CN108001457B - 自动车辆传感器控制系统 - Google Patents

自动车辆传感器控制系统 Download PDF

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CN108001457B
CN108001457B CN201711056770.8A CN201711056770A CN108001457B CN 108001457 B CN108001457 B CN 108001457B CN 201711056770 A CN201711056770 A CN 201711056770A CN 108001457 B CN108001457 B CN 108001457B
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CN108001457A (zh
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S·兰贝尔蒙特
韦峻青
J·H·李
许闻达
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Motional AD LLC
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    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
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    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
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    • G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
    • 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
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    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
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    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
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Abstract

一种用于操作自动车辆的传感器控制系统(10)，包括第一传感器(20)、第二传感器(30)和控制器(34)。第一传感器(20)用于检测主车辆(12)附近的物体。第一传感器(20)的特征在于第一感测技术(22)。第二传感器(30)用于检测主车辆(12)附近的物体。第二传感器(30)的特征在于与第一感测技术(22)不同的第二感测技术(32)。控制器(34)与第一传感器(20)和第二传感器(30)通信。由第一传感器检测到的物体(18)的位置(36)用于选择第二传感器的视场(38)。

Description

自动车辆传感器控制系统
技术领域
本公开内容总体上涉及一种用于操作自动车(automated vehicle)的传感器控制系统，具体而言，涉及使用由第一传感器检测到的物体的位置来选择第二传感器的视场的系统，其中，第一传感器的感测技术不同于第二传感器。
背景技术
已知例如使用不同类型或种类的传感器、相机、雷达单元和激光雷达单元来配备自动车辆。应当认识到，与不同类型的传感器相比，每种类型的传感器都具有优点和缺点。
发明内容
根据一个实施例，提供了一种用于操作自动车辆的传感器控制系统。该系统包括第一传感器、第二传感器和控制器。第一传感器用于检测主车辆附近的物体。第一传感器的特征在于第一感测技术。第二传感器用于检测主车辆(host vehicle)附近的物体。第二传感器的特征在于与第一感测技术不同的第二感测技术。控制器与第一传感器和第二传感器进行通信。由第一传感器检测到的物体的位置用于选择第二传感器的视场。
在阅读以下仅通过非限制性示例的方式并参考附图给出的对优选实施例的详细描述之后，其它特征和优点将更清楚地显现。
附图说明
现在将参考附图通过示例的方式描述本发明，在附图中：
图1是根据一个实施例的传感器控制系统的图；
图2是根据一个实施例的图1的系统所遇到的交通场景。
具体实施方式
图1示出了传感器控制系统10的非限制性示例，该传感器控制系统10在下文被称为系统10，其适合于由自动车辆(例如，主车辆12)使用。本文给出的示例总体上涉及当主车辆12以自动模式14操作时的实例，即完全自主的模式，其中主车辆12的操作人员(未示出)仅仅指定目的地以操作主车辆12。然而，可以想到，当主车辆12以手动模式16操作时，本文中给出的教导是有用的，其中，在手动模式16中自动化的程度或水平仅仅是向通常控制主车辆12的转向、加速踏板和刹车的操作人员提供转向建议，即，系统10可以根据需要来辅助操作人员以到达目的地和/或避免碰撞。
系统10包括用于检测主车辆12附近的物体(例如，物体18)的第一传感器20。第一传感器20的总体特征在于由第一传感器用于检测物体18的第一感测技术22。作为示例而非限制，第一传感器20可以是使用已知的图像捕获技术来检测物体18的相机24、使用已知的雷达技术来检测物体18的雷达单元26、或使用已知的激光雷达技术来检测物体18的激光雷达单元28。该系统还包括用于检测主车辆附近的物体的第二传感器30。类似地，第二传感器30的特征在于有利地与第一感测技术22不同的第二感测技术32，其优点将在随后对系统10的进一步描述中变得显而易见。第一传感器技术22被指定为不同于第二传感器技术32并不意味着建议主车辆12上的每个传感器都必须基于不同的传感器技术。然而，本文给出的示例将用于显示具有至少两种不同的传感器技术的系统10的益处，该传感器技术可用于检测和识别或分类物体18的各种实例，例如，(参见图2)行人52、其它车辆54、停车标志56、铁路标志58、在铁路轨道68上行驶的火车60、限速标志64、交通信号66或路标62。
系统10包括与第一传感器20和第二传感器30通信的控制器34。通信可以采用但不限于有线、无线通信或光纤的方式，如本领域技术人员将认识到的。控制器34被配置为确定由第一传感器20检测到的物体18的位置36。可以设想，将使用主车辆12的参考点的坐标来描述位置36，即相对于主车辆12上的某个点(例如，主车辆12的前保险杠的中心，或第一传感器20和/或第二传感器30安装在主车辆上的位置)来指定位置36。例如，位置36可以被指定为从第一传感器20到物体18的距离36A和方向36B。然而，可以认识到，可以使用某个其它参考点，例如全球定位传感器(GPS)坐标，如本领域技术人员将认识到的。
已经认识到，在一些情况下，一种传感器技术对于初始检测物体18具有优势，而另一种传感器技术可能更适合于识别或监测物体18的一些特性。为了减小一个传感器(例如，第二传感器30)的视场，从而降低控制器34的数据处理负担，使用来自第一传感器20的信息确定的位置36可有利地用于选择第二传感器30的视场38。如本文使用的，视场38可以包括方向(例如，方位角和/或仰角)和/或场大小(例如，缩放因子、场角、场形状)。
图2示出了主车辆12可能遇到的交通情景40的非限制性示例。通常，由第一传感器20初始检测到的物体18将处于视场38中。例如，激光雷达单元28能够更容易地初步确定反射路标(例如，停车标志56、限速标志64或铁路标志58)存在于主车辆12附近，但是由于分辨率限制，激光雷达单元28可能不能识别标志的类型和/或辨别标志上的文字。即，如果第一传感器20是激光雷达单元28，则物体18的分类42可以是“反射标志”，但是激光雷达单元28对于确定反射标志的形状和/或内容可能不是特别有用。如果第二传感器30是相机24，则选择相机24的视场38，以使得控制器34进行基于标志形状和/或标志内容确定标志的识别44所需的图像处理量。可以设想，如果如此配备相机24，则视场38也可用于控制放大/缩小功能和/或相机方向功能。
作为另一示例，如果第一传感器20是雷达单元26，则雷达单元26可以更易于检测朝向主车辆12移动的其它车辆54，特别是当其它车辆54比图2所示的更远离主车辆12时。因此，该示例的分类42可以是“车辆”。如果第二传感器30是相机24，则视场38可以聚焦在另一车辆54上以确定车辆的类型，即识别44，在该示例中为校车。可以设想，图像处理的分析策略46可以被选择，以便更易于检测校车的闪光灯48是否被激活，指示校车正停车以让行人52上车。如果闪光灯48被激活，则主车辆12可以被编程为停止或保持停止直到至少闪光灯48已经关闭。
如上所示，基于来自第一传感器20的信息来确定物体18的分类42，并且使用分类42来针对来自第二传感器30的信息选择分析策略46。在又一示例中，如果雷达单元26或激光雷达单元28检测到位于主车辆前方的前方车辆(未示出)，则可以优化用于对来自相机24的图像进行图像处理的分析策略46以便检测或搜索前方车辆的转向/刹车灯。
虽然上述示例是当物体18存在于视场38中时的情况，但是可以设想，在一些情况下，如果物体18不在视场38中，可能是有利的，即视场38被指向与位置36的方向基本上不同的方向。例如，如果第一传感器20是相机24，并且确定物体18的识别44是铁路标志58，则雷达单元26的视场38可以被指向沿着铁路轨道68远离铁路标志58，以检测火车60的存在，并且确定火车60是否正在朝铁路标志58所指示的铁路道口移动。
虽然上面给出的示例总体上涉及系统10具有两种类型的传感器(即，两种不同的传感器技术)的示例，但可以设想，主车辆可以配备有代表三种或更多种传感器技术的传感器。在这种情况下，可以设想，可以基于来自第一传感器20的信息来确定物体18的分类42，并且使用分类42来选择多个传感器(相机24、雷达单元26、激光雷达单元28)中的哪个用作第二传感器。例如，如上所述，如果物体18是铁路标志58，则可能优选的是使用雷达单元26而不是激光雷达单元28来搜索火车60，因为雷达单元26能够比激光雷达单元28在更远的距离处检测到火车60。然而，如果物体18是停车标志56，则可能有利的是使用激光雷达单元28来检测从侧路50靠近主车辆的靠近车辆(未示出)。
系统10可以包括数字地图70，其中，数字地图70上的地图位置通常使用诸如全球定位系统(GPS)之类的位置设备72来确定，或者可替换地使用车辆对基础设施(V2I)通信、车辆对车辆(V2V)通信和/或车辆对行人(V2P)通信(其可以被一般地被称为V2X通信)来确定，由此相对于通过V2X接收的GPS坐标来确定主车辆12的地图位置，如本领域技术人员将会认识到的。然而，有时GPS可能不可用或可能不能提供足够的精度，因此可以基于物体18的位置36来确定更精确的地图位置。即，例如如果物体18被识别为停车标志56，则通过获知停车标志56相对于主车辆12的位置36，可以确定或更准确地确定数字地图70上的地图位置。
因此，提供了传感器控制系统(系统10)、用于系统10的控制器34以及操作系统10的方法。系统10提供对物体的更快和更可靠的检测/分类/识别，这对于在数字地图70上的定位和/或避免碰撞/车辆导航可能是有用的。
虽然已经关于本发明的优选实施例描述了本发明，但是并非旨在受限于此，而是仅限于所附权利要求书中所阐述的范围。

Claims (6)

1.一种用于操作自动车辆的传感器控制系统(10)，所述系统(10)包括：
第一传感器(20)，所述第一传感器(20)用于检测主车辆(12)附近的物体(18)，所述第一传感器(20)的特征在于第一感测技术(22)；
第二传感器(30)，所述第二传感器(30)用于检测所述主车辆(12)附近的所述物体(18)，所述第二传感器(30)的特征在于与所述第一感测技术(22)不同的第二感测技术(32)；
控制器(34)，所述控制器(34)与所述第一传感器(20)和所述第二传感器(30)通信，其中，所述控制器(34)被配置为：
确定由所述第一传感器(20)检测到的物体(18)的位置(36)，以及
使用所确定的位置(36)来选择所述第二传感器(30)的视场(38)的场大小，其中，所述场大小是缩放因子、场角、或者场形状。
2.根据权利要求1所述的系统(10)，其中，所述第一传感器(20)是相机(24)、激光雷达单元(28)和雷达单元(26)中的一个；所述第二传感器(30)是相机(24)、激光雷达单元(28)和雷达单元(26)中的一个；并且所述第一传感器(20)与所述第二传感器(30)不同。
3.根据权利要求1所述的系统(10)，其中，所述控制器(34)被进一步配置为：
确定由所述第一传感器(20)检测出的所述物体(18)的识别(44)，
基于所确定的所述物体(18)的识别(44)和位置(36)，将所述第二传感器(30)的视场(38)指向与所述位置(36)的方向基本上不同的方向，以检测与所述物体(18)不同的第二物体(60)的存在。
4.根据权利要求3所述的系统(10)，其中，在所述第二传感器(30)的视场(38)指向与所述位置(36)的方向基本上不同的方向的情况下，所述物体(18)不存在于所述第二传感器(30)的视场(38)中。
5.根据权利要求1所述的系统(10)，其中，基于来自所述第一传感器(20)的信息来确定所述物体(18)的分类(42)，并且所述分类(42)用于针对来自所述第二传感器(30)的信息选择分析策略(46)。
6.根据权利要求1所述的系统(10)，其中，基于来自所述第一传感器(20)的信息来确定所述物体(18)的分类(42)，并且所述分类(42)用于选择多个传感器中的哪个传感器用作所述第二传感器(30)。
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