CN106909152B - Automobile-used environmental perception system and car - Google Patents
Automobile-used environmental perception system and car Download PDFInfo
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- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
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Abstract
The invention discloses an automobile environment sensing system and an automobile, and belongs to the field of automobiles. The vehicular environment sensing system includes: the system comprises a 16-line laser radar, a first millimeter wave radar, two second millimeter wave radars, a plurality of ultrasonic radars, a binocular camera and a data processing unit; the first millimeter wave radar is arranged in the middle of a front bumper of the automobile; the two second millimeter wave radars are respectively arranged on two sides of a rear bumper of the automobile; the 16-line laser radar is arranged on the roof of the automobile; the plurality of ultrasonic radars include a plurality of first ultrasonic radars which are installed at intervals on one side of the automobile, and a plurality of second ultrasonic radars which are installed at intervals on the other side of the automobile; the binocular camera is arranged in the front windshield of the automobile; and the data processing unit is used for acquiring information detected by the 16-line laser radar, the first millimeter wave radar, the two second millimeter wave radars, the plurality of ultrasonic radars and the binocular camera and transmitting the information to the central decision control unit of the automobile.
Description
Technical Field
The invention relates to the field of automobiles, in particular to an automobile environment sensing system and an automobile.
Background
The automatic driving automobile is also called unmanned automobile, and is one intelligent automobile with unmanned driving realized via computer system.
The perception of the surrounding environment is a precondition for the stable operation of an autonomous vehicle. Specifically, autonomous vehicles rely on video cameras, lidar, and other components to learn about the surrounding environment and navigate the road ahead. The laser radar is a core component for detecting the surrounding environment, and a 64-line laser radar is usually equipped in the design of the existing automatic driving automobile so as to realize high-precision detection of the surrounding environment.
However, in the process of implementing the invention, the inventor finds that the prior art has at least the following problems: 64 line lidar is expensive (up to tens of thousands of dollars) and causes cost prohibitive for autonomous vehicles.
Disclosure of Invention
In order to solve the problem that the cost of automatically driving an automobile is too high in the prior art, the embodiment of the invention provides an automobile environment sensing system and an automobile. The technical scheme is as follows:
in a first aspect, an embodiment of the present invention provides an environmental awareness system for a vehicle, where the environmental awareness system for a vehicle includes:
the system comprises a 16-line laser radar, a first millimeter wave radar, two second millimeter wave radars, a plurality of ultrasonic radars, a binocular camera and a data processing unit;
the first millimeter wave radar is arranged in the middle of a front bumper of an automobile and used for detecting target information in front of the automobile, and the target information comprises the distance, the relative speed and the position information of a target;
the two second millimeter wave radars are respectively installed on two sides of a rear bumper of the automobile and used for detecting target information on the lateral rear side of the automobile;
the 16-line laser radar is installed on the roof of the automobile and used for detecting target information in a circular area around the automobile;
the plurality of ultrasonic radars comprise a plurality of first ultrasonic radars which are arranged on one side of the automobile at intervals and a plurality of second ultrasonic radars which are arranged on the other side of the automobile at intervals, and the first ultrasonic radars and the second ultrasonic radars are respectively used for detecting target information on two sides of the automobile;
the binocular camera is arranged in the front windshield of the automobile and used for detecting target information, a drivable area, a traffic sign and signal lamp information in front of the automobile;
the data processing unit is used for acquiring information detected by the 16-line laser radar, the first millimeter wave radar, the two second millimeter wave radars, the ultrasonic radars and the binocular camera, processing the acquired information, and transmitting the processed information to the central decision control unit of the automobile, wherein the processed information comprises: the vehicle-mounted information processing system comprises nearest target information positioned in front of the vehicle on a driving path, adjacent target information on two sides of the vehicle, nearest target information positioned behind the vehicle on the driving path, driving areas, traffic signs and signal lamp information.
In an implementation manner of the embodiment of the present invention, the first millimeter wave radar is a 77GHz millimeter wave radar, and the second millimeter wave radar is a 24GHz millimeter wave radar.
In another implementation manner of the embodiment of the invention, an antenna radiation surface of the first millimeter wave radar faces the front of the automobile, and the antenna radiation surface is parallel to a front bumper plane of the automobile.
In another implementation manner of the embodiment of the present invention, the antenna radiation surface of the second millimeter wave radar faces to two sides of the automobile, the antenna radiation surface is perpendicular to the horizontal plane, and the angle between the antenna radiation surface and the longitudinal axis of the automobile body of the automobile is 60 degrees.
In another implementation manner of the embodiment of the present invention, the distance between the 16-line lidar and the front edge of the roof is one fourth of the length of the roof, and the distance between the 16-line lidar and the two sides of the automobile is equal.
In another implementation manner of the embodiment of the present invention, the binocular camera is located below the interior rearview mirror of the automobile and is arranged close to the lower edge of the interior rearview mirror, and the distance from the binocular camera to the two sides of the automobile is equal.
In another implementation manner of the embodiment of the present invention, the number of the first ultrasonic radar and the number of the second ultrasonic radar are both 4.
In another implementation manner of the embodiment of the present invention, the antenna radiation surfaces of the first ultrasonic radar and the second ultrasonic radar face to two sides of the automobile, and the antenna radiation surfaces are parallel to the side surfaces of the automobile.
In another implementation manner of the embodiment of the present invention, the first millimeter wave radar is connected to the data processing unit through a CAN bus or an ethernet, the second millimeter wave radar is connected to the data processing unit through a CAN bus or an ethernet, the 16-line laser radar is connected to the data processing unit through a CAN bus or an ethernet, the camera is connected to the data processing unit through a CAN bus or an ethernet, and the ultrasonic radar is connected to the data processing unit through a CAN bus or an ethernet.
In a second aspect, the embodiment of the present invention further provides an automobile, where the automobile includes the vehicular environment sensing system according to any one of the first aspects.
The technical scheme provided by the embodiment of the invention has the following beneficial effects:
according to the embodiment of the invention, the 16-line laser radar is adopted to replace the 64-line laser radar, so that the cost of automatically driving the automobile can be greatly reduced; when the 16-line laser radar is adopted, the vehicle environment sensing system is also provided with a first millimeter wave radar, two second millimeter wave radars, a plurality of ultrasonic radars and a binocular camera to make up the precision problem of the 16-line laser radar; the first millimeter wave radar, the two second millimeter wave radars and the plurality of ultrasonic radars are respectively arranged on the periphery of the automobile and work in cooperation with the 16-line laser radar, so that the detection precision of the surrounding environment is improved; in addition, the binocular camera is adopted to detect the front of the automobile, so that the reliability of environment perception is further ensured, and the automatic running of the automobile in a road is ensured.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a block diagram illustrating a vehicular environment sensing system according to an embodiment of the present invention;
fig. 2 is a position distribution diagram of a radar and a binocular camera in the vehicle environmental sensing system according to the embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
Fig. 1 is a vehicle environment sensing system according to an embodiment of the present invention, and referring to fig. 1, the vehicle environment sensing system includes: 16-line laser radar 101, first millimeter wave radar 102, two second millimeter wave radars 103, a plurality of ultrasonic radars including a plurality of first ultrasonic radars 141 and a plurality of second ultrasonic radars 142, a binocular camera 105, and a data processing unit 106.
Fig. 2 is a position distribution diagram of a radar and a binocular camera in the vehicle environment sensing system, referring to fig. 2, a first millimeter wave radar 102 is installed in the middle of a front bumper of an automobile; two second millimeter wave radars 103 are respectively installed on both sides of a rear bumper of the automobile; the 16-line laser radar 101 is installed on the roof of an automobile; a plurality of first ultrasonic radars 141 are installed at one side of the automobile at intervals, and a plurality of second ultrasonic radars 142 are installed at the other side of the automobile at intervals; the binocular camera 105 is installed in the front windshield of the automobile. The data processing unit 106 is simultaneously connected to the first millimeter-wave radar 102, the two second millimeter-wave radars 103, the 16-line lidar 101, the plurality of first ultrasonic radars 141, the plurality of second ultrasonic radars 142, and the binocular camera 105, so as to obtain signals generated by the radars and the camera.
Through installing above-mentioned radar and camera on the car, can accomplish following signal acquisition: the first millimeter wave radar 102 functions to detect target information in front of the automobile, the target information including distance, relative speed, and position information of the target; the two second millimeter wave radars 103 are used for detecting target information at the side rear of the automobile; the 16-line laser radar 101 is used for detecting target information in a circular area around the automobile; the first ultrasonic radar 141 and the second ultrasonic radar 142 are used for respectively detecting target information on two sides of the automobile; the binocular camera 105 functions to detect target information, a drivable area, a traffic sign, and signal light information in front of the automobile.
The data processing unit 106 acquires information detected by the 16-line laser radar 101, the first millimeter wave radar 102, the two second millimeter wave radars 103, the plurality of ultrasonic radars and the binocular camera 105, processes the acquired information, and transmits the processed information to the central decision control unit of the automobile. The processed information includes: the information of the nearest target located in front of the automobile on the driving route, the information of the targets adjacent to both sides of the automobile, the information of the nearest target located behind the automobile on the driving route, the information of the driving area, the traffic sign and the signal lamp. The central decision control unit controls the automobile to realize automatic driving according to the information uploaded by the data processing unit 106.
According to the embodiment of the invention, the 16-line laser radar 101 is adopted to replace a 64-line laser radar, so that the cost of automatically driving the automobile can be greatly reduced; when the 16-line laser radar 101 is adopted, the vehicle environment sensing system is also provided with a first millimeter wave radar 102, two second millimeter wave radars 103, a plurality of ultrasonic radars and a binocular camera 105 to make up for the accuracy problem of the 16-line laser radar 101; the first millimeter-wave radar 102, the two second millimeter-wave radars 103 and the plurality of ultrasonic radars are respectively arranged on the periphery of the automobile and cooperate with the 16-line laser radar 101 to improve the detection precision of the surrounding environment; in addition, the binocular camera 105 is adopted to detect the front of the automobile, so that the reliability of environment perception is further ensured, and the automatic running of the automobile in a road is ensured.
Wherein, 16 line lidar refers to the radar that scans through 16 laser beams, and 64 line lidar is the radar that scans through 64 laser beams, and during the scanning, every laser beam of lidar all can carry out 360 degrees scans, and different laser beams can set up and scan at different heights. Because the 16-line lidar generates less laser beams than the 64-line lidar, the 16-line lidar uses correspondingly fewer units for generating laser beams and is lower in cost.
In embodiments of the present invention, the objects include, but are not limited to, moving objects, which may be pedestrians, vehicles, etc., and stationary objects, which may be buildings, obstacles, road edges, etc.
In the embodiment of the present invention, the binocular camera 105 can process the photographed image, thereby obtaining target information, a travelable area, a traffic sign, and signal light information. The travelable region is a region in which the vehicle can travel.
Specifically, the binocular camera refers to a camera having two cameras and capable of respectively photographing pictures.
The binocular camera directly measures the distance of a front scene (the shot range of the images) by calculating the parallax of the two images, and can identify the target, the drivable area, the traffic sign and the signal lamp information in the images by image identification.
The binocular camera can more accurately determine target information, a drivable area, a traffic sign and signal lamp information. The reason is as follows: the distance measurement principle of binocular camera and monocular camera is totally different, and the monocular camera needs to discern the target, namely discernment barrier (car, people etc.) earlier before the range measurement, carries out the range measurement again on this basis. The binocular camera is more like human eyes, and the distance is determined mainly through parallax calculation of two images, namely the binocular camera does not need to know what the obstacle is, the distance can be measured only through calculation, the distance test is more accurate, and therefore the determined target information is more accurate (the distance, the relative speed and the position information of the target). In addition, the distance from each point of the barrier in the visual field to the camera can be calculated through the binocular cameras, then the plane of the barrier can be quickly divided, so that the recognition of the travelable area, the traffic sign and the signal lamp information can be realized, the recognition of the travelable area, the traffic sign and the signal lamp information can also be realized by depending on one of the two cameras, and the recognition accuracy is higher than that of a monocular camera.
In one possible implementation, first millimeter wave radar 102 may be a 77GHz millimeter wave radar and second millimeter wave radar 103 may be a 24GHz millimeter wave radar.
In the embodiment of the invention, a groove is formed in the middle of a front bumper of an automobile, the first millimeter wave radar 102 is installed in the groove, the antenna radiation surface of the first millimeter wave radar 102 faces the front of the automobile, and the antenna radiation surface is parallel to the plane of the front bumper of the automobile.
Further, there may be an angle error when the first millimeter wave radar 102 is installed, and during installation, the horizontal angle tolerance error of the alignment direction is ± 2 degrees, and the vertical angle tolerance error is ± 1 degree, so as to avoid loss of the radar monitoring angle and ensure normal operation of the radar.
In the present embodiment, first millimeter wave radar 102 operates in two modes, and periodically switches between the two modes. In the first mode, the radiation area of first millimeter wave radar 102 covers an azimuth of ± 45 degrees in the horizontal direction, and the detection distance is 60 meters, where the detection distance is a distance detectable by the radar in the vehicle traveling direction; in the second mode, the radiation area of first millimeter wave radar 102 covers azimuth of ± 15 degrees in the horizontal direction, and the detection distance is 175 meters.
In the embodiment of the present invention, the antenna radiation surface of second millimeter wave radar 103 faces both sides of the automobile, the antenna radiation surface is perpendicular to the horizontal plane, and the antenna radiation surface makes an angle of 60 degrees with the longitudinal axis of the automobile body. The longitudinal axis of the vehicle body is an axis along the length direction of the vehicle and can be a straight line connecting the middle points of two front wheels of the vehicle and the middle points of two rear wheels of the vehicle.
Further, there may be angle error when second millimeter wave radar 103 installs, and during the installation, the direction horizontal angle allowed error of alignment 2 degrees, perpendicular angle allowed error 1 degree to avoid the loss of radar monitoring angle, guarantee the normal work of radar.
In the embodiment of the invention, the 16-line laser radar 101 is installed on the roof of the vehicle, the distance between the 16-line laser radar 101 and the front edge of the roof is a quarter of the length of the roof, and the 16-line laser radar 101 is equal to the distance between the two sides of the vehicle. Wherein, the front edge of the roof is the edge of the roof close to the vehicle head. This arrangement allows the 16-line lidar 101 to detect as much information as possible in front of and on both sides of the automobile. Because the 16-line laser radar 101 is installed on the roof of the vehicle, a blind field area exists in a near area around the vehicle, and the detection of the area is mainly completed by the millimeter wave radar and the ultrasonic radar.
In the embodiment of the invention, the binocular camera 105 is positioned below the inside rearview mirror of the automobile and is arranged close to the lower edge of the inside rearview mirror, and the distance from the binocular camera 105 to the two sides of the automobile is equal. The distance between the binocular camera 105 and the two sides of the automobile refers to the distance between the central axis of the binocular camera 105 and the two sides of the automobile. The binocular camera 105 is installed in the above manner, so that a large visual field can be obtained, and the forward detection effect of the automobile is improved.
In the embodiment of the present invention, the number of each of the first ultrasonic radar 141 and the second ultrasonic radar 142 may be 4.
Further, the antenna radiation surfaces of the first ultrasonic radar 141 and the second ultrasonic radar 142 face both sides of the automobile, and the antenna radiation surfaces are parallel to the side surfaces of the automobile.
Further, the distance between two adjacent first ultrasonic radars 141 or two adjacent second ultrasonic radars 142 is 1.1-1.15 m. And 4 ultrasonic radars are arranged on each side face of the automobile according to the distance, so that the ultrasonic radars are uniformly arranged, and the optimal detection effect is realized.
In the embodiment of the invention, the 16-line laser radar can detect the environment of 360 degrees around the vehicle and is mainly used for detecting target information (such as distance and speed information of the vehicle and an obstacle) within 30 meters around the vehicle on the driving path of the vehicle; detecting target information (such as vehicle and obstacle distance, speed and direction information) within 175 meters in the forward direction of the vehicle by using a 77GHz forward millimeter wave radar; target information (such as vehicle distance and speed information) detection in a blind area and a backward area of the main vehicle is finished through 2 24GHz millimeter wave radars; detecting target information (such as the distance between adjacent vehicles at the left side and the right side) at the left side and the right side of the vehicle through 8 ultrasonic radars; the system comprises a central control unit, a binocular camera, a data processing unit, a driving control unit and an execution mechanism, wherein the 1 binocular camera is used for carrying out front target information, driving areas, traffic signs and signal lamp information, and finally, barrier information influencing the driving safety of a vehicle is screened out through data processing of the data processing unit and is provided for the central control unit, so that the central control unit can carry out local path planning, and the automatic driving.
In the embodiment of the present invention, first millimeter wave radar 102 is connected to data processing unit 106 through a Controller Area Network (CAN) bus or an ethernet, second millimeter wave radar 103 is connected to data processing unit 106 through a CAN bus or an ethernet, 16-wire laser radar 101 is connected to data processing unit 106 through a CAN bus or an ethernet, a camera is connected to data processing unit 106 through a CAN bus or an ethernet, and an ultrasonic radar is connected to data processing unit 106 through a CAN bus or an ethernet.
In the embodiment of the invention, because the radar (16-line laser radar, millimeter wave radar or ultrasonic radar) and the binocular camera are provided with the processing units, the signals can be processed, and target information, travelable areas, traffic signs, signal lamp information and the like can be determined. Therefore, the data processing unit 106 only needs to process the data.
The data processing unit 106 implements data processing in the following manner:
for the common detection area of the two radars, the data processing unit 106 determines a target which is detected by the two radars together, and determines target information of the target according to the radar with higher precision in the two radars. Wherein, the radar is 16 lines of laser radar, millimeter wave radar or ultrasonic radar, and the precision of 16 lines of laser radar > the precision of millimeter wave radar > the precision of ultrasonic radar. The detection area of the radar is a range area which can be detected by the radar; the common detection region of the two radars refers to the overlapping portions of the detection regions of the two radars. For the common detection area of the radar and the binocular camera, the data processing unit 106 determines a target which is detected by the radar and the binocular camera together, and determines target information of the target according to the radar. The independent detection area of the binocular camera is a range area which can be detected by the binocular camera; the common detection area of the radar and the binocular camera refers to the overlapped part of the detection areas of the radar and the binocular camera. For an individual detection zone of a radar, the data processing unit 106 determines target information for targets within the detection zone based on the radar. For an individual detection region of a binocular camera, the data processing unit 106 determines target information of a target within the detection region according to the binocular camera. The independent detection area of the radar is a part which is not overlapped with other radars or binocular cameras in the detection area of the radar; the individual detection region of the binocular camera refers to a portion of the detection region of the binocular camera that does not overlap with the radar. The data processing unit 106 merges the obtained target information to obtain final target information.
The data processing unit 106 acquires information detected by the binocular camera 105 to obtain a front travelable area, traffic identification and signal lamp information.
The data processing unit 106 specifies the nearest target information located in front of the automobile on the travel route, the target information adjacent to both sides of the automobile, and the nearest target information located behind the automobile on the travel route from the last target information.
The data processing unit 106 combines the determined nearest target information located in front of the automobile on the driving route, the target information adjacent to both sides of the automobile and the nearest target information located behind the automobile on the driving route with the information of the front drivable area, the traffic sign and the signal lamp to obtain processed information. The central decision control unit controls the automobile to realize automatic driving according to the processed information uploaded by the data processing unit 106.
The embodiment of the invention also provides an automobile with the automobile environment sensing system. The automobile can be controlled to realize automatic driving according to the processed information uploaded by the automobile environment sensing system.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (9)
1. An environmental awareness system for a vehicle, comprising:
the system comprises a 16-line laser radar, a first millimeter wave radar, two second millimeter wave radars, a plurality of ultrasonic radars, a binocular camera and a data processing unit;
the first millimeter wave radar is suitable for being installed in the middle of a front bumper of an automobile and used for detecting target information in front of the automobile;
the two second millimeter wave radars are suitable for being respectively installed on two sides of a rear bumper of the automobile and used for detecting target information of the lateral rear part of the automobile, antenna radiation surfaces of the second millimeter wave radars face to the two sides of the automobile and are vertical to a horizontal plane, and the antenna radiation surfaces form an angle of 60 degrees with a longitudinal axis of an automobile body of the automobile;
the 16-line laser radar is suitable for being installed on the roof of the automobile and used for detecting target information in a circular area around the automobile;
the plurality of ultrasonic radars comprise a plurality of first ultrasonic radars and a plurality of second ultrasonic radars, the plurality of first ultrasonic radars are suitable for being installed on one side of the automobile at intervals, the plurality of second ultrasonic radars are suitable for being installed on the other side of the automobile at intervals, the first ultrasonic radars and the second ultrasonic radars are respectively used for detecting target information on two sides of the automobile, and the distance between two adjacent first ultrasonic radars or two adjacent second ultrasonic radars is 1.1-1.15 m;
the binocular camera is suitable for being installed in a front windshield of the automobile and used for detecting target information and road condition information in front of the automobile;
the data processing unit is used for acquiring information detected by the 16-line laser radar, the first millimeter wave radar, the two second millimeter wave radars, the ultrasonic radars and the binocular camera, processing the acquired information, and transmitting the processed information to the central decision control unit of the automobile, wherein the processed information comprises: nearest target information located in front of the automobile on a driving path, target information adjacent to both sides of the automobile, nearest target information located behind the automobile on the driving path, and the road condition information in front of the automobile;
the target information comprises the distance, the relative speed and the position information of a target, and the road condition information comprises a driving area, a traffic sign and signal lamp information.
2. The vehicle environment sensing system of claim 1, wherein the first millimeter wave radar is a 77GHz millimeter wave radar and the second millimeter wave radar is a 24GHz millimeter wave radar.
3. The vehicular environment sensing system according to claim 1 or 2, wherein an antenna radiation surface of the first millimeter wave radar faces the front of the automobile, and the antenna radiation surface is parallel to a front bumper plane of the automobile.
4. The vehicular environment sensing system according to claim 1 or 2, wherein the 16-line lidar is located at a distance of one quarter of the length of the roof from the front edge of the roof, and the 16-line lidar is located at an equal distance from both sides of the automobile.
5. The vehicle environment sensing system according to claim 1 or 2, wherein the binocular camera is located below an interior mirror of the vehicle and is disposed near a lower edge of the interior mirror, and the binocular camera is equidistant from both sides of the vehicle.
6. The vehicular environment sensing system according to claim 1 or 2, wherein the number of the first ultrasonic radar and the second ultrasonic radar is 4 each.
7. The vehicular environment sensing system according to claim 1 or 2, wherein antenna radiation surfaces of the first and second ultrasonic radars face both sides of the automobile, and the antenna radiation surfaces are parallel to the side surfaces of the automobile.
8. The system according to claim 1 or 2, wherein the first millimeter wave radar is connected to the data processing unit through a Controller Area Network (CAN) bus or an Ethernet, the second millimeter wave radar is connected to the data processing unit through a CAN bus or an Ethernet, the 16-wire laser radar is connected to the data processing unit through a CAN bus or an Ethernet, the camera is connected to the data processing unit through a CAN bus or an Ethernet, and the ultrasonic radar is connected to the data processing unit through a CAN bus or an Ethernet.
9. An automobile, characterized in that the automobile comprises the vehicular environment sensing system according to any one of claims 1 to 8.
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| CN201710160870.9A CN106909152B (en) | 2017-03-17 | 2017-03-17 | Automobile-used environmental perception system and car |
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| CN201710160870.9A CN106909152B (en) | 2017-03-17 | 2017-03-17 | Automobile-used environmental perception system and car |
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| CN106909152B true CN106909152B (en) | 2020-09-04 |
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| CN108008412A (en) * | 2017-10-18 | 2018-05-08 | 南京安捷智造科技有限公司 | A kind of more curvature fusion protecting against collision of driving vehicles systems |
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