CN107826107A - A kind of emergent obstacle avoidance system of autonomous driving vehicle - Google Patents
A kind of emergent obstacle avoidance system of autonomous driving vehicle Download PDFInfo
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- CN107826107A CN107826107A CN201711147132.7A CN201711147132A CN107826107A CN 107826107 A CN107826107 A CN 107826107A CN 201711147132 A CN201711147132 A CN 201711147132A CN 107826107 A CN107826107 A CN 107826107A
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- 238000001514 detection method Methods 0.000 claims abstract description 55
- 238000004891 communication Methods 0.000 claims description 30
- 238000012545 processing Methods 0.000 claims description 25
- 238000012544 monitoring process Methods 0.000 claims description 19
- 230000007246 mechanism Effects 0.000 claims description 9
- 238000013500 data storage Methods 0.000 claims 1
- 239000004744 fabric Substances 0.000 claims 1
- 230000004888 barrier function Effects 0.000 abstract description 12
- 230000008569 process Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 239000012491 analyte Substances 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
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
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention relates to a kind of autonomous driving vehicle obstacle avoidance system of meeting an urgent need, including detection unit and in-car control device outside detection unit outside main car, auxiliary car, the outer detection unit of main car, the outer detection unit equal at least two of auxiliary car, and it is electrically connected respectively with in-car control device, the outer detection unit of wherein main car is distributed on vehicle front face and rear end face around vertical axis, and the outer detection unit of auxiliary car is distributed on the side external surface of left and right vehicle wheel two around vertical axis.One aspect of the present invention effectively overcomes the ability for judging that barrier ranging operation external environment is disturbed detection operation, improve accuracy and reliability that ranging judges operation, the ability to obstacle identity identification is also improved simultaneously, on the other hand there is good structural strength and structural adjustment flexibility, can be according to using needs, complete detection is carried out to the barrier in the range of 360 ° of vehicle periphery, so as to greatly improve the safety and reliability of vehicle operation.
Description
Technical field
The present invention relates to one kind to drive system automatically, belongs to unmanned technical field.
Background technology
At present in the high independence operational outfit such as automatic driving vehicle, aircraft, in order to improve when equipment autonomously is run
Safety and reliability, often it is mounted with this kind equipment for carrying out active detecting and the avoidance of ranging to barrier
Device, the barrier in the high independence operational outfit running orbit such as automatic driving vehicle, aircraft is entered by this kind of device
Row detection, guides the high independence operational outfits such as automatic driving vehicle, aircraft to carry out avoidance to barrier, but actually using
Middle discovery, presently used obstacle avoidance apparatus are often that to be distributed on automatic driving vehicle, aircraft contour autonomous by some
Property operational outfit side surface supersonic range finder form, although can effectively realize to barrier carry out detection operation need
Will, but in one side detection process, detection signal is vulnerable to external environmental interference, influences the coverage of ranging operation and to barrier
Hinder analyte detection to judge precision, can not also realize and obstacle identity is judged, therefore can not effectively realize to pedestrian and object progress
Distinguish, so as to cause security during avoidance operation relatively low, on the other hand in detection operation can not according to using needs,
Operating position and the working condition of obstacle avoidance apparatus is adjusted flexibly, so as to further have impact on what currently used obstacle avoidance apparatus used
Flexibility and accuracy of detection, actual conditions can not be run according to vehicle, flexible detection operation is carried out to vehicle periphery barrier
Needs, therefore for this problem, it is necessary to develop a kind of new obstacle avoidance apparatus, to meet the needs of actual use.
The content of the invention
The object of the invention, which is that, overcomes above-mentioned deficiency, there is provided a kind of embedded software process right management method and machine
Structure.
To achieve the above object, the present invention is to be achieved through the following technical solutions：
A kind of emergent obstacle avoidance system of autonomous driving vehicle, including detection unit outside main car, detection unit and in-car outside auxiliary car
Control device, the outer detection unit of main car, the outer detection unit equal at least two of auxiliary car, and electrically connect with in-car control device respectively
Connect, wherein the outer detection unit of main car is distributed on vehicle front face and rear end face, the outer detection unit ring of auxiliary car around vertical axis
The side external surface of left and right vehicle wheel two, the outer detection unit of main car, the outer detection unit axis of auxiliary car and level are distributed on around vertical axis
Face is in 0 ° -90 ° angles, and in-car control device is electrically connected in vehicle centre console, and with vehicle driving computer system.
Further, the outer detection unit of described main car includes bearing base, laser ranging system, ultrasonic ranging dress
Put, infrared human body sensor, survey wide device, monitoring camera group and data acquisition circuit, the bearing base include connecting bottom board,
Workbench and turntable mechanism, described workbench is connected with each other by turntable mechanism and bottom plate, and described workbench and bottom plate
Between be in 0 ° -60 ° angles, described laser ranging system, supersonic range finder, infrared human body sensor, survey wide device, prison
Control shooting group is embedded in the preceding surface of workbench, and is electrically connected with data acquisition circuit, and described data acquisition circuit is embedded in bottom
In plate.
Further, described turntable mechanism is any one in dimensional turntable and three-dimensional turntable.
Further, it is connected with each other between described bottom plate, workbench by least two elastic cushion blocks, described cushion
Block is uniform around workbench and bottom plate axis, and elastic cushion block axis is mutually perpendicular to be distributed with bottom plate, workbench respectively.
Further, the outer detection unit of described auxiliary car includes locating piece, laser ranging system, ultrasonic ranging dress
Put, infrared human body sensor, monitoring camera group and data processing circuit, described locating piece are the rectangular closed chamber in cross section
Body structure, described locating piece inwall side surface set at least two slide rails, described laser ranging system, ultrasonic ranging dress
Put, infrared human body sensor, monitoring camera group and data processing circuit slide in locating piece, and by slide rail and locating piece
Connection, described data processing circuit respectively with laser ranging system, supersonic range finder, infrared human body sensor, monitoring
Shooting group is electrically connected.
Further, described monitoring camera group includes far infrared supervising device, 3D scan camera shootings head and monitoring camera
In any one or any several share.
Further, described data acquisition circuit and data processing circuit are used in DSP or fpga chip is any one
Circuit structure based on kind, and described data acquisition circuit and data processing circuit are all provided with serial communication terminal.
Further, described in-car control device includes data coding module, data communication bus, data buffer storage mould
Block, data operation processing module, image accelerate processing module, data communication module, data memory module and drive module, described
Data communication bus pass through data cache module distinguish data coding module, data operation processing module, image acceleration handle
Module, data communication module, data memory module and drive module electrical connection, described drive module outside main car respectively with examining
Survey the outer detection unit electrical connection of unit, auxiliary car.
Further, described data communication module include serial communication device, WIFI wireless communication apparatus, Zigbee without
Any one or a few in line communication device and radio-frequency communication device is used in conjunction with.
The present invention is simple in construction, flexible and convenient to use, and it is convenient that installation is changed, and equipment replacement operating efficiency is high, while a side
Face effectively overcomes the ability for judging that barrier ranging operation external environment is disturbed detection operation, improves ranging and sentences
The accuracy and reliability of industry are set for, while also improves the ability to obstacle identity identification, can effectively be realized to periphery pedestrian
It is identified and decision-making ability, the safety and reliability in avoidance operation process is improved, on the other hand with good structure
Intensity and structural adjustment flexibility, complete detection can be carried out to the barrier in the range of 360 ° of vehicle periphery according to using needs,
So as to greatly improve the safety and reliability of vehicle operation.
Brief description of the drawings
Fig. 1 is schematic structural view of the invention；
Fig. 2 is the outer detection unit structure chart of main car；
Fig. 3 is the outer detection unit structure chart of auxiliary car.
Embodiment
As shown in Fig. 1-3, a kind of emergent obstacle avoidance system of autonomous driving vehicle, including detection unit 1, auxiliary outside main car
The outer detection unit 2 of car and in-car control device 3, the outer detection unit 1 of main car, the outer detection unit 2 equal at least two of auxiliary car, and point
It is not electrically connected with in-car control device 3, wherein the outer detection unit 1 of main car is distributed on vehicle front face with after around vertical axis
End face, the outer detection unit 2 of auxiliary car are distributed on the side external surface of left and right vehicle wheel two around vertical axis, the outer detection unit 1 of main car, auxiliary
The outer axis of detection unit 2 of car is helped to be embedded in horizontal by 0 ° -90 ° angles, in-car control device 3 in vehicle centre console 4, and with
Vehicle driving computer system is electrically connected.
In the present embodiment, the outer detection unit 1 of described main car includes bearing base 101, laser ranging system 102, ultrasound
Wave ranging device 103, infrared human body sensor 104, survey wide device 105, monitoring camera group 106 and data acquisition circuit 107, institute
Stating bearing base 101 includes connecting bottom board 1011, workbench 1012 and turntable mechanism 1013, and described workbench 1012 is by turning
Platform mechanism 1013 is connected with each other with bottom plate 1011, and is in 0 ° -60 ° angles between described workbench 1012 and bottom plate 1011, described
Laser ranging system 102, supersonic range finder 103, infrared human body sensor 104, survey wide device 105, monitoring camera group
106 are embedded in 1012 preceding surface of workbench, and are electrically connected with data acquisition circuit 107, and described data acquisition circuit 107 is embedding
In in bottom plate 1011.
In the present embodiment, described turntable mechanism 1013 is any one in dimensional turntable and three-dimensional turntable.
In the present embodiment, interconnected between described bottom plate 1011, workbench 1012 by the phase of at least two elastic cushion block 1014
Connect, described elastic cushion block 1014 is uniform around workbench 1012 and the axis of bottom plate 1011, and the axis of elastic cushion block 1014 is distinguished
It is mutually perpendicular to be distributed with bottom plate 1011, workbench 1012.
In the present embodiment, the outer detection unit 2 of described auxiliary car includes locating piece 21, laser ranging system 102, ultrasonic wave
Range unit 103, infrared human body sensor 104, monitoring camera group 106 and data processing circuit 22, described locating piece 21 are
The rectangular airtight cavity structure in cross section, the described inwall side surface of locating piece 21 set at least two slide rails 23, and described swashs
Optical range finding apparatus 102, supersonic range finder 103, infrared human body sensor 104, monitoring camera group 106 and data processing circuit
22 in locating piece 21, and is slidably connected by slide rail 23 and locating piece 21, and described data processing circuit 22 is respectively with swashing
Optical range finding apparatus 102, supersonic range finder 103, infrared human body sensor 104, monitoring camera group 106 are electrically connected.
In the present embodiment, described monitoring camera group 106 includes far infrared supervising device, 3D scan camera shootings head and monitoring and taken the photograph
As any one in head or any several shared.
In the present embodiment, described data acquisition circuit 107 and data processing circuit 22 are used in DSP or fpga chip
Circuit structure based on any one, and described data acquisition circuit and data processing circuit are all provided with serial communication terminal.
In the present embodiment, described in-car control device includes data coding module, data communication bus, data buffer storage mould
Block, data operation processing module, image accelerate processing module, data communication module, data memory module and drive module, described
Data communication bus pass through data cache module distinguish data coding module, data operation processing module, image acceleration handle
Module, data communication module, data memory module and drive module electrical connection, described drive module outside main car respectively with examining
Survey unit 1, the outer detection unit 2 of auxiliary car is electrically connected.
In the present embodiment, described data communication module includes serial communication device, WIFI wireless communication apparatus, Zigbee
Any one or a few in wireless communication apparatus and radio-frequency communication device is used in conjunction with.
The present invention is simple in construction, flexible and convenient to use, and it is convenient that installation is changed, and equipment replacement operating efficiency is high, while a side
Face effectively overcomes the ability for judging that barrier ranging operation external environment is disturbed detection operation, improves ranging and sentences
The accuracy and reliability of industry are set for, while also improves the ability to obstacle identity identification, can effectively be realized to periphery pedestrian
It is identified and decision-making ability, the safety and reliability in avoidance operation process is improved, on the other hand with good structure
Intensity and structural adjustment flexibility, complete detection can be carried out to the barrier in the range of 360 ° of vehicle periphery according to using needs,
So as to greatly improve the safety and reliability of vehicle operation.
The general principle and principal character and advantages of the present invention of the present invention has been shown and described above.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the simply explanation described in above-described embodiment and specification is originally
The principle of invention, without departing from the spirit and scope of the present invention, various changes and modifications of the present invention are possible, these changes
Change and improvement all fall within the protetion scope of the claimed invention.The claimed scope of the invention by appended claims and its
Equivalent thereof.
Claims (9)
- A kind of 1. emergent obstacle avoidance system of autonomous driving vehicle, it is characterised in that：The emergent avoidance of described autonomous driving vehicle System includes the outer detection unit of main car, the outer detection unit of auxiliary car and in-car control device, the outer detection unit of described main car, auxiliary The outer detection unit equal at least two of car is helped, and is electrically connected respectively with in-car control device, wherein detecting list outside described main car Member is distributed on vehicle front face and rear end face around vertical axis, and the outer detection unit of described auxiliary car is uniform around vertical axis In the side external surface of left and right vehicle wheel two, the outer detection unit of described main car, the outer detection unit axis of auxiliary car horizontal by 0 °- 90 ° of angles, described in-car control device are electrically connected in vehicle centre console, and with vehicle driving computer system.
- A kind of 2. emergent obstacle avoidance system of autonomous driving vehicle according to claim 1, it is characterised in that：Described main car Outer detection unit includes bearing base, laser ranging system, supersonic range finder, infrared human body sensor, the wide device of survey, prison Control shooting group and data acquisition circuit, the bearing base include connecting bottom board, workbench and turntable mechanism, described workbench It is connected with each other by turntable mechanism and bottom plate, and is in 0 ° -60 ° angles between described workbench and bottom plate, described laser ranging Device, supersonic range finder, infrared human body sensor, survey wide device, monitoring camera group is embedded in the preceding surface of workbench, and with Data acquisition circuit is electrically connected, and described data acquisition circuit is in bottom plate.
- A kind of 3. emergent obstacle avoidance system of autonomous driving vehicle according to claim 2, it is characterised in that：Described turntable Mechanism is any one in dimensional turntable and three-dimensional turntable.
- A kind of 4. emergent obstacle avoidance system of autonomous driving vehicle according to claim 2, it is characterised in that：Described bottom It is connected with each other between plate, workbench by least two elastic cushion blocks, described elastic cushion block is equal around workbench and bottom plate axis Cloth, and elastic cushion block axis is mutually perpendicular to be distributed with bottom plate, workbench respectively.
- A kind of 5. emergent obstacle avoidance system of autonomous driving vehicle according to claim 1, it is characterised in that：Described auxiliary The outer detection unit of car includes locating piece, laser ranging system, supersonic range finder, infrared human body sensor, monitoring camera group And data processing circuit, described locating piece are the rectangular airtight cavity structure in cross section, described locating piece inwall side table Face sets at least two slide rails, described laser ranging system, supersonic range finder, infrared human body sensor, monitoring camera group And data processing circuit is embedded in locating piece, and it is slidably connected by slide rail and locating piece, described data processing circuit difference It is electrically connected with laser ranging system, supersonic range finder, infrared human body sensor, monitoring camera group.
- A kind of 6. autonomous driving vehicle obstacle avoidance system of meeting an urgent need according to claim 2 and 6, it is characterised in that：Described Monitoring camera group includes any one in far infrared supervising device, 3D scan camera shootings head and monitoring camera or any several common With.
- A kind of 7. autonomous driving vehicle obstacle avoidance system of meeting an urgent need according to claim 2 and 6, it is characterised in that：Described Data acquisition circuit and data processing circuit are used in the circuit structure of DSP or fpga chip based on any one, and institute The data acquisition circuit and data processing circuit stated are all provided with serial communication terminal.
- A kind of 8. emergent obstacle avoidance system of autonomous driving vehicle according to claim 1, it is characterised in that：Described in-car Control device includes data coding module, data communication bus, data cache module, data operation processing module, image and accelerated Processing module, data communication module, data memory module and drive module, described data communication bus pass through data buffer storage mould Block difference data coding module, data operation processing module, image accelerate processing module, data communication module, data storage mould Block and drive module electrical connection, described drive module are electric with detection unit outside detection unit outside main car, auxiliary car respectively Connection.
- A kind of 9. emergent obstacle avoidance system of autonomous driving vehicle according to claim 1, it is characterised in that：Described data Communication module is included in serial communication device, WIFI wireless communication apparatus, Zigbee wireless communication apparatus and radio-frequency communication device Any one or a few be used in conjunction with.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711147132.7A CN107826107A (en) | 2017-11-17 | 2017-11-17 | A kind of emergent obstacle avoidance system of autonomous driving vehicle |
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| CN201711147132.7A CN107826107A (en) | 2017-11-17 | 2017-11-17 | A kind of emergent obstacle avoidance system of autonomous driving vehicle |
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| CN108674307A (en) * | 2018-04-02 | 2018-10-19 | 李 | A kind of autonomous operation Vehicular intelligent loudspeaker warning system |
| CN109341869A (en) * | 2018-12-04 | 2019-02-15 | 西安思科赛德电子科技有限公司 | A kind of infrared detection sensor regulating device |
| CN109466550A (en) * | 2018-11-19 | 2019-03-15 | 安徽江淮汽车集团股份有限公司 | Self-adaption cruise system starting safety control system and method |
| CN110884489A (en) * | 2019-12-18 | 2020-03-17 | 新昌县三维精工机械有限公司 | New energy automobile is with chassis obstacle detection early warning device all around |
| CN111016859A (en) * | 2019-12-20 | 2020-04-17 | 南京泰晟科技实业有限公司 | Vehicle emergency brake protection system and method |
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Application publication date: 20180323 |