of the production line and planning the production line:

marking the traveling destination of the flexibly scheduled vehicle on a map;

a path for vehicle control is planned.

As a preferable low-speed automatic driving method for a vehicle production line according to the present invention, the step of installing the end-of-site sensing module at the production station in S2 further includes:

setting an automatic calibration procedure on a travel path;

and the vehicle passes through the sensor to be calibrated in real time in the process of running.

Compared with the prior art, the invention has the beneficial effects that:

through designing car end server and production line place server and AVP cloud server and mutually supporting, ensure that the vehicle can realize autopilot according to the demand of producing and dispatching by producing the line, realize the autopilot of vehicle on producing the line to improve the vehicle efficiency of rolling off the production line, use manpower sparingly, through setting for isolated column and initiative safety module, ensure the security of vehicle autopilot on producing the line.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:

FIG. 1 is a schematic diagram of a low speed autopilot system for a vehicle manufacturing line according to the present invention;

FIG. 2 is a logic diagram of the operation of the automatic driving system of the vehicle production line according to the present invention;

FIG. 3 is a schematic diagram of a low speed autopilot system for a vehicle manufacturing line of the present invention;

in the figure:

1. an AVP cloud server;

2. a production line site server side; 21. an edge server module; 22. an RSU road side module; 23. a field end sensing module; 24. a field end calibration module;

3. a vehicle-end server; 31. a vehicle end receiving module; 32. a vehicle end look-around module; 33. a drive module; 34. An active security module;

4. a control unit; 41. an OBU communication module; 42. a controller; 43. a display module; 44. a storage module;

5. a hand-held PDA terminal.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

As shown in fig. 1;

a low-speed automatic driving system for a vehicle production line comprises an AVP cloud server 1, a production line site server 2, a vehicle end server 3, a control unit 4 and a handheld PDA terminal 5, wherein the AVP cloud server 1 is in wireless network connection with the handheld PDA terminal 5 through the vehicle end server 3, the AVP cloud server 1 is connected with the control unit 4 through the production line site server 2, and the control unit 4 is connected with the vehicle end server 3;

the production line site server 2 comprises an edge server module 21, an RSU road side module 22, a site side sensing module 23 and a site side calibration module 24, wherein the site side calibration module 24 is connected with the edge server module 21 through the site side sensing module 23, and the edge server module 21 is connected with the control unit 4 through the RSU road side module 22.

In this embodiment: the sensor of the car end server 3 can realize local perception, local planning and vehicle control, the production line site server 2 can send a control instruction and can also bear perception tasks of stations and road sidelines, the AVP cloud server 1 can do production scheduling or send a control instruction, in addition, the functions of the car end server 3, the production line site server 2 and the AVP cloud server 1 are divided according to specific conditions and are not necessarily required to be forced, the car end server 3 can be completely depended to control the electric automobile to automatically drive to each processing station in actual work, participation of the production line site server 2 and the AVP cloud server 1 is not needed, and further adaptation adjustment can be carried out according to the conditions and the complexity of a production line.

In an alternative embodiment: the control unit 4 includes an OBU communication module 41, a controller 42, a display module 43 and a storage module 44, the RSU road side module 22 is connected to the controller 42 through the OBU communication module 41, and the controller 42 is connected to the storage module 44 through the display module 43.

In this embodiment: various control instructions are sent to the vehicle-mounted bus through the control unit 4, the electric vehicle at the control vehicle end server 3 can realize automatic driving, the driving track and the driving state of the electric vehicle can be displayed on a master control screen through the display module 43 at the moment, and the data of the electric vehicle in the automatic driving process are recorded through the storage module 44.

It should be noted that: the controller 42 outputs to the display screen in LVDS and records through a USB card reader or a USB disk.

In an alternative embodiment: the field end sensing module 23 comprises an SRR short-range radar and a radar high-resolution radar, and the SRR short-range radar and the radar high-resolution radar are matched with each other, so that the calibration of the panoramic all-around view system can be realized, and the driving precision is improved.

In an alternative embodiment: the field end calibration module 24 comprises a production field road boundary line, the road boundary line is drawn on the ground of the production field, and the driving track can be compared in real time by matching with the vehicle end look-around module 32 on the electric vehicle, so that the moving precision between stations is ensured.

In an alternative embodiment: the vehicle-end service end 3 includes a vehicle-end receiving module 31, a vehicle-end looking-around module 32, a driving module 33 and an active safety module 34.

In this embodiment: the vehicle-end receiving module 31 receives an instruction sent by the AVP cloud server 1 or the handheld PDA terminal 5, and drives the electric vehicle to automatically drive to a designated station according to a preset route through the driving module 33 so as to complete subsequent processing, and during the driving process of the electric vehicle, the vehicle-end looking-around module 32 drives a plurality of cameras located outside the electric vehicle to monitor and calibrate positions in real time.

It should be noted that: by arranging the active safety module 34, the electric vehicle can be actively braked in case of emergency in the running process.

In an alternative embodiment: the vehicle-end looking-around module 32 comprises a front camera, a rear camera, a left camera, a right camera, a DVR (digital video recorder) camera and a DSM (digital versatile disc) camera which are arranged outside the electric vehicle, and the accuracy of the electric vehicle in advancing can be improved by designing a plurality of cameras which are fisheye cameras, so that the vehicle can be controlled to run at the speed of 5 km/h.

According to another aspect of the present invention, there is also provided a low speed automatic driving method for a vehicle production line to realize low speed automatic driving of an electric vehicle production line, the method including the steps of:

step S1: firstly, collecting a map of a production line and planning the production line;

specifically, the method further comprises the following steps when the map of the production line is collected and the route is planned:

marking the traveling destination of the flexibly scheduled vehicle on a map;

planning a path for vehicle control;

step S2: drawing a clear road boundary line on a planned site, and installing a site end sensing module 23 at a production station;

specifically, the method further includes the following steps when the field end sensing module 23 is installed at the production station:

setting an automatic calibration procedure on a travel path;

the vehicle passes through a sensor to be calibrated in real time in the advancing process;

step S3: setting isolation fences on two sides of a planned road;

step S4: the AVP cloud server 1 or the handheld PDA terminal 5 sends out an instruction, and then the instruction is received by the vehicle server 3;

step S5: the automatic driving of the electric automobile is realized by the matching of the vehicle end look-around module 3, the field end sensing module 23 and the field end calibration module 24;

step S6: and then moving the electric automobile to the next station according to a preset instruction.

Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.