CN108237986A - Apparatus for adjusting position, system and the unmanned vehicle of unmanned vehicle sensory perceptual system - Google Patents
Apparatus for adjusting position, system and the unmanned vehicle of unmanned vehicle sensory perceptual system Download PDFInfo
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- CN108237986A CN108237986A CN201611226032.9A CN201611226032A CN108237986A CN 108237986 A CN108237986 A CN 108237986A CN 201611226032 A CN201611226032 A CN 201611226032A CN 108237986 A CN108237986 A CN 108237986A
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- unmanned vehicle
- sensor
- roof
- barrier
- sensory perceptual
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R2011/0001—Arrangements for holding or mounting articles, not otherwise provided for characterised by position
- B60R2011/004—Arrangements for holding or mounting articles, not otherwise provided for characterised by position outside the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R2011/0042—Arrangements for holding or mounting articles, not otherwise provided for characterised by mounting means
- B60R2011/008—Adjustable or movable supports
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Traffic Control Systems (AREA)
Abstract
The embodiment of the present invention provides a kind of apparatus for adjusting position, system and the unmanned vehicle of unmanned vehicle sensory perceptual system, belongs to unmanned vehicle field.The unmanned vehicle sensory perceptual system includes multiple sensors, and the multiple sensor includes including positioned at the roof sensor and the surrounding sensor positioned at the unmanned vehicle surrounding, the apparatus for adjusting position of the unmanned vehicle roof：Acquisition module, for obtaining the current road environmental information that the unmanned vehicle sensory perceptual system is perceived；Analysis module, for analysing whether to need that the position of the particular sensor in the multiple sensor is adjusted according to the current road environmental information；And adjustment module, in the case where needing that the position of the particular sensor is adjusted, the position of the particular sensor to be adjusted.
Description
Technical field
The present invention relates to unmanned vehicle fields, and in particular, to a kind of position adjusting method of unmanned vehicle sensory perceptual system, dress
It puts, system and unmanned vehicle.
Background technology
The effect of unmanned vehicle sensory perceptual system is that unmanned vehicle surrounding static and dynamic environment are modeled, to ensure unmanned vehicle
Road traffic regulation can be abided by the process of moving, and avoids the barriers such as pedestrian, vehicle.Millimetre-wave radar, laser radar,
The sensing system of the compositions such as camera is the significant components of sensory perceptual system, is responsible for the signal of acquisition road environment in real time, software
System uses acquired signal to carry out environmental modeling and analysis.
In the prior art, sensing system generally selects the mode of fixed installation, for example, being arranged in vehicle body surrounding, roof
Or on the positions such as car.If road conditions change, when needing to adjust sensing station, it usually needs manually adjusted
It is whole.Fixed mounting means so that position adjustment can not be carried out to sensor in real time, automatically according to road conditions, thus can not be very
Accurately various road environments are modeled.
Invention content
The purpose of the embodiment of the present invention is to provide a kind of apparatus for adjusting position, system and the nothing of equipment unmanned vehicle sensory perceptual system
People's vehicle, for solving or at least partly solving above-mentioned technical problem.
To achieve these goals, the embodiment of the present invention provides a kind of position for unmanned vehicle sensory perceptual system and adjusts dress
It puts, the unmanned vehicle sensory perceptual system includes multiple sensors, and the multiple sensor includes the vehicle positioned at the unmanned vehicle roof
Top sensor and the surrounding sensor positioned at the unmanned vehicle surrounding, the apparatus for adjusting position include：Acquisition module, for obtaining
The current road environmental information that the unmanned vehicle sensory perceptual system is taken to be perceived；Analysis module, for according to the current road ring
Whether border information analysis needs that the position of the particular sensor in the multiple sensor is adjusted；And adjustment module,
For in the case where needing that the position of the particular sensor is adjusted, being adjusted to the position of the particular sensor
Section.
Optionally, the analysis module is used to analyse whether to need to the spy by one or more in performing below
The position for determining sensor is adjusted：Judge whether have in front of the traveling of the unmanned vehicle according to the current road environmental information
Barrier hinders the detection of the roof sensor；Before judging the traveling of the unmanned vehicle according to the current road environmental information
Whether side has barrier that will collide with the roof sensor；And according to judging the current road environmental information
Whether there is barrier that will collide with the surrounding sensor around unmanned vehicle.
Optionally, the adjustment module is used for having barrier to hinder the roof sensing in front of the traveling of the unmanned vehicle
In the case of the detection of device, the position of the roof sensor is increased.
Optionally, the adjustment module is used for having barrier that will be sensed with the roof in front of the traveling of the unmanned vehicle
In the case that device collides, the position of the roof sensor is reduced.
Optionally, the adjustment module is used for having barrier that will be sent out with the surrounding sensor around the unmanned vehicle
In the case of raw collision, the surrounding sensor is shunk.
Correspondingly, the embodiment of the present invention also provides a kind of unmanned vehicle sensory perceptual system, is perceived including above-mentioned for unmanned vehicle
The apparatus for adjusting position of system.
Correspondingly, the embodiment of the present invention also provides a kind of unmanned vehicle, and the unmanned vehicle includes above-mentioned unmanned vehicle and perceives system
System.
Through the above technical solutions, it analyses whether to need to adjust particular sensor position according to road environment information
Section when needing to adjust, automatically adjusts sensing station, and then can control sensor automatic dodging vehicle periphery or front
Barrier.
The other feature and advantage of the embodiment of the present invention will be described in detail in subsequent specific embodiment part.
Description of the drawings
Attached drawing is that the embodiment of the present invention is further understood for providing, and a part for constitution instruction, under
The specific embodiment in face is used to explain the embodiment of the present invention, but do not form the limitation to the embodiment of the present invention together.Attached
In figure：
Fig. 1 shows the flow signal of the position adjusting method provided in an embodiment of the present invention for unmanned vehicle sensory perceptual system
Figure；And
Fig. 2 has gone out the structure diagram of the apparatus for adjusting position provided in an embodiment of the present invention for unmanned vehicle sensory perceptual system.
Specific embodiment
The specific embodiment of the embodiment of the present invention is described in detail below in conjunction with attached drawing.It should be understood that this
Locate described specific embodiment and be merely to illustrate and explain the present invention embodiment, be not intended to restrict the invention embodiment.
Fig. 1 shows the flow signal of the position adjusting method provided in an embodiment of the present invention for unmanned vehicle sensory perceptual system
Figure.As shown in Figure 1, the embodiment of the present invention provides a kind of position adjusting method for unmanned vehicle sensory perceptual system, the unmanned vehicle
Sensory perceptual system includes multiple sensors, and the multiple sensor includes being located at the roof sensor of the unmanned vehicle roof and be located at
The surrounding sensor of the unmanned vehicle surrounding, the method may include following steps：
Step S10 obtains the current road environmental information that the unmanned vehicle sensory perceptual system is perceived.
Here current road environmental information refers to current location of the unmanned vehicle sensory perceptual system based on its multiple sensor and feels
The current road environmental information known.
Multiple sensors of unmanned vehicle sensory perceptual system include but not limited to one or more cameras, one or more laser
Radar, one or more millimetre-wave radars etc., wherein camera, laser radar, millimetre-wave radar can be located at the vehicle of people's vehicle
Top and unmanned vehicle surrounding.Specifically, each sensor of unmanned vehicle roof can be placed in roof each by a lifting gear,
Each sensor of unmanned vehicle surrounding can be placed in vehicle body surrounding each by a telescopic device, optionally, the lifting dress
It can be any one well known controllable lifting gear to put, and the telescopic device can be that any one is well known controllable
Telescopic device.
Unmanned vehicle sensory perceptual system can obtain road environment information by the multiple sensor, perform unmanned vehicle sense
When knowing the position adjusting method of system, the current location institute of multiple sensors based on unmanned vehicle sensory perceptual system can be obtained first
The current road environmental information of perception.
Step S20 analyses whether to need to specific in the multiple sensor according to the current road environmental information
The position of sensor is adjusted.
Here particular sensor can refer to any one sensor positioned at unmanned vehicle roof or surrounding.In front of unmanned vehicle
Barrier be possible to block region that roof sensor can be detected or may in unmanned vehicle driving process with roof
Sensor collides.Barrier around unmanned vehicle may collide or may interfere with biography with surrounding sensor
Sensor position.
It is alternatively possible to it is analyzed using detection of obstacles algorithm, so as to calculate vehicle front or surrounding
Whether there is barrier, the specific location of barrier can be further analyzed when there is barrier, for example, it may be determined that going out obstacle
The vertical range and horizontal distance of object and roof can determine specific location of the barrier in vehicle periphery.It and then can be with
The sensor for needing to carry out position adjusting is determined according to the specific location of the barrier.
Step S30, in the case where needing that the position of the particular sensor is adjusted, to the particular sensor
Position be adjusted.
It, can be according to above-mentioned analysis result to respective sensor after determining to need to carry out position adjusting to sensor
Position be adjusted.Optionally, which can include being raised and lowered the position of roof sensor or can include receiving
The position of contracting surrounding sensor, and then the sensor avoiding obstacles of unmanned vehicle sensory perceptual system can be controlled.
After being adjusted in the position to sensor, unmanned vehicle sensory perceptual system can the position based on current each sensor come
The information that each sensor is perceived is acquired, for example, image information, range information etc., and according to the information acquisition road surface perceived
Environmental information.
Optionally, in step S20, before can judging the traveling of the unmanned vehicle according to the current road environmental information
Whether side has the detection that barrier hinders roof sensor.The roof sensor refers to camera, laser radar, millimeter wave thunder
One or more of up to etc..
Barrier in front of unmanned vehicle may block the detection zone of roof sensor, it is therefore desirable to roof sensor
Position be adjusted such that roof sensor can detect the region blocked by barrier.It is, for example, possible to use obstacle
Whether quality testing method of determining and calculating has barrier and in the case of with barrier to calculate in front of unmanned vehicle traveling, calculates
The position of barrier and the range for the detection zone blocked by barrier need longitudinal direction raising so as to calculate roof sensor
Distance, distance needs ensure to be able to detect that the region blocked by barrier originally after roof sensor increases.
It determines after needing raised distance, the position of roof sensor is accordingly adjusted, so that roof sensor can detect
Go out the region blocked originally by barrier, so that unmanned vehicle sensory perceptual system can obtain accurate road environment information.
Optionally, in step S20, the traveling of the unmanned vehicle can also be judged according to the current road environmental information
Whether front has barrier that will collide with the roof sensor.Similar as above, the roof sensor refers to image
One or more of head, laser radar, millimetre-wave radar etc..
Barrier in front of unmanned vehicle may collide with roof sensor, for example, the limit for height obstacle of vehicle front
The sensor that object may be in eminence (for example, having built up) with roof collides, the barrier, such as can be limit
High bar etc..To avoid colliding, need that the position of roof sensor is adjusted.It is, for example, possible to use detection of obstacles
Whether algorithm has barrier and in the case of with barrier to calculate in front of unmanned vehicle traveling, calculates barrier
Position, such as the vertical range of obstacle distance roof can be calculated, and then sense according to the vertical range and roof
The physical location of device calculates the distance that each roof sensor needs reduce, and the distance needs of the reduction ensure after reduction,
The barrier is no longer possible to collide with any one roof sensor, after the distance for determining to need to reduce, to vehicle
The position for pushing up sensor carries out corresponding adjust with avoiding obstacles, such as corresponding roof sensing can be reduced by lifting gear
The position of device, collides to avoid roof sensor and barrier.
Optionally, in step S20, the surrounding of the unmanned vehicle can also be judged according to the current road environmental information
Whether there is barrier that the surrounding sensor with the unmanned vehicle collides.The surrounding sensor refers to camera, laser
One or more of radar, millimetre-wave radar etc..
Barrier around unmanned vehicle may collide with the sensor of vehicle's surroundings, collide, need to avoid
The position of surrounding sensor is adjusted.It is, for example, possible to use detection of obstacles algorithm is to calculate unmanned vehicle traveling front
It is no to there is barrier and in the case of with barrier, calculate the position of barrier.According to the position of the barrier,
The physical location and vehicle driving trace of surrounding sensor avoid what surrounding sensor collided with barrier to calculate
Safe distance, and the distance that safe distance is adjusted surrounding sensor to be determined to need accordingly.The range of the distance of the adjusting is to adjust
Subject to surrounding sensor will not collide with peripheral obstacle after section.After the distance for determining to adjust, such as it can lead to
Telescopic device is crossed to shrink the position of corresponding roof sensor, is collided to avoid surrounding sensor with barrier.
Fig. 2 has gone out the structure diagram of the apparatus for adjusting position provided in an embodiment of the present invention for unmanned vehicle sensory perceptual system.
As shown in Fig. 2, the embodiment of the present invention also provides a kind of apparatus for adjusting position for unmanned vehicle sensory perceptual system, the unmanned vehicle sense
Know that system includes multiple sensors, the multiple sensor is included positioned at the roof sensor of the unmanned vehicle roof and positioned at institute
State the surrounding sensor of unmanned vehicle surrounding.Multiple sensor includes but not limited to one or more cameras, one or more
Laser radar, one or more millimetre-wave radars etc., wherein camera, laser radar, millimetre-wave radar can be located at people's vehicle
Roof and unmanned vehicle surrounding.Specifically, each sensor of unmanned vehicle roof can be placed in each by a lifting gear
Roof, each sensor of unmanned vehicle surrounding can be placed in vehicle body surrounding each by a telescopic device, optionally, the liter
Falling unit can be any one well known controllable lifting gear, and the telescopic device can be can well known to any one
The telescopic device of control.
As shown in Fig. 2, described device can include：Acquisition module 21 is felt for obtaining the unmanned vehicle sensory perceptual system
The current road environmental information known, here current road environmental information refer to unmanned vehicle sensory perceptual system based on its multiple sensor
Current location and the current road environmental information perceived；Analysis module 22, for being analyzed according to the current road environmental information
Whether need that the position of the particular sensor in the multiple sensor is adjusted；And adjustment module 23, for needing
In the case of the position of the particular sensor being adjusted, the position of the particular sensor is adjusted, specifically
Ground can adjust the position of roof sensor and/or can be stretched by adjusting by adjusting the adjustable height of lifting gear
The flexible amplitude of device adjusts the position of surrounding sensor.It can by the position for automatically adjusting roof or vehicle body surrounding sensor
To control the barrier of sensor automatic dodging vehicle periphery or front.
The concrete operating principle of apparatus for adjusting position provided in an embodiment of the present invention for unmanned vehicle sensory perceptual system is benefit
The specific workflow and benefit for the position adjusting method for unmanned vehicle sensory perceptual system that place is provided with the embodiments of the present invention
Locate similar, will not be described in great detail here.
Correspondingly, the embodiment of the present invention also provides a kind of unmanned vehicle sensory perceptual system, and the system comprises above-mentioned to be used for nothing
The apparatus for adjusting position of people's vehicle sensory perceptual system.
Correspondingly, the embodiment of the present invention also provides a kind of unmanned vehicle, and the unmanned vehicle includes above-mentioned unmanned vehicle and perceives system
System.
The optional embodiment of example of the present invention, still, the embodiment of the present invention and unlimited are described in detail above in association with attached drawing
Detail in the above embodiment, can be to the embodiment of the present invention in the range of the technology design of the embodiment of the present invention
Technical solution carry out a variety of simple variants, these simple variants belong to the protection domain of the embodiment of the present invention.
It is further to note that specific technical features described in the above specific embodiments, in not lance
In the case of shield, it can be combined by any suitable means.In order to avoid unnecessary repetition, the embodiment of the present invention pair
Various combinations of possible ways no longer separately illustrate.
It will be appreciated by those skilled in the art that all or part of the steps of the method in the foregoing embodiments are can to pass through
Program is completed to instruct relevant hardware, which is stored in a storage medium, is used including some instructions so that one
A (can be microcontroller, chip etc.) or processor (processor) perform the whole of each embodiment the method for the application
Or part steps.And aforementioned storage medium includes：USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only
Memory), random access memory (RAM, Random Access Memory), magnetic disc or CD etc. are various can store journey
The medium of sequence code.
In addition, arbitrary combination can also be carried out between a variety of different embodiments of the embodiment of the present invention, as long as it is not
The thought of the embodiment of the present invention is violated, should equally be considered as disclosure of that of the embodiment of the present invention.
Claims (7)
1. a kind of apparatus for adjusting position for unmanned vehicle sensory perceptual system, the unmanned vehicle sensory perceptual system includes multiple sensors,
The multiple sensor includes the roof sensor positioned at the unmanned vehicle roof and the surrounding positioned at the unmanned vehicle surrounding passes
Sensor, which is characterized in that the apparatus for adjusting position includes：
Acquisition module, for obtaining the current road environmental information that the unmanned vehicle sensory perceptual system is perceived；
Analysis module, for analysing whether to need to specific in the multiple sensor according to the current road environmental information
The position of sensor is adjusted；And
Adjustment module, in the case of the position of the particular sensor is adjusted in needs, to the specific sensing
The position of device is adjusted.
2. apparatus for adjusting position according to claim 1, which is characterized in that the analysis module is used for following by performing
In one or more analyse whether to need the position of the particular sensor is adjusted：
Judge whether there is barrier to hinder the roof in front of the traveling of the unmanned vehicle according to the current road environmental information
The detection of sensor；
Judge whether have barrier will be with the roof in front of the traveling of the unmanned vehicle according to the current road environmental information
Sensor collides；And
Judge whether have barrier that will be sensed with the surrounding around the unmanned vehicle according to the current road environmental information
Device collides.
3. apparatus for adjusting position according to claim 2, which is characterized in that the adjustment module is used in the unmanned vehicle
Traveling in front of have the detection that barrier hinders the roof sensor in the case of, increase the position of the roof sensor.
4. apparatus for adjusting position according to claim 2, which is characterized in that the adjustment module is used in the unmanned vehicle
Traveling in front of have barrier that will collide with the roof sensor in the case of, reduce the position of the roof sensor
It puts.
5. apparatus for adjusting position according to claim 2, which is characterized in that the adjustment module is used in the unmanned vehicle
Around have barrier that will collide with the surrounding sensor in the case of, shrink the surrounding sensor.
6. a kind of unmanned vehicle sensory perceptual system, which is characterized in that including according to any one claim institute in claim 1 to 5
The apparatus for adjusting position for unmanned vehicle sensory perceptual system stated.
7. a kind of unmanned vehicle, which is characterized in that including unmanned vehicle sensory perceptual system according to claim 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611226032.9A CN108237986A (en) | 2016-12-27 | 2016-12-27 | Apparatus for adjusting position, system and the unmanned vehicle of unmanned vehicle sensory perceptual system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611226032.9A CN108237986A (en) | 2016-12-27 | 2016-12-27 | Apparatus for adjusting position, system and the unmanned vehicle of unmanned vehicle sensory perceptual system |
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| Publication Number | Publication Date |
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| CN108237986A true CN108237986A (en) | 2018-07-03 |
Family
ID=62701541
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611226032.9A Pending CN108237986A (en) | 2016-12-27 | 2016-12-27 | Apparatus for adjusting position, system and the unmanned vehicle of unmanned vehicle sensory perceptual system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108237991A (en) * | 2016-12-27 | 2018-07-03 | 乐视汽车（北京）有限公司 | Position adjusting method, device, system and the unmanned vehicle of unmanned vehicle sensory perceptual system |
| CN110723079A (en) * | 2019-10-31 | 2020-01-24 | 北京百度网讯科技有限公司 | Pose adjusting method, device, equipment and medium of vehicle-mounted sensor |
-
2016
- 2016-12-27 CN CN201611226032.9A patent/CN108237986A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108237991A (en) * | 2016-12-27 | 2018-07-03 | 乐视汽车（北京）有限公司 | Position adjusting method, device, system and the unmanned vehicle of unmanned vehicle sensory perceptual system |
| CN110723079A (en) * | 2019-10-31 | 2020-01-24 | 北京百度网讯科技有限公司 | Pose adjusting method, device, equipment and medium of vehicle-mounted sensor |
| CN113370911A (en) * | 2019-10-31 | 2021-09-10 | 北京百度网讯科技有限公司 | Pose adjusting method, device, equipment and medium of vehicle-mounted sensor |
| CN113370911B (en) * | 2019-10-31 | 2024-03-19 | 北京百度网讯科技有限公司 | Pose adjustment method, device, equipment and medium of vehicle-mounted sensor |
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| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20180802 Address after: 511458 9, Nansha District Beach Road, Guangzhou, Guangdong, 9 Applicant after: Rui Chi intelligent automobile (Guangzhou) Co., Ltd. Address before: 100026 8 floor 909, 105 building 3, Yao Yuan Road, Chaoyang District, Beijing. Applicant before: Music Automotive (Beijing) Co., Ltd. |
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Address after: 511458 9, Nansha District Beach Road, Guangzhou, Guangdong, 9 Applicant after: Hengda Faraday future intelligent vehicle (Guangdong) Co., Ltd. Address before: 511458 9, Nansha District Beach Road, Guangzhou, Guangdong, 9 Applicant before: Rui Chi intelligent automobile (Guangzhou) Co., Ltd. |
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| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20190314 Address after: 100015 Building No. 7, 74, Jiuxianqiao North Road, Chaoyang District, Beijing, 001 Applicant after: FAFA Automobile (China) Co., Ltd. Address before: 511458 9, Nansha District Beach Road, Guangzhou, Guangdong, 9 Applicant before: Hengda Faraday future intelligent vehicle (Guangdong) Co., Ltd. |
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| WD01 | Invention patent application deemed withdrawn after publication | ||
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Application publication date: 20180703 |