CN108061903A - A kind of round-the-clock low speed unmanned vehicle detection obstacle avoidance system of Multi-sensor Fusion - Google Patents
A kind of round-the-clock low speed unmanned vehicle detection obstacle avoidance system of Multi-sensor Fusion Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- 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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
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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
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
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- G—PHYSICS
- G01—MEASURING; TESTING
- 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
- 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
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- 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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/86—Combinations of sonar systems with lidar systems; Combinations of sonar systems with systems not using wave reflection
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- G—PHYSICS
- G01—MEASURING; TESTING
- 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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
- G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- G—PHYSICS
- G01—MEASURING; TESTING
- 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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
-
- G—PHYSICS
- G01—MEASURING; TESTING
- 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
- 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
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9327—Sensor installation details
- G01S2013/93271—Sensor installation details in the front of the vehicles
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- G—PHYSICS
- G01—MEASURING; TESTING
- 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
- 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
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9327—Sensor installation details
- G01S2013/93272—Sensor installation details in the back of the vehicles
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Abstract
The invention belongs to unmanned technical fields, disclose a kind of round-the-clock low speed unmanned vehicle detection obstacle avoidance system of Multi-sensor Fusion.The present invention includes control system and roof laser radar, front detection microwave radar group, rear detection microwave radar and configuration are further included in the front laser radar group of unmanned vehicle lower car body and rear laser radar group, control system includes host computer and slave computer, each laser radar feedback signal of host computer real-time reception simultaneously decodes, then communicated with slave computer and transmit input control signal to slave computer, slave computer controls unmanned vehicle to travel by decoding input control signal.The present invention is cheap, cost performance is relatively high, has very strong practicability.
Description
Technical field
The invention belongs to unmanned technical fields, and in particular to a kind of round-the-clock low speed unmanned vehicle of Multi-sensor Fusion is visited
Survey obstacle avoidance system.
Background technology
With economic fast development, automobile has become component more and more important in people's life.It drives
The negligence for the person of sailing can all cause many accidents, every year number dead in whole world traffic accident about 1,000,000
People, China probably have nearly 100,000 people to die of traffic accident every year.Since driver error is numerous, automobile manufacturers will collect certainly
The system that middle energy design can ensure that automotive safety is one of principal element for pulling automatic driving car demand growth safely；Its
Secondary, serious traffic jam makes driving not so fine in China big city, and the unmanned vehicle of artificial intelligence is allowed to be driven instead of someone
Sail the problems such as being fully solved traffic jam；In addition, bad air regime is also the " catalysis for promoting pilotless automobile
Agent ".
Pilotless automobile is to perceive road environment by vehicle-mounted sensor-based system, and automatic planning travelling line simultaneously controls vehicle
Reach the intelligent automobile of predeterminated target.It is to perceive vehicle-periphery using onboard sensor, and is obtained according to perceiving
Road, vehicle location and obstacle information, steering and the speed of vehicle are controlled, so as to enable the vehicle to reliably and securely exist
It is travelled on road.Pilotless automobile integrate automatically control, architecture, artificial intelligence, vision calculate etc. numerous technologies,
Be computer science, pattern-recognition and intelligent control technology high development product and weigh a national research strength and
One important symbol of industrial level, has broad application prospects in national defence and national economy field.
At present, unmanned vehicle development is still in infancy, and each state has all started the research of Intelligent unattended driving in succession.
The either intelligent driving of which kind of degree, the first step is all to perceive, that is, perceives the road conditions environment of vehicle-surroundings complexity, at this
Corresponding path planning and driving behavior decision-making can be just made on the basis of a, the selection of detecting sensor is unmanned vehicle success avoidance
Premise.Common ranging detecting sensor has：Ultrasonic distance-measuring sensor, infrared distance sensor, CCD vision systems, milli
Metre wave radar, microwave radar and laser radar etc..
Laser radar is actually that one kind is operated in optical region（Special wave band）Radar, laser radar belong to actively visit
It surveys, independent of the radiation characteristic of extraneous illumination condition or target in itself, it only need to emit the laser beam of oneself, be sent out by detecting
The echo-signal of laser beam is penetrated to obtain target information.Laser wave length can emit the very small laser beam of the angle of divergence, multipath
Effect is small, detectable low latitude/treetop level target.Single line laser radar is one kind in laser radar, due to only emitting all the way
It receives all the way, structure is relatively easy, and use is also more convenient；The single line laser radar scan period is shorter, to direction of advance ring
The sweep speed in border is fast, and angular resolution is higher, and radar small volume itself, weight is relatively light, and power consumption is also than relatively low, reliably
Higher, the relative inexpensiveness of property；Single line laser radar investigative range is relatively wide, can provide a large amount of environmental scanning point distance letters
Breath decision-making can provide larger convenience in order to control, and it is unknown that more than advantage so that single line laser radar becomes unmanned vehicle perception
One prioritizing selection of environment.
General common simple unmanned bassinet structure such as Fig. 1, detection and obstacle avoidance system principle such as Fig. 2.Automatic driving car
By（Single line is multi-thread）Laser radar sensor detection system detects environment and is conveyed to PC machine（Host computer）, then PC machine pass through
Coded treatment sends control instruction to SCM Based slave computer, and single chip control module sends control after communication decodes
To DC brushless motor controller, controller drives multiple DC brushless motor movements for system instruction；Single-chip computer control system according to
The variation of peripheral environment carrys out the speed of regulation motor, and then controls the position of unmanned vehicle in the actual environment, realizes that unmanned vehicle exists
Walking and avoidance among actual condition, existing simple unmanned vehicle control is to control single single line by single microcontroller
Laser radar sensor or multi-line laser radar sensor realize above-mentioned function.
But above-mentioned technical proposal long-play can find, there is problems, mainly have：
（1）Since unmanned vehicle is by the interference of ambient enviroment destabilizing factor, SCM Based controller antijamming capability is poor, warp
Often it is present with exception, causes unmanned vehicle out of control.
（2）Existing automatic driving car is using rudimentary DSP, ARM family chip, working frequency most 100 megahertzs of great talent
Hereby left and right can not meet the rapid computations of unmanned vehicle complex data.
（3）It is influenced by unmanned vehicle PC machine performance, the sensor gathered data of unmanned vehicle quickly can not be calculated and stored.
（4）The data that single line laser radar obtains are 2D data, cannot be distinguished from the information such as the height of target, some babies
Cognition is ignored, and eventually becomes barrier, and single single line laser radar sensor navigation becomes the bottleneck of automotive field.
（5）Single single line laser radar can not obtain information of road surface, it is necessary to coordinate other sensors to terrestrial information into
Row reads and differentiates.
（6）Although multi-line laser radar can realize 2.5D or 3D data, it can be determined that the height of barrier handles ground
Information etc., but price is relatively expensive, and the laser radar price of 64 beams is up to 700,000 RMB, can not large area
It promotes the use of.
（7）Single single line laser radar can not detect the information such as bent angle, cliff road, it is necessary to which other sensors is coordinated to use
Peripheral obstacle signal or alignment sensor mark can just be read.
（8）Present unmanned vehicle substantially only considers forward detection and avoidance, does not consider the obstacle information at rear, has
When the rear barrier that occurs can hurt unmanned vehicle body, and unmanned vehicle can not realize that acceleration is hidden.
（9）Moment is just being started there is a detection blind area based on single single line laser radar unmanned vehicle, once have
Barrier is in blind area, is easy to generate traffic accident.
（10）Detection blind area is also present with during actual travel based on single single line laser radar unmanned vehicle, once
Traffic accident can also be generated by having barrier to enter movement blind area during the motion.
（11）Either single line laser radar or multi-line laser radar is very sensitive to the weather for having misty rain, and misty rain is to laser
Radar absorption is very serious, so having the weather of mist in rain, laser radar performance can be greatly reduced, the security of unmanned vehicle is made
Into large effect.
（12）Either single line laser radar or multi-line laser radar is very sensitive to the environment for having smog, and smog is to laser
Radar absorption is very serious, so under the operating mode for having smog, laser radar performance can be greatly reduced, and the security of unmanned vehicle is made
Into large effect.
（13）Either single line laser radar or multi-line laser radar is very sensitive to the environment for having dust, and dust is to laser
Radar absorption is very serious, so under the operating mode for having dust, laser radar performance can be greatly reduced, and the security of unmanned vehicle is made
Into large effect.
（14）Either single line laser radar or multi-line laser radar sunlight very sensitive to the weather for having strong light, strong
It sometimes can make laser radar performance that can be greatly reduced, sometimes even without signal output, the security of unmanned vehicle is made
Into large effect.
Microwave is the very short radio wave of wavelength, and the directionality of microwave is fine, and speed is equal to the light velocity.Microwave runs into barrier
It is reflected back, can be received by radar meter immediately.Microwave radar measures the distance of barrier according to electromagnetic wave two-way time.With
The optical navigations such as infrared, laser are compared, and microwave penetration mist, cigarette, the ability of dust are strong, are had round-the-clock（Except the big rainy day）Whole day
When the characteristics of.
In order to meet unmanned vehicle all weather operations, now to the single line laser radar based on DSP or ARM controls or multi-thread laser
The unmanned detection obstacle avoidance system of radar is improved, and is introduced the cheap microwave radar of all weather operations, is coordinated existing high property
Energy, the laser radar of high performance-price ratio form a set of practical unmanned vehicle detection cheap, that cost performance is relatively high and perceive not
Know the sensor-based system of environment.
The content of the invention
The present invention seeks to：In order to overcome the deficiencies in the prior art, the present invention provides a kind of Multi-sensor Fusion
Round-the-clock low speed unmanned vehicle detects obstacle avoidance system.
Specifically, realization that the present invention adopts the following technical solutions, including control system and roof laser radar, go back
The front laser radar of microwave radar and configuration in unmanned vehicle lower car body is detected including front detection microwave radar group, rear
Group and rear laser radar group, the roof laser radar are used to detect the fluctuating of unmanned vehicle road ahead and swash with front
Optical radar group detects the barrier situation in unmanned vehicle forward path together；The front laser radar group is additionally operable to detect
Barrier situation in unmanned vehicle left front and right front motion path；After the rear laser radar group is for detecting unmanned vehicle
The barrier situation of side；The front detection microwave radar group and rear detection microwave radar are used for medium and long distance obstacle physical prospecting
It surveys；The control system includes host computer and slave computer, and each laser radar feedback signal of host computer real-time reception simultaneously decodes, then
It is communicated with slave computer and transmits input control signal to slave computer, slave computer carries out microwave radar range calculating and combines decoded
Input control signal control unmanned vehicle traveling.
Furthermore, the roof laser radar is 1 single line laser radar, is located slightly above roof and and horizontal plane
Similar to 5 ~ 15 degree obliquely of roof front center portion.
Furthermore, the roof laser radar is LMS151 single line laser radars.
Furthermore, the front laser radar group is made of 3 single line laser radars, wherein there is two to be located at respectively
The left front portion of headstock and right front portion, the two center position, there are one angle 30 degree approximate, remain away from unmanned vehicle direction of advance
One is remaininged positioned at the center of the two, and center position is consistent with unmanned vehicle direction of advance.
Furthermore, the about liftoff 40cm of the setting height of the front laser radar group.
Furthermore, the front laser radar group is LMS151 single line laser radars.
Furthermore, the rear laser radar group is made of two single line laser radars parallel with horizontal plane, point
Not Wei Yu the tailstock both sides.
Furthermore, the rear laser radar group sets the about liftoff 40cm ~ 60cm of height.
Furthermore, the rear laser radar group is LMS122 single line laser radars.
Furthermore, further include and be arranged on the front ultrasonic sensor group of unmanned car bottom and rear supersonic sensing
Device group, the front ultrasonic sensor group is for blind area detection avoidance, the rear ultrasonic sensor group in front of unmanned vehicle
Avoidance, the slave computer and front ultrasonic sensor group and rear ultrasonic sensor group are detected for unmanned vehicle rear blind area
Communication.
Furthermore, the front ultrasonic sensor group is made of 5 ultrasonic sensors.
Furthermore, the rear ultrasonic sensor group is made of 5 ultrasonic sensors.
Furthermore, the host computer is the NUC microcomputers of Intel.
Furthermore, the slave computer is STM32F7 MCU.
Furthermore, the control system is communicated by wireless device and unmanned vehicle master station, when unmanned vehicle and master station lose
When going communication, slave computer implements automatic stopping control.
Furthermore, the slave computer is additionally operable to read the site identity on ground.
Furthermore, unmanned vehicle is electric car, and the control system is joined according to the internal resistance of electromobile battery and temperature
Several terminal voltages to accumulator are detected.
Furthermore, the front detection microwave radar group includes being located at the first microwave radar of roof and is located at car body
Second microwave radar of lower part, the rear detection microwave radar are located at lower car body.
Beneficial effects of the present invention are as follows：
1st, during the motion, the effect of battery in this system has been taken into full account, has all been existed based on the ARM+NUC controller moment
The operating status of unmanned vehicle is monitored and computing, the generation of high current is avoided, so fundamentally solving high current
Impact to battery avoids the generation of the accumulator overaging phenomenon caused by heavy-current discharge.
2nd, in fast discharge process, in the voltage detecting process of opposite end, the parameters such as internal resistance, the temperature of accumulator are introduced,
So that terminal voltage is closer to actual parameter, the favourable low-voltage variation for using battery.
3：By the data fusion of more single line laser radars of NUC processing unmanned vehicles so that control is fairly simple, greatly improves
Arithmetic speed solves single ARM chip softwares and runs slower bottleneck, and it is short to shorten the construction cycle, and program transportability
Ability is strong.
4：Present invention saves control panel occupied space, and also achieve effective detection of the multiple isolated areas of unmanned vehicle
And avoidance, be conducive to improve unmanned vehicle system stability and dynamic property.
5：Since controller of the present invention is using the data and algorithm of a large amount of single line laser radar sensors of NUC7 processing, and fill
Divide the interference source for considering surrounding, ARM from hard work amount is freed, effectively prevents motion control main program
" run fly ", unmanned vehicle antijamming capability greatly enhances.
6：Since the single line laser radar and microwave radar of unmanned bus-top have certain angle, this angle with ground
Top layer single line laser radar and microwave radar can be helped to find the movement original fluctuating in road surface in advance very well, prevent road surface breakage
Caused have the dell of certain depth and width to influence unmanned vehicle normally to travel.
7：Since the single line laser radar and microwave radar of unmanned bus-top have certain angle, this angle with ground
Top layer single line laser radar and microwave radar can be helped to find that the small obstacle of falling is lost on movement road surface temporarily, prevents in advance very well
Only there is the barrier of certain altitude and width to influence unmanned vehicle normally to travel.
8：The more single line laser radars in front and microwave radar sensor fusion system not only can effectively detect unmanned vehicle fortune
Position where the barrier in dynamic direction notifies unmanned vehicle control to realize Emergency avoidance, and compared to multi-line laser radar
Hardware cost is relatively low, is conducive to the popularization of unmanned vehicle practical application.
9：The more single line laser radar sensor fusion systems in front, since there is friendship in the direction of single line laser radar sensor
Fork, can effectively detect the presence of direction of motion both sides columnar object, and the positioning that can advance for unmanned vehicle provides certain help.
10：The more single line laser radar sensor fusion systems in front, since there is friendship in the direction of single line laser radar sensor
Fork, can effectively detect the presence of both sides clear area, and turning and the avoidance of can advancing for unmanned vehicle provide certain help.
11：The more single line laser radars in rear and microwave radar sensor fusion system can effectively detect unmanned vehicle with after
The distance of square moving obstacle, when in case of emergency, unmanned vehicle can accelerate flee danger region under controller help,
Play the role of protecting unmanned vehicle body.
12：The front blind-area detecting system being made of multiple ultrasonic sensors can effectively eliminate unmanned vehicle, and just startup is accelerated forwardly
When the short-distance blind section that occurs, improve unmanned vehicle forward Acceleration of starting when safety and reliability.
13：The rear blind area detecting system being made of multiple ultrasonic sensors can effectively eliminate when unmanned vehicle has just started reversing
Existing short-distance blind section improves safety and reliability during unmanned vehicle reversing.
14：The front blind-area detecting system being made of multiple ultrasonic sensors can effectively eliminate real-time during unmanned vehicle normally travel
The short-distance blind section of appearance further improves unmanned vehicle safety and reliability.
15：The rear blind area detecting system being made of multiple ultrasonic sensors occurs in real time when can effectively eliminate unmanned vehicle reversing
Short-distance blind section, further improve unmanned vehicle safety and reliability.
16：Under the weather conditions for having misty rain, start microwave radar and remote and middle distance measurement carried out to advance environment,
It is navigated under conditions of laser radar is interfered using microwave radar, is conducive to improve the safety under unmanned vehicle adverse circumstances
Property.
17：Under the weather conditions for having smog, start microwave radar and remote and middle distance measurement carried out to advance environment,
It is navigated under conditions of laser radar is interfered using microwave radar, is conducive to improve the safety under unmanned vehicle adverse circumstances
Property.
18：Under the weather conditions for having dust more, start microwave radar and remote and middle distance is carried out to advance environment
Detection is navigated under conditions of laser radar is interfered using microwave radar, is conducive to improve under unmanned vehicle adverse circumstances
Security.
19：For the unmanned vehicle of this structure, in order to meet a wide range of multi-site operation, add with certain redundancy
The site sensor of degree not only beneficial to the positioning of unmanned vehicle, but also is also beneficial to tracking of the master station to unmanned vehicle.
Description of the drawings
Fig. 1 is common simple automatic driving car two-dimensional structure figure.
Fig. 2 is the detection of common unmanned vehicle and obstacle avoidance system schematic diagram.
Fig. 3 is Multi-sensor Fusion automatic driving car two-dimensional structure figure.
Fig. 4 arranges two-dimensional structure figure for front single line laser radar and microwave radar group.
Fig. 5 arranges two-dimensional structure figure for front blind zone supersonic sensor group.
Fig. 6 arranges two-dimensional structure figure for the polynary radar group in rear and ultrasonic wave group.
Fig. 7 is the detection of Multi-sensor Fusion unmanned vehicle and obstacle avoidance system schematic diagram.
Fig. 8 is Multi-sensor Fusion unmanned vehicle operation schematic diagram.
Fig. 9 runs acceleration and deceleration curves figure for unmanned vehicle.
Specific embodiment
With reference to embodiment and the present invention is described in further detail referring to the drawings.
Embodiment 1：
One embodiment of the present of invention, concrete scheme are as described below.
The unmanned vehicle sensor structure of the present embodiment is arranged as shown in Fig. 3, Fig. 4, Fig. 5, Fig. 6.Specifically, SICK companies
Laser radar using ripe laser -- time flight theory and multiple echo technology, non-contact detection can be according to existing
Field needs, and sets the protection zone of various figures, and figure can be simply changed at any time, by interior according to the needs at scene
Portion filters and multiple echo technology causes sensor to have reliable interference free performance.LMS151 and LMS122 is that SICK companies are new
The high-performance of release is directed to the laser radar of proximity detection respectively, and LMS151 series is directed to the object of 10% reflectivity, distance
50 meters can be reached, LMS122 detecting distances are farthest 20 meters reachable.In view of above feature, the present embodiment is used and is based on
The laser radar group of LMS1XXX series forms unmanned vehicle closely front and back obstacle detection and protection system：This hair
It is bright using a position be slightly above roof, with horizontal plane similar to 5 ~ 15 degree, obliquely, positioned at roof front center portion
LMS151-10100 single line laser radars L1 is with LMS151-10100 single lines parallel with horizontal plane the liftoff general 40cm of unification group
Laser radar（Generally 3, be respectively L2, L3, L4）The accurate front proximity detection of composition and obstacle avoidance system, wherein horizontal
L2, L4 are respectively positioned at the left front portion of headstock and right front portion in radar group, and away from the direction of motion, there are one near for their center positions
Like 30 degree of angle, it can effectively detect respectively on the left of unmanned vehicle and the barrier on right side, L3 are located at the center of L2 and L4,
Center position is consistent with the direction of motion；The present embodiment is using one group of liftoff general 40cm ~ 60cm LMS122-s parallel with horizontal plane
10100 laser radar groups（Generally 2, be respectively L5, L6）To form the detection of unmanned vehicle rear and protection system.
The German single-minded automobile-used microwave radar of production of Infineon Technologies Stock Co., Ltd：Vehicle radar system sends radio wave,
Electric wave is reflected by the vehicle in front or other objects.Infineon's radar chip is responsible for sending and receiving these high-frequency signals,
And they are transmitted to radar electronic control unit（ECU）, radar ECU measure automobile and other moving objects spacing distance and they
Speed, for someone and unmanned provide apart from criterion；Infineon's microwave radar mainly has two kinds of a 77GHz and 24GHz, and 77
GHz is the standard frequency range of the radar applications such as adaptive learning algorithms and anti-collision warning.Even if in the very low situation of visibility
Under, 77GHz radars chip can also allow barrier and other road occupation situations in 250 meters of distances of unmanned vehicle " identification ", 24GHz
Radar chip " can also identify " barrier and other road occupation situations in 100 meters of distances, this microwave radar is using silicon
Germanium technique and it is operated in 24GHz ISM bands（24.0 GHz to 24.25GHz）Completely new product, be equipped with one have industry
The radar on-chip transceiver of highest integrated level and a companion chip for being only used for reception, enable system design flexibly to realize a variety of
The inexpensive and high performance design object of application.Three sections of devices of brand-new series are respectively BGT24MTR11（Single-shot, which is penetrated, singly to be connect
Receive passage）、BGT24MTR12 （Single-shot penetrates double reception passage）And BGTMR2（Dual collector）.Due to cost performance, this reality
Apply example and carried out using BGT24MTR11 the detection of medium and long distance barrier, respectively the microwave radar MR1 arranged on roof（It sets
Near L1）With the front microwave radar MR2 for being arranged on car bottom（It is arranged near L3）With rear microwave radar MR3（It sets
In the centre of L5 and L6）.
Due to sensor combinations, generally in forward region, there are one when startup moves forward for unmanned vehicle
Blind area, in order to prevent start when collide, the present embodiment the bottom of unmanned vehicle add in one group by ultrasonic sensor US1,
The front blind-area detection of US2, US3, US4, US5 composition and obstacle avoidance system.It moves forward moment in unmanned vehicle startup, front blind-area detection
System works, if there is no obstacles in safety zone when unmanned vehicle Acceleration of starting moves forward, unmanned vehicle can be transferred to more biographies
Sensor merges navigational state；Due to sensor combinations, unmanned vehicle is when starting reversing back generally in rear motor area
Domain collides, the present embodiment adds in one group in the bottom of unmanned vehicle by ultrasonic wave there are a blind area when starting in order to prevent
The rear blind area detection of sensor US7, US8, US9, US10, US11 composition and obstacle avoidance system.Start reversing back wink in unmanned vehicle
Between, the work of rear blind area detection system, if there is no obstacles in safety zone in unmanned vehicle Acceleration of starting reversing back, nobody
Vehicle can be transferred to Multi-sensor Fusion navigational state.
The brand-new STM32F7 MCU series of products that STM companies are produced are global first volume productions and possess 32 bits
The microcontroller of ARM Cortex-M7 processors, product, which is all equipped with, possesses floating-point operation unit and DSP extended functions
Cortex-M7 cores, arithmetic speed highest 216MHz；It is total with the AXI towards kernel, peripheral hardware and memory interconnection and more AHB
Wire matrix, using 6 grades of super scalar pipelines and floating point unit (Floating Point Unit, FPU)；Two general DMA controls
Device processed and a DMA for being exclusively used in graphics accelerator；Peripheral hardware speed is independently of CPU speed（Doubleclocking is supported）So that during system
Clock variation does not influence peripheral hardware work；Compared to STM32 series before, possess more rich peripheral hardware；Above-mentioned outstanding efficiency is given the credit to
In 90 nanometers of leading manufacturing process of the market of STMicw Electronics, exclusive reduction flash memory memory access time, advanced dominant frequency and work(
Optimisation technique is consumed, in the case where all registers and SRAM contents can continue the stop mode kept, there are the exemplary currents of 100 μ A
Consumption, while STM32F7 has excellent instruction and pin compatibility：Cortex-M4 instruction set that Cortex-M7 is backward compatible,
STM32F7 series and STM32F4 series pin compatibilities；ARM Cortex-M7 efficiency is surmounted morning by STM32F7 MCU series of products
Phase core（For example Cortex-M4）Advantage apply to ultimate attainment, efficiency reaches nearly twice of DSP, and These characteristics cause
STM32F7 is very suitable for substituting the data processing that STM32F4 family chips do unmanned vehicle Multi-sensor Fusion.
Therefore, to overcome the shortcomings that existing unmanned vehicle stability is poor, rapidity difference and sexual valence is poor, the present embodiment is given up
Single single line laser radar or multi-line laser radar operating mode used by existing unmanned vehicle have been used based on Intel the
Seven generation NUC microcomputer+ARM（Newest embedded STM32F767）Brand-new control model.In order to reduce the entirety of unmanned vehicle
Hardware cost realizes the detection of barrier using microwave radar+more single line laser radars and ultrasonic sensor integration technology
And avoidance.Using STM32F767 as processing core, real-time reception is formed control panel based on Intel's the 7th generation NUC microcomputer
Host computer multisensor digital convergence signal, and realize part image pick-up signal processing and it is various response interrupt, realize with
Data communication and the live signal storage of master station.
In order to improve arithmetic speed, ensure stability that unmanned vehicle control works under all weather conditions and reliable
Property, the present embodiment introduces the 7th generation NUC microcomputer of Intel in the ARM controller based on STM32F767, forms base
In the dual-core controller of ARM+NUC, more radar detections and obstacle avoidance system controller system are concentrated design by this controller, and fully
Consider effect of the battery in this system, realize the round-the-clock detection of unmanned vehicle and avoidance.Working in unmanned vehicle control
The maximum more single line laser radar signal processings of amount give the processing of NUC microcomputers, give full play at NUC microcomputer data
The characteristics of managing speed, and microwave radar data, blind area detection and avoidance, man-machine interface, online output, data storage, I/O
The functions such as control give STM32F767 completions, thereby realize the division of labor of ARM and NUC microcomputers, while therebetween
Communication is carried out in real time carries out data exchange and calling.
Under power-on state, ARM controller and NUC controllers are completed to initialize first, and then vehicle-mounted computer NUC leads to
It crosses unmanned vehicle control master station and transfers unmanned vehicle driving path and cartographic information, subsequent blind-spot sensor is started to work, and is controlled with ARM
Device communication processed, ARM controller determines that clear opens unmanned vehicle walking mode after entering working region, while is controlled with NUC
Device mutually communicates, and NUC and ARM controller real-time reception radar feedback signal simultaneously decode, and ARM controller, which passes through, decodes input control
Signal processed controls direct current brushless servo motor, and DC brushless motor drives unmanned vehicle traveling after mechanical device converts power, and
The signals such as Real-time Feedback displacement, speed and acceleration are to ARM controller.
With reference to Fig. 7, specific implementation step is：
Unmanned vehicle control is divided into two parts：Master system based on vehicle-mounted computer NUC and based on STM32F767's
ARM lower computer systems.Map and environment input, more single line laser radars are wherein completed based on vehicle-mounted computer NUC master systems
The functions such as the data fusion of sensor and online output；ARM lower computer control systems based on STM32F767 complete unmanned vehicle system
The multiaxis brush DC servo of the functions, wherein workload maximum such as SERVO CONTROL, microwave radar data processing, the I/O controls of system
System controls and microwave radar range gives STM32F767 processing, gives full play to the advantages of STM32F767 data processings are very fast,
The division of labor of NUC and ARM are thereby realized, while can be communicated again therebetween, carries out data exchange and calling in real time.
With reference to Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8 and Fig. 9, specific function is realized as follows：
1）Before unmanned vehicle is not connected to motion command, it generally can be in the life of setting out that the master station to be controlled such as waiting area sends
Order, if unmanned vehicle voltage is relatively low, unmanned vehicle can be docked automatically with charging unit and charged.
2）For unmanned vehicle in waiting time after the task of setting out is connected to, unmanned vehicle vehicle-mounted computer NUC transfers nothing by master station
People's vehicle driving path and navigation map information, then ARM controller based on STM32F767 open blind-spot sensor US1 ~ US5
Blind area is scanned, if there is barrier enters movement blind area, ARM controller can send alarm, and wait the clear of barrier
It removes；If clear enters movement blind area, unmanned vehicle starts to automatically speed up.
3）Unmanned vehicle starts to start moment, and STM32F767 controllers just open microwave radar MR1 ~ MR3 and single line laser thunder
Up to sensor L1 ~ L6, MR1 ~ MR3 starts to the ARM controller transmission range unmanned vehicle long-distance barrier object based on STM32F767
Information, at the same more single line laser radars start to NUC transmission closely obstacle information, ARM controller and NUC start to decode this
A little obstacle informations are simultaneously converted into the distance signal of barrier and unmanned vehicle and mutually communicate, and unmanned vehicle is by these feedback distances
Signal starts independent navigation, is started running along fixed course.
4）After unmanned vehicle enters moving line, front long-range detection microwave radar group（With ground into approximate 15 degree of angles
Diagonally forward microwave radar sensor MR1 and front microwave radar sensor MR2 parallel to the ground）Cooperation front proximity detection
Single line laser radar group（With diagonally forward laser sensor L1 of the ground into approximate 5 ~ 15 degree of angles, front parallel to the ground detection
Single line laser radar L2, L3, L4）The environment in moment detection front.Diagonally forward laser radar L1 and microwave radar MR1 can independent work
Make, due to having certain angle of inclination, MR1 and L1 cooperations can detect the fluctuating of road ahead, first have MR1 to remote very well
Distance is detected, and then carries out further accurate confirmation by L1, and MR1 and L1 are very easy to find the depth and width of fluctuating；
The presence or absence of the main detection front barrier of MR1, MR2, L1 and L3 cooperation：First there is MR2 to long-range detection, find doubtful
There is MR1 to carry out secondary-confirmation after barrier, doubtful barrier has L1 and L3 to carry out exact position confirmation again after substantially determining；MR1、
The presence or absence of MR2, L3 and L2 cooperation detection left front barrier：First there is MR2 to long-range detection, after finding doubtful barrier
There is MR1 to carry out secondary-confirmation, doubtful barrier has L3 and L2 to carry out exact position confirmation again after substantially determining；MR1, MR2, L3 and
L4 detects the presence or absence of right front barrier：First there is MR2 to long-range detection, there is MR1 to carry out two after finding doubtful barrier
Secondary confirmation, doubtful barrier have L3 and L4 to carry out exact position confirmation again after substantially determining.
If MR1 and L1 are detected there are the fluctuating pitting of certain altitude in forward path, if height and width
It has been more than the requirement that unmanned vehicle is crossed, interrupt requests will be sent simultaneously fluctuating pitting to the ARM controller based on STM32F767
Data are transferred to NUC and ARM processing, and STM32F767 can hide protection subprogram to interrupting priority processing and entering front；
If in unmanned vehicle tolerance, unmanned vehicle will be travelled according to the normal speed of setting for the height and width of fluctuating pitting.
In normal driving process, the MR2 moment is to detecting at a distance in travel direction, detectable signal input ARM
Controller is decoded, and obtains barrier approximate distance, then after barrier enters the investigative range of MR1, MR2 and MR1's
Detectable signal can be conveyed to ARM controller simultaneously and be decoded, and further obtain range information of barrier etc..It is if accessible
Object enters the direction of motion, and unmanned vehicle continues to travel according to original speed；If really with the presence of doubtful barrier, unmanned vehicle is pressed
It is decelerated to low speed according to the speed control mode of Fig. 9 and enters long-range detection and avoidance pattern, the ARM moment communicates with NUC, unmanned vehicle
Into complex working condition selection mode：If sensor detects weather condition very severe, more single line laser radars will be by this time
To severe jamming, ARM controller will continue to receive microwave radar MR2 and MR1 signal and give up more single line laser radar L1 of NUC
~ L6 feedback signals, while unmanned vehicle opens low-speed running mode, continues using MR2 and MR1 as advance navigation sensor close to barrier
Hinder object and carry out avoidance by microwave signal；If weather condition is good, microwave signal and more single line laser radar signals at this time
Well, ARM controller will continue to receive microwave radar MR2 and MR1 signal and NUC receives more single line laser radar L1 ~ L6 feedbacks
Signal, unmanned vehicle enter microwave radar signal and single line laser radar signal handover region, once single line laser radar L3 is detected
To obstacle information, controller enters laser radar and is accurately positioned navigation pattern, at this time the acquisition signal of microwave radar using as
Auxiliary signal.
If L1 and L3 are detected in forward path there are barrier, it is same interrupt requests will to be sent to STM32F767
When barrier data are transferred to NUC processing, STM32F767 can be protected to interrupting priority processing and into urgent front avoidance
Protect subprogram：The data that STM32F767 is communicated according to NUC give way into leftward or rightward urgent avoidance；If without obstacle
Object enters range of operation, and unmanned vehicle travels the normal speed that setting is accelerated to according to the speed control mode of Fig. 9.
If L2 and L3 are detected in the motion path of left front there are barrier, interrupt requests will be sent to STM32F767
Barrier data are transferred to NUC processing simultaneously, STM32F767 can be to interrupting priority processing and entering urgent left front avoidance
Protect subprogram：The data that STM32F767 is communicated according to NUC give way into urgent avoidance to the right；If without barrier into
Enter range of operation, unmanned vehicle travels the normal speed that setting is accelerated to according to the speed control mode of Fig. 9.
If L4 and L3 are detected in the motion path of right front there are barrier, interrupt requests will be sent to STM32F767
Barrier data are transferred to NUC processing simultaneously, STM32F767 can be to interrupting priority processing and into avoidance before the urgent right side
Protect subprogram：The data that STM32F767 is communicated according to NUC give way into urgent avoidance to the left；If without barrier into
Enter range of operation, unmanned vehicle travels the normal speed that setting is accelerated to according to the speed control mode of Fig. 9.
5）After unmanned vehicle enters moving line, rear parallel to the ground detection single line laser radar L5, L6 and microwave thunder
Detect the environment at rear up to the MR3 moment, MR3, L5 or L6 judge rear there are barrier to unmanned vehicle it is close when, will be to
STM32F767 sends interrupt requests and barrier data is transferred to NUC processing simultaneously, and STM32F767 can be preferential to interrupting
Processing protects subprogram subsequently into rear avoidance and sends alarm；If rear does not have barrier to enter protection domain, nobody
Vehicle will be travelled according to the normal speed of setting.
6）After unmanned vehicle enters moving line, during front and rear blind-spot sensor US1 ~ US5 and US6 ~ US10 parallel to the ground
Carve check frequency environment, if US1 ~ US5 or US6 ~ US10 judgement have interim barrier to unmanned vehicle blind area it is close when, will
Interrupt requests being sent to STM32F767, barrier data being transferred to NUC processing simultaneously, STM32F767 can be excellent to interrupting
It first handles, subprogram is protected subsequently into blind area avoidance and sends alarm；If blind area does not have barrier to enter protection domain, nothing
People's vehicle will be travelled according to the normal speed of setting.
7）Under conditions of unmanned vehicle injection normal running speed reaches requirement, sensor L1 ~ L6 of navigation,
MR1 ~ MR3, US1 ~ US10 are conveyed to NUC and ARM controller by work, and feedback signal, first have NUC to carry out laser radar number
The processing of microwave data and various interrupt are protected according to fusion treatment and STM32F767, NUC and ARM real-time communications, by ARM
Controller send control signal to realize the fortune of unmanned vehicle by adjusting the movement of servomotor to servomotor according to transducing signal
The change of dynamic speed and the direction of motion so that unmanned vehicle can easily follow movement locus.
8）Due to unmanned vehicle in most cases, one-stop service pattern it is not, the place of arrival is more, in order to reality
The website function of existing unmanned vehicle, the present invention have given up general website read method, in order to prevent skip website, present invention adds
Site sensor S1 and S2 with certain redundancy, when unmanned vehicle will reach website, ARM controller can turn on sensor
Site identity on ground is read out：When two sensors all represent unmanned vehicle traveling in normal shape without triggering Shi Ze
State；When one sensor of any of which Shi Ze that is triggered represents unmanned vehicle and will enter the station, if it is no to the parking of this station it is special will
It asks, unmanned vehicle will brake according to present speed this when, and unmanned vehicle can accurately rest in this station every time.When website is read
It will add up automatically after taking, in order to realize that the automatic traveling circulating function of unmanned vehicle, unmanned vehicle can be automatically clear after reaching maximum website
Zero and slave site 1 counts again.
9）After unmanned vehicle, which enters, stops website, ARM controller storage generates the information record table that enters the station, then by wireless
Device is sent to master station, is conducive to master station to the tracking of unmanned truck position and the scheduling of unmanned vehicle.
10）In order to meet the actual functional capability needs of unmanned vehicle in scenic spot etc. in special circumstances, present invention adds
Bus stop selection function：In unmanned vehicle initial operating stage master station, the bus stop that goes of unmanned vehicle needs can be freely set, then nobody
Vehicle can be with this setting of complete independently by the sensor of itself, if an emergency situation is encountered in the process of running, master station needs more
Change operating path or stop website, main website changes walking information by wirelessly being communicated with unmanned vehicle, and unmanned vehicle can be automatic
More new route and stop site information, task is completed according to new requirement.
11）When unmanned vehicle is walked by fixed route traveling, a variety of acoustooptic alarm systems in system are by work, it is easy to carry
The presence of surrounding of waking up pedestrian's unmanned vehicle, when unmanned vehicle loses communication with main website, ARM controller can send automatic stopping signal,
Direct original place locks the motion servo motor of unmanned vehicle, is thus not easy to collide with other unmanned vehicles, at this time main website due to
The transmission information of unmanned vehicle can not be collected into, will fast track be carried out according to a upper anchor point information, and solve failure problems.
Although the present invention has been described by way of example and in terms of the preferred embodiments, embodiment is not for limiting the present invention's.Not
In the spirit and scope for departing from the present invention, any equivalence changes done or retouching also belong to the protection domain of the present invention.Cause
This protection scope of the present invention should be using the content that claims hereof is defined as standard.
Claims (18)
1. a kind of round-the-clock low speed unmanned vehicle detection obstacle avoidance system of Multi-sensor Fusion, including control system and roof laser thunder
It reaches, which is characterized in that further include front detection microwave radar group, rear detection microwave radar and configuration under unmanned vehicle car body
The front laser radar group in portion and rear laser radar group, wherein：
The roof laser radar is used to detect the fluctuating of unmanned vehicle road ahead and be visited together with front laser radar group
Survey the barrier situation in unmanned vehicle forward path；The front laser radar group be additionally operable to detection unmanned vehicle left front and
Barrier situation in the motion path of right front；The rear laser radar group is used to detect the obstacle principle at unmanned vehicle rear
Condition；The front detection microwave radar group and rear detection microwave radar are used for medium and long distance obstacle detection；
The control system includes host computer and slave computer, and each laser radar feedback signal of host computer real-time reception simultaneously decodes, so
It is communicated afterwards with slave computer and transmits input control signal to slave computer, slave computer carries out microwave radar range calculating and combines decoding
Input control signal control unmanned vehicle traveling.
2. the round-the-clock low speed unmanned vehicle detection obstacle avoidance system of Multi-sensor Fusion according to claim 1, which is characterized in that
The roof laser radar is 1 single line laser radar, is located slightly above roof and with horizontal plane similar to 5 ~ 15 degree obliquely
Roof front center portion.
3. the round-the-clock low speed unmanned vehicle detection obstacle avoidance system of Multi-sensor Fusion according to claim 2, which is characterized in that
The roof laser radar is LMS151 single line laser radars.
4. the round-the-clock low speed unmanned vehicle detection obstacle avoidance system of Multi-sensor Fusion according to claim 1, which is characterized in that
The front laser radar group is made of 3 single line laser radars, wherein before having two to be located at the left front portions and the right side of headstock respectively
Portion, away from unmanned vehicle direction of advance there are one angle 30 degree approximate, remaining one is located in the two the two center position
Heart position, center position are consistent with unmanned vehicle direction of advance.
5. the round-the-clock low speed unmanned vehicle detection obstacle avoidance system of Multi-sensor Fusion according to claim 4, which is characterized in that
The about liftoff 40cm of setting height of the front laser radar group.
6. the round-the-clock low speed unmanned vehicle detection obstacle avoidance system of Multi-sensor Fusion according to claim 4, which is characterized in that
The front laser radar group is LMS151 single line laser radars.
7. the round-the-clock low speed unmanned vehicle detection obstacle avoidance system of Multi-sensor Fusion according to claim 1, which is characterized in that
The rear laser radar group is made of two single line laser radars parallel with horizontal plane, respectively positioned at the both sides of the tailstock.
8. the round-the-clock low speed unmanned vehicle detection obstacle avoidance system of Multi-sensor Fusion according to claim 7, which is characterized in that
The rear laser radar group sets the about liftoff 40cm ~ 60cm of height.
9. the round-the-clock low speed unmanned vehicle detection obstacle avoidance system of Multi-sensor Fusion according to claim 7, which is characterized in that
The rear laser radar group is LMS122 single line laser radars.
10. the round-the-clock low speed unmanned vehicle detection obstacle avoidance system of Multi-sensor Fusion according to claim 1, feature exist
In further including the front ultrasonic sensor group for being arranged on unmanned car bottom and rear ultrasonic sensor group, the front surpass
Sonic sensor group is blind for unmanned vehicle rear for blind area detection avoidance, the rear ultrasonic sensor group in front of unmanned vehicle
Area detects avoidance, and the slave computer is communicated with front ultrasonic sensor group and rear ultrasonic sensor group.
11. the round-the-clock low speed unmanned vehicle detection obstacle avoidance system of Multi-sensor Fusion according to claim 10, feature exist
In the front ultrasonic sensor group is made of 5 ultrasonic sensors.
12. the round-the-clock low speed unmanned vehicle detection obstacle avoidance system of Multi-sensor Fusion according to claim 10, feature exist
In the rear ultrasonic sensor group is made of 5 ultrasonic sensors.
13. the round-the-clock low speed unmanned vehicle detection obstacle avoidance system of Multi-sensor Fusion according to claim 1, feature exist
In the host computer is the NUC microcomputers of Intel.
14. the round-the-clock low speed unmanned vehicle detection obstacle avoidance system of Multi-sensor Fusion according to claim 1, feature exist
In the slave computer is STM32F7 MCU.
15. the round-the-clock low speed unmanned vehicle detection obstacle avoidance system of Multi-sensor Fusion according to claim 1, feature exist
In the control system is communicated by wireless device and unmanned vehicle master station, and when unmanned vehicle loses communication with master station, slave computer is real
Apply automatic stopping control.
16. the round-the-clock low speed unmanned vehicle detection obstacle avoidance system of Multi-sensor Fusion according to claim 1, feature exist
In the slave computer is additionally operable to read the site identity on ground.
17. the round-the-clock low speed unmanned vehicle detection obstacle avoidance system of Multi-sensor Fusion according to claim 1, feature exist
In unmanned vehicle is electric car, and the control system is electric to the end of accumulator according to the internal resistance of electromobile battery and temperature parameter
Pressure is detected.
18. the round-the-clock low speed unmanned vehicle detection obstacle avoidance system of Multi-sensor Fusion according to claim 1, feature exist
In the front detection microwave radar group includes being located at the first microwave radar of roof and is located at the second microwave thunder of lower car body
It reaches, the rear detection microwave radar is located at lower car body.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109435886A (en) * | 2018-12-05 | 2019-03-08 | 广西农业职业技术学院 | A kind of vehicle security drive aided detection method |
| CN110412595A (en) * | 2019-06-04 | 2019-11-05 | 深圳市速腾聚创科技有限公司 | Roadbed cognitive method, system, vehicle, equipment and storage medium |
| CN113281783A (en) * | 2021-05-13 | 2021-08-20 | 江苏徐工工程机械研究院有限公司 | Mining truck |
| US11560153B2 (en) | 2019-03-07 | 2023-01-24 | 6 River Systems, Llc | Systems and methods for collision avoidance by autonomous vehicles |
-
2017
- 2017-11-29 CN CN201711230446.3A patent/CN108061903A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109435886A (en) * | 2018-12-05 | 2019-03-08 | 广西农业职业技术学院 | A kind of vehicle security drive aided detection method |
| CN109435886B (en) * | 2018-12-05 | 2021-02-23 | 广西农业职业技术学院 | Auxiliary detection method for safe driving of automobile |
| US11560153B2 (en) | 2019-03-07 | 2023-01-24 | 6 River Systems, Llc | Systems and methods for collision avoidance by autonomous vehicles |
| CN110412595A (en) * | 2019-06-04 | 2019-11-05 | 深圳市速腾聚创科技有限公司 | Roadbed cognitive method, system, vehicle, equipment and storage medium |
| CN113281783A (en) * | 2021-05-13 | 2021-08-20 | 江苏徐工工程机械研究院有限公司 | Mining truck |
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Effective date of registration: 20180530 Address after: 211106 first floor, block C4, Kowloon Lake International Business Park, 19 Jiangning economic and Technological Development Zone, Nanjing, Jiangsu. Applicant after: Zhang Haoming Address before: 211106 first floor, block C4, Kowloon Lake International Business Park, 19 Jiangning economic and Technological Development Zone, Nanjing, Jiangsu. Applicant before: Jiangsu Ruobo Robot Technology Co., Ltd. |
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Application publication date: 20180522 |
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| WD01 | Invention patent application deemed withdrawn after publication |