CN107650908A - Unmanned vehicle context aware systems - Google Patents
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- CN107650908A CN107650908A CN201710969796.5A CN201710969796A CN107650908A CN 107650908 A CN107650908 A CN 107650908A CN 201710969796 A CN201710969796 A CN 201710969796A CN 107650908 A CN107650908 A CN 107650908A
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- 238000001514 detection method Methods 0.000 claims abstract description 29
- 230000004888 barrier function Effects 0.000 claims abstract description 11
- 238000012545 processing Methods 0.000 claims description 10
- 238000004891 communication Methods 0.000 claims description 7
- 238000012544 monitoring process Methods 0.000 claims description 7
- 230000007306 turnover Effects 0.000 claims description 4
- 230000004927 fusion Effects 0.000 claims description 3
- 230000002093 peripheral effect Effects 0.000 claims description 3
- 230000009471 action Effects 0.000 claims description 2
- 230000009286 beneficial effect Effects 0.000 abstract description 6
- 230000008901 benefit Effects 0.000 description 4
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/0097—Predicting future conditions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
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- Transportation (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Traffic Control Systems (AREA)
- Radar Systems Or Details Thereof (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention discloses a kind of unmanned vehicle context aware systems, including for detect around unmanned vehicle in the first distance range with the presence or absence of the first detecting system of barrier, for gathering the second detecting system of the azimuth information of second distance range of motion target around unmanned vehicle, for have enough to meet the need around scan mode collection unmanned vehicle the 3rd detecting system of image information in the range of set angle in the 3rd distance range, wherein, the 3rd distance is more than second distance and second distance is more than the first distance.It realizes the multi-level environment sensing of more distances, and first detecting system be used to detect and whether there is barrier in short-range, to carry out anticollision early warning, second detecting system is used for the azimuth information of the moving target in the range of distance in detecting, detection and anticollision early warning beneficial to the moving obstacle during running at high speed, 3rd detecting system is used for the image detection of remote narrow viewing angle, and the locking beneficial to Remote and specific objective monitors.
Description
Technical field
The present invention relates to unmanned vehicle control field, especially, is related to a kind of unmanned vehicle context aware systems.
Background technology
For unmanned vehicle in order to realize its unpiloted purpose, environment sensing ability is crucial.Context aware systems pass through more
Kind sensor carries out the work such as the collection, processing, semantic meaning representation of surrounding enviroment parameter.By gathering the parameter with analysis environments,
The expression of surrounding environment semantic level can be provided, be the important input parameter of automatic controller.
For environment sensing sensor according to principle can be divided into vision sensor, laser sensor, microwave remote sensor,
The class of ultrasonic sensor four.Vision sensor obtains vehicle-surroundings environment two dimension or three-dimensional image information by machine vision, leads to
Graphical analysis identification technology is crossed to perceive running environment.Laser sensor obtains vehicle-surroundings environment two by laser radar
Dimension or three-dimensional distance information, are perceived by distance analysis identification technology to running environment.Laser sensor is according to scanning
It is a variety of that laser line number can be divided into single line, 4 lines, 8 lines, 16 lines, 32 lines and 64 lines etc. again.Microwave remote sensor and ultrasonic wave and laser
Sensor is similar, and obtains range information.
The environment sensing scheme of current main flow can be divided into two classes according to master reference：Laser radar class and machine vision
Class.Laser radar is mainly by launching laser beam, to detect the characteristic quantities such as the position of target, speed.Mobile lidar is general
All over multiple generating lasers and receiver is used, three-dimensional point cloud atlas is established, so as to reach the purpose of real time environment perception.From current
From the point of view of mobile lidar, mechanical more wire harness laser radars are mainstream schemes.The advantage of laser radar is that it detects model
Enclose more extensively, detection accuracy is higher.But the shortcomings that laser radar, is also apparent from：The poor-performing under the extreme weathers such as sleet mist；
The data volume of collection is excessive；It is sufficiently expensive.
The context aware systems of machine vision class more conform to understanding of the people to the world, and the cost of vision products is low,
Can largely it install；But currently without the environment sensing algorithm of a good machine vision class；And to the adaptation of environment
It is indifferent, it can be affected in sleety weather and night effect.
And it is unmanned as the technology that can substitute pilot steering from now on, its have to have it is a set of can it is round-the-clock,
The context aware systems of more distance work.This is that simple laser radar scheme and machine vision scheme can not meet.
The content of the invention
The invention provides a kind of unmanned vehicle context aware systems, are limited to pass to solve existing unmanned vehicle environment sensing
The working range of sensor and more distances, round-the-clock, 360 degree of monitoring requirements technical problem can not be met.
The technical solution adopted by the present invention is as follows：
A kind of unmanned vehicle context aware systems, including for detecting whether there is in the first distance range around unmanned vehicle
First detecting system of barrier, for gather the azimuth information of second distance range of motion target around unmanned vehicle second
Detecting system, for have enough to meet the need around scan mode collection unmanned vehicle in the 3rd distance range image information in the range of set angle
The 3rd detecting system, wherein, the 3rd distance is more than second distance and second distance and is more than the first distance.
Further, in addition to the first detecting system, the second detecting system and the 3rd detecting system communicate to connect
Processor, processor are used to receive at least one of the first detecting system, the second detecting system and the 3rd detecting system detection letter
Cease and generate the instruction for controlling unmanned vehicle.
Further, the first detecting system includes the multiple ultrasonic radars being arranged in around unmanned vehicle vehicle body, Duo Gechao
Sound radar connects processor through ultrasonic wave controller.
Further, the detection of obstacles information generation for being configured to be fed back according to multiple ultrasonic radars on processor is anti-
The first processing module of anti-collision warning instruction.
Further, the second detecting system includes being used to gather the more of the three-dimensional point cloud of multiple moving targets around unmanned vehicle
Multiple millimetre-wave radars of line laser radar and/or the azimuth information for obtaining unmanned vehicle peripheral motor target.
Further, multiple millimetre-wave radars include being installed on before the long range of unmanned vehicle car body front end to millimetre-wave radar
And it is installed on the lateral short distance millimetre-wave radar of unmanned vehicle body rear end.
Further, it is configured to be believed according to the detection of multi-line laser radar and multiple millimetre-wave radars feedback on processor
Breath generates the Second processing module of instant map.
Further, the 3rd detecting system is steady as head and surely as the band of head on unmanned vehicle car body including being arranged at
Visible Light Camera, infrared light camera and the laser range finder of dynamic lower synchronous turnover scanning.
Further, the 3rd detecting system also includes controller, and controller connection is surely as head, Visible Light Camera, infrared
Light camera and laser range finder, controller are connected with processor communication, for controlling surely as the turnover of head acts and will be seen that
Processor is fed back to after the detection information fusion of light camera, infrared light camera and laser range finder.
Further, processor is provided with the telecommunication port being used for the communication connection of Remote terminal, for inciting somebody to action
The detection information of 3rd detecting system generation is uploaded to remote monitoring terminal and receives the telecommand that remote monitoring terminal issues.
The invention has the advantages that：
Unmanned vehicle context aware systems of the present invention, by setting the first detecting system, the second detection system on unmanned vehicle
System and the 3rd detecting system, the multi-level environment sensing of more distances is realized, and the first detecting system is used to detect short distance model
It whether there is barrier in enclosing, to carry out anticollision early warning, the second detecting system is used for the motion mesh in the range of distance in detecting
Target azimuth information, detection and anticollision early warning beneficial to the moving obstacle during running at high speed, the 3rd detecting system are used
In the image detection of remote narrow viewing angle, the locking beneficial to Remote and specific objective monitors.With reference to three kinds apart from level
Detecting system, multi-functional environment sensing is realized, is with a wide range of applications.
In addition to objects, features and advantages described above, the present invention also has other objects, features and advantages.
Below with reference to accompanying drawings, the present invention is further detailed explanation.
Brief description of the drawings
The accompanying drawing for forming the part of the application is used for providing a further understanding of the present invention, schematic reality of the invention
Apply example and its illustrate to be used to explain the present invention, do not form inappropriate limitation of the present invention.In the accompanying drawings：
Fig. 1 is the principle block diagram of preferred embodiment of the present invention unmanned vehicle context aware systems；
Fig. 2 is the principle block diagram of the unmanned vehicle context aware systems of another embodiment of the present invention；
Fig. 3 is the principle block diagram of the unmanned vehicle context aware systems of further embodiment of this invention.
Description of reference numerals：
10th, the first detecting system；11st, ultrasonic radar；12nd, ultrasonic wave controller；
20th, the second detecting system；21st, multi-line laser radar；22nd, millimetre-wave radar；
30th, the 3rd detecting system；31st, Visible Light Camera；32nd, infrared light camera；33rd, laser range finder；34th, controller；
40th, processor；41st, telecommunication port.
Embodiment
It should be noted that in the case where not conflicting, the feature in embodiment and embodiment in the application can phase
Mutually combination.Describe the present invention in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
Reference picture 1, the preferred embodiments of the present invention provide a kind of unmanned vehicle context aware systems, including for detecting nothing
Around people's car in the first distance range with the presence or absence of the first detecting system 10 of barrier, for gathering second around unmanned vehicle
Second detecting system 20 of the azimuth information of moving target in distance range, for have enough to meet the need around scan mode collection unmanned vehicle
In 3rd distance range in the range of set angle image information the 3rd detecting system 30, wherein, the 3rd distance be more than second away from
From and second distance be more than first with a distance from.
The present embodiment unmanned vehicle context aware systems, by setting the first detecting system 10, second to examine on unmanned vehicle
The detecting system 30 of examining system 20 and the 3rd, the multi-level environment sensing of more distances is realized, and the first detecting system 10 is used to examine
Survey in short-range and whether there is barrier, to carry out anticollision early warning.Second detecting system 20 is used in detecting apart from model
The azimuth information of moving target in enclosing, detection and anticollision early warning beneficial to the moving obstacle during running at high speed.The
Three detecting systems 30 are used for the image detection of remote narrow viewing angle, and the locking beneficial to Remote and specific objective monitors.With reference to
Three kinds of detecting systems apart from level, multi-functional environment sensing is realized, is with a wide range of applications.
In the present embodiment, reference picture 2, the unmanned vehicle context aware systems also include examining with the first detecting system 10, second
The processor 40 that the detecting system 30 of examining system 20 and the 3rd communicates to connect, processor 40 be used for receive the first detecting system 10,
At least one of second detecting system 20 and the 3rd detecting system 30 detection information simultaneously generate the instruction for controlling unmanned vehicle.
Referring to Fig. 3, in the present embodiment, the first detecting system 10 includes the multiple ultrasonic waves being arranged in around unmanned vehicle vehicle body
Radar 11, multiple ultrasonic radars 11 connect processor 40 through ultrasonic wave controller 12.Preferably, the quantity of ultrasonic radar 11
For 12, vehicle body surrounding is distributed in, specifically, Chinese herbaceous peony 4,4 after car, each 1 on each wheel, 12 ultrasonic radars connect
On ultrasonic wave controller 12, collection is controlled by the ultrasonic wave controller 12, ultrasonic wave controller 12 is through RS-232 and processor
40 communication connections, for detection data to be issued into processor 40.In the present embodiment, ultrasonic radar 11 is used to detect car surrounding 3
Barrier in rice.The detection of obstacles information generation for being configured to be fed back according to multiple ultrasonic radars 11 on processor 40 is anti-
The first processing module of anti-collision warning instruction.The first processing module plays the intelligence of closely barrier during unmanned vehicle traveling
Energy detection and the purpose of anticollision early warning.Preferably, ultrasonic wave controller 12 can be according to the feedback signal of ultrasonic radar 11
Obtain the distance and bearing data of closely barrier, and the distance and bearing data are fed back into first processing module, first
Processing module generates according to the distance and bearing data of the barrier of reception and carries out route avoidance or slow down to control for unmanned vehicle
The instruction of system.
In the present embodiment, the second detecting system 20 includes being used for the three-dimensional point cloud for gathering multiple moving targets around unmanned vehicle
Multi-line laser radar 21 and/or the azimuth information for obtaining unmanned vehicle peripheral motor target multiple millimetre-wave radars 22.
Specifically, multi-line laser radar 21 communicates to connect through Ethernet and processor 40, and it can directly obtain 100 meters of vehicle body 360 degree
Within three-dimensional point cloud, for follow-up obstacle recognition and high accuracy matching positioning.Multi-line laser radar 21 herein includes
But it is not limited to 16 lines, 32 lines, 64 line laser radars.In the present embodiment, multiple millimetre-wave radars 22 include being installed on unmanned vehicle car
To millimetre-wave radar ESR and two lateral short distance millimeter wave thunders of unmanned vehicle body rear end are installed on before the long range of body front end
Up to RSDS, by ESR and two RSDS combination, can obtain moving target within 100 meters of unmanned vehicle 360 degree distance,
The information such as orientation, speed.Preferably, it is configured on processor 40 according to multi-line laser radar 21 and multiple millimetre-wave radars 22
The detection information of feedback is generated at the second of instant map SLAM (Simultaneous localization and mapping)
Module is managed, consequently facilitating high-precision three-dimensional map match positions, detection of obstacles and moving obstacle during running at high speed
Detection and anticollision early warning.The present embodiment unmanned vehicle is under the intelligent control of the Second processing module, it is possible to achieve unmanned vehicle exists
More than 60KM/h speed carries out automatic control traveling.
In the present embodiment, the 3rd detecting system 30 includes being arranged at steady as head and in steady picture head on unmanned vehicle car body
Drive under synchronously have enough to meet the need the Visible Light Camera 31, infrared light camera 32 and laser range finder 33 of scanning.3rd detecting system
30 also include controller 34, and controller 34 connects steady as head, Visible Light Camera 31, infrared light camera 32 and laser range finder
33, controller 34 communicates to connect with processor 40, for controlling surely as the turnover of head acts and will be seen that light camera 31, infrared
Processor 40 is fed back to after the fusion of the detection information of light camera 32 and laser range finder 33.In the present embodiment, it is seen that light camera 31
For gathering the Detection Method in Optical Image Sequences (working by day) of target or scene, infrared light camera 32 is used to gather target or field
The infrared image sequence (can work double tides) of scape, laser range finder 33 are used for the distance (work double tides) for measuring target, Ke Yishi
The tasks such as existing 360 ° patrols round the clock are scouted, highest priority tracks, highest priority high magnification is stared.Steady picture cradle head control visible ray phase
Machine, infrared light camera and laser range finder carry out 360 ° of rotation, it is seen that light camera is used for daytime, infrared light camera and laser
Range finder can be with work double tides (principle decision).Preferably, it is seen that light camera is furnished with powerful continuous magnification lens, therefore can
To realize that the high magnification of highest priority is stared.Preferably, processor Built-in Image tracking card, for realizing Visible Light Camera and red
The tracking of target in outer smooth camera.
Preferably, in the present embodiment, processor 40 is provided with the telecommunication being used for the communication connection of Remote terminal
Port 41, the detection information for the 3rd detecting system 30 to be generated are uploaded to remote monitoring terminal and receive remote monitoring terminal
The telecommand issued.Telecommunication port 41 herein can be WIFI either 4G or other similar to wireless mobile communications mould
Block.
Preferably, a kind of unmanned vehicle is also provided, includes the unmanned vehicle context aware systems of above-described embodiment, so that should
Unmanned vehicle can meet the multi-level environment sensing demand of more distances.
The preferred embodiments of the present invention are the foregoing is only, are not intended to limit the invention, for the skill of this area
For art personnel, the present invention can have various modifications and variations.Within the spirit and principles of the invention, that is made any repaiies
Change, equivalent substitution, improvement etc., should be included in the scope of the protection.
Claims (10)
1. a kind of unmanned vehicle context aware systems, it is characterised in that including for detecting around unmanned vehicle in the first distance range
With the presence or absence of the first detecting system (10) of barrier, for gathering second distance range of motion target around unmanned vehicle
The second detecting system (20) of azimuth information, for being set with having enough to meet the need around scan mode collection unmanned vehicle in the 3rd distance range
3rd detecting system (30) of image information in angular range, wherein, the 3rd distance is more than the second distance and described
Second distance is more than first distance.
2. unmanned vehicle context aware systems according to claim 1, it is characterised in that
Also include equal with first detecting system (10), second detecting system (20) and the 3rd detecting system (30)
The processor (40) of communication connection, the processor (40) are used to receive first detecting system (10), second detection
At least one of system (20) and the 3rd detecting system (30) detection information simultaneously generate the finger for controlling the unmanned vehicle
Order.
3. unmanned vehicle context aware systems according to claim 2, it is characterised in that
First detecting system (10) includes the multiple ultrasonic radars (11) being arranged in around unmanned vehicle vehicle body, the multiple
Ultrasonic radar (11) connects the processor (40) through ultrasonic wave controller (12).
4. unmanned vehicle context aware systems according to claim 3, it is characterised in that
The detection of obstacles information for being configured to be fed back according to the multiple ultrasonic radar (11) on the processor (40) is given birth to
Into the first processing module of anticollision alarm command.
5. unmanned vehicle context aware systems according to claim 2, it is characterised in that
Second detecting system (20) includes being used to gather the more of the three-dimensional point cloud of multiple moving targets around the unmanned vehicle
Multiple millimetre-wave radars of line laser radar (21) and/or the azimuth information for obtaining the unmanned vehicle peripheral motor target
(22)。
6. unmanned vehicle context aware systems according to claim 5, it is characterised in that
The multiple millimetre-wave radar (22) includes being installed on before the long range of the unmanned vehicle car body front end to millimetre-wave radar
And it is installed on the lateral short distance millimetre-wave radar of the unmanned vehicle body rear end.
7. unmanned vehicle context aware systems according to claim 6, it is characterised in that
It is configured on the processor (40) according to multi-line laser radar (21) and the multiple millimetre-wave radar (22) feedback
Detection information generate the Second processing module of instant map.
8. unmanned vehicle context aware systems according to claim 2, it is characterised in that
3rd detecting system (30) includes being arranged at steady as head and described steady as head on the unmanned vehicle car body
Drive under synchronously have enough to meet the need the Visible Light Camera (31), infrared light camera (32) and laser range finder (33) of scanning.
9. unmanned vehicle context aware systems according to claim 8, it is characterised in that
3rd detecting system (30) also includes controller (34), controller (34) connection it is described it is steady as head, it is described
Visible Light Camera (31), the infrared light camera (32) and the laser range finder (33), the controller (34) and the place
Manage device (40) communication connection, for control it is described surely as head turnover action and by the Visible Light Camera (31), described red
The processor (40) is fed back to after the fusion of the detection information of outer smooth camera (32) and the laser range finder (33).
10. unmanned vehicle context aware systems according to claim 9, it is characterised in that
The processor (40) is provided with the telecommunication port (41) being used for the communication connection of Remote terminal, for by institute
The detection information for stating the generation of the 3rd detecting system (30) is uploaded to remote monitoring terminal and receives the remote monitoring terminal and issues
Telecommand.
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Cited By (17)
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| CN108089203A (en) * | 2018-02-05 | 2018-05-29 | 弗徕威智能机器人科技（上海）有限公司 | A kind of special obstacle object detecting method |
| CN109177876A (en) * | 2018-08-13 | 2019-01-11 | 吉利汽车研究院（宁波）有限公司 | A kind of moving Object Detection alarm system and method |
| CN109283538A (en) * | 2018-07-13 | 2019-01-29 | 上海大学 | A kind of naval target size detection method of view-based access control model and laser sensor data fusion |
| CN109367543A (en) * | 2018-07-15 | 2019-02-22 | 北京三快在线科技有限公司 | The prediction technique and device of steer decision |
| CN109375629A (en) * | 2018-12-05 | 2019-02-22 | 苏州博众机器人有限公司 | A kind of cruiser and its barrier-avoiding method that navigates |
| CN109782764A (en) * | 2019-01-21 | 2019-05-21 | 湖北汽车工业学院 | A kind of unmanned logistics distribution system of intelligent solar, control method and dispensing vehicle |
| CN110239597A (en) * | 2019-07-03 | 2019-09-17 | 中铁轨道交通装备有限公司 | A kind of active Unmanned Systems of Straddle type monorail train |
| CN110412986A (en) * | 2019-08-19 | 2019-11-05 | 中车株洲电力机车有限公司 | A kind of vehicle barrier detection method and system |
| CN110531791A (en) * | 2019-08-25 | 2019-12-03 | 西北工业大学 | The machine integrated target detection unmanned vehicle of multiple instruction set hypencephalon |
| CN110525431A (en) * | 2019-09-24 | 2019-12-03 | 江苏经纬智联航空科技有限公司 | A kind of special vehicle anti-collision system applied to airport based on intelligentized control method |
| CN110799853A (en) * | 2018-10-26 | 2020-02-14 | 深圳市大疆创新科技有限公司 | Environment sensing system and mobile platform |
| CN111308461A (en) * | 2020-04-15 | 2020-06-19 | 长春大学 | Obstacle detection system, method and device for low-speed vehicle |
| CN111781606A (en) * | 2020-07-02 | 2020-10-16 | 大唐信通(浙江)科技有限公司 | Novel miniaturization implementation method for fusion of laser radar and ultrasonic radar |
| CN111845347A (en) * | 2020-07-30 | 2020-10-30 | 广州小鹏汽车科技有限公司 | Vehicle driving safety prompting method, vehicle and storage medium |
| CN112596050A (en) * | 2020-12-09 | 2021-04-02 | 上海商汤临港智能科技有限公司 | Vehicle, vehicle-mounted sensor system and driving data acquisition method |
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