CN108333589A - A kind of automatic driving vehicle obstacle detector - Google Patents
A kind of automatic driving vehicle obstacle detector Download PDFInfo
- Publication number
- CN108333589A CN108333589A CN201810202195.6A CN201810202195A CN108333589A CN 108333589 A CN108333589 A CN 108333589A CN 201810202195 A CN201810202195 A CN 201810202195A CN 108333589 A CN108333589 A CN 108333589A
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- ultrasonic sensor
- laser radar
- car body
- automatic driving
- sensor
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- 238000001514 detection method Methods 0.000 claims description 25
- 230000003287 optical effect Effects 0.000 claims description 4
- 239000007787 solid Substances 0.000 claims 1
- 230000007547 defect Effects 0.000 abstract description 8
- 230000000295 complement effect Effects 0.000 abstract description 2
- 239000013589 supplement Substances 0.000 abstract description 2
- 230000004927 fusion Effects 0.000 abstract 1
- 230000004888 barrier function Effects 0.000 description 11
- 238000002604 ultrasonography Methods 0.000 description 4
- 230000000007 visual effect Effects 0.000 description 3
- 230000007812 deficiency Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 239000000523 sample Substances 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 1
- 238000011982 device technology Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000000155 melt Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
-
- 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
-
- 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
-
- 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
- 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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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Acoustics & Sound (AREA)
- Traffic Control Systems (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention discloses a kind of automatic driving vehicle obstacle detectors,Including car body,Chassis,First ultrasonic sensor,First laser radar,Window frame,Second ultrasonic sensor and second laser radar,First laser radar and second laser radar are fixed with above car body,First laser radar is mounted on Vehicular body front outside top,Second laser radar is mounted on rear vehicle outside top,First ultrasonic sensor is mounted on the ultrasonic sensor firm banking of Vehicular body front outer lower portion,The direction of first ultrasonic sensor sound wave transmitting is consistent with the direction of car body straight forward,Second ultrasonic sensor is mounted on the ultrasonic sensor firm banking of rear vehicle outer lower portion,The direction of second ultrasonic sensor sound wave transmitting is consistent with the direction of car body reversing straight trip,The blind area that laser radar is made up with ultrasonic sensor that this kind invention passes through setting,Multi-sensor Fusion can supplement defect well,Realization has complementary functions.
Description
Technical field
The present invention relates to a kind of automatic driving vehicle obstacle detectors, are related to detection device technology field.
Background technology
With the development of automatic Pilot technology, automotive safety technology receives more and more attention.Wherein it is based on sensor
Obstacle detection technology played a crucial role in field of automobile safety.
Various sensor devices can be used for obtaining various real-time road condition informations.Currently used onboard sensor mainly may be used
It is divided into vision class（Infrared ray, monocular-camera, stereo camera etc.）, ranging class（Ultrasonic wave, millimetre-wave radar, laser radar
Deng）.Each sensor detecting have its using occasion and it is restricted for the use of.Traditional detection of obstacles is based on single
One sensor obtains the obstacle information of surrounding enviroment, under complicated weather, vehicles in complex traffic scene single source-information office
It is sex-limited it is big, error is big, poor reliability.There is many deficiencies, leads to not be accurately identified barrier, be brought for traffic safety
Very big hidden danger.
By taking laser radar and ultrasonic wave as an example, three-dimensional laser radar can quickly scan 360 ° of visual fields, and generally use is infrared
Laser, principle are the light beams for emitting laser and receiving return, and the distance of object is calculated according to the flight time of laser, are detected
Distance is 150 meters reachable, reachable ± 3 centimetres of range accuracy.Scanning can generate the three-dimensional point cloud image of ambient enviroment every time, to the point
Cloud, which carries out data processing, can obtain the three-dimensional information of ambient enviroment.In general three laser radar range measurement accuracies compared with
Height, it is very high to the outline identification performance of target, the true form feature of most direct reflection objective things can be provided for main vehicle
Information.And the robustness to weather of laser radar is preferable.But there are certain defect, vertical field of view angles one for the sensor
As it is smaller, 16 common line laser radar vertical field of view angles are only 30 °, and the single detectable region of laser radar is limited, in vehicle
Short distance（In 10 meters）The region blind areas Nei You.Ultrasonic sensor is the device using air as working media, passes through hair
It penetrates ultrasonic wave and receives echo, the distance of object under test is calculated according to the time difference of the transmitting of sound wave and reception.Ultrasonic wave passes
Inductor configurations are simple, also preferable to the robustness of weather.But there is also certain defects for ultrasonic sensor, can detect distance
It is shorter, generally within 10 meters.In addition under the conditions of the prior art, it is difficult to ultrasound beamformer be converged to very little range, therefore only
The sensor detected using ultrasonic probe as vehicle barrier is difficult to realize detection of obstacles with a wide range of precise.
The prior art proposes a variety of effective ways for the identification of barrier, such as application No. is CN103323852
's《A kind of large car ultrasonic obstacle object detecting system》In disclose a kind of barrier based on ultrasound for large car
Detecting system.The system detects vehicle periphery barrier using one or more ultrasonic sensors.But due to ultrasonic wave
The detection range of sensor is limited, therefore the detection range of the system is limited to the performance of ultrasonic sensor.
Application No. is CN104899855's《Three-dimensional obstacle detection method and device》In propose and a kind of being based on binocular
The three-dimensional obstacle detection method of camera system and three-dimensional laser radar, this method use visual sensor and distance measuring sensor
It merges to extract obstacle information.But the binocular camera and three-dimensional laser radar itself of this method use are optical sensing
Device, due to the rectilinear propagation properties of light so that the detection range based on optical sensor is limited within a certain range.To vehicle
Short distance（In 10 meters）Region, in the range of especially 0 to 3 meters, the cost based on the detection of optical sensor is higher.And
These regions are the danger zone of vehicle in case of the low-speed travel state, and the barrier in these regions easily influences vehicle safety row
It sails.
Invention content
The technical problem to be solved by the present invention is to overcome the defects of the prior art, provide a kind of automatic driving vehicle barrier
Detection device, the device merge ultrasonic sensor and laser radar, and laser radar is made up with ultrasonic sensor
Blind area, for close vehicle from（In 10 meters）Barrier in range is effectively detected.Automatic driving vehicle is improved in low speed
Safety under transport condition.
In order to solve the above technical problem, the present invention provides the following technical solutions：
A kind of automatic driving vehicle obstacle detector of the present invention, including car body, chassis, the first ultrasonic sensor, the
One laser radar, window frame, the second ultrasonic sensor and second laser radar are fixed with first above the car body
Laser radar and second laser radar, the first laser radar are mounted on Vehicular body front outside top, the second laser thunder
Up to mounted on rear vehicle outside top, the ultrasonic wave that first ultrasonic sensor is mounted on Vehicular body front outer lower portion passes
On sensor firm banking, the direction of the first ultrasonic sensor sound wave transmitting is consistent with the direction of car body straight forward, institute
The second ultrasonic sensor is stated on the ultrasonic sensor firm banking of rear vehicle outer lower portion, second ultrasound
The direction of wave sensor sound wave transmitting is consistent with the direction of car body reversing straight trip, and chassis is fixed with below the car body,
It is fixed with wheel below the chassis.
Preferably, before the detection range of first ultrasonic sensor covers front laser radar detection zone and car body
Blind area between portion.
Preferably, after the detection range of second ultrasonic sensor covers rear portion laser radar detection zone and car body
Blind area between portion.
Preferably, the first laser radar, the first ultrasonic sensor, second laser radar and the second supersonic sensing
Device signal connection body auto-pilot controller.
Preferably, it is fixed with window frame on the outside of the top of the car body, vehicle window is installed in the window frame.
The advantageous effect that is reached of the present invention is：This kind of invention is used for what laser radar and ultrasonic sensor combined certainly
Ultrasonic sensor and laser radar are merged, are passed with ultrasonic wave by the dynamic device for driving vehicle barrier detection, the device
Sensor makes up the blind area of laser radar, for close vehicle from（In 10 meters）Barrier in range is effectively detected.It improves
The safety of automatic driving vehicle in case of the low-speed travel state.
Description of the drawings
Attached drawing is used to provide further understanding of the present invention, and a part for constitution instruction, the reality with the present invention
It applies example to be used to explain the present invention together, not be construed as limiting the invention.In the accompanying drawings：
Fig. 1 is a kind of structural schematic diagram of automatic driving vehicle obstacle detector of the present invention.
In figure：1- car bodies, 2- wheels, 3- chassis, the first ultrasonic sensors of 4-, 5- first laser radars, 6- vehicle windows
Frame, 7- vehicle windows, 8- ultrasonic sensor firm bankings, the second ultrasonic sensors of 9-, 10- second laser radars.
Specific implementation mode
Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings, it should be understood that preferred reality described herein
Apply example only for the purpose of illustrating and explaining the present invention and is not intended to limit the present invention.
Embodiment
As shown in Figure 1, a kind of automatic driving vehicle obstacle detector, including car body 1, chassis 3, the first ultrasonic wave
Sensor 4, first laser radar 5, window frame 6, the second ultrasonic sensor 9 and second laser radar 10, the car body 1
Top is fixed with first laser radar 5 and second laser radar 10, and the first laser radar 5 is mounted on outside 1 front of car body
Side roof part, the second laser radar 10 are mounted at the top of 1 rear outside of car body, and first ultrasonic sensor 4 is mounted on
On the ultrasonic sensor firm banking 8 of 1 front outsides lower part of car body, the side of 4 sound wave of the first ultrasonic sensor transmitting
To consistent with the direction of 1 straight forward of car body, second ultrasonic sensor 9 is mounted on the super of 1 rear outside lower part of car body
On sonic sensor firm banking 8, the side in the direction and the reversing straight trip of car body 1 of 9 sound wave of the second ultrasonic sensor transmitting
To consistent, the lower section of the car body 1 is fixed with chassis 3, and the lower section of the chassis 3 is fixed with wheel 2.
First ultrasonic sensor 4 detection range covering front laser radar detection zone and 1 front of car body it
Between blind area, the detection range covering rear portion laser radar detection zone and 1 rear portion of car body of second ultrasonic sensor 9
Between blind area, ultrasonic sensor make up first laser radar 5 described in the blind area of laser radar, the first ultrasonic sensor 4,
9 signal connection body auto-pilot controller of second laser radar 10 and the second ultrasonic sensor, the control of car body automatic Pilot
Device in control room, is fixed with window frame 6, is installed in the window frame 6 to other side on the outside of the top of the car body 1
There is vehicle window 7, vehicle window 7 is for divulging information.
Operation principle：Three-dimensional laser radar can quickly scan 360 ° of visual fields, generally use infrared laser, and principle is hair
Penetrate laser and receive the light beam of return, the distance of object is calculated according to the flight time of laser, detecting distance up to 150 meters,
Reachable ± 3 centimetres of range accuracy, every time scanning can generate the three-dimensional point cloud image of ambient enviroment, and data processing is carried out to the cloud
The three-dimensional information of ambient enviroment can be obtained, in general three-dimensional laser radar range measurement accuracy is higher, by first laser thunder
The front-end and back-end of car body 1 are fixed on up to 5 and second laser radar 10, laser radar is very high to the outline identification performance of target,
Can be that car body 1 provides the most direct true form characteristic information for reflecting objective things, and the Shandong to weather of laser radar
Stick is preferable, but there are certain defects for the sensor, and vertical field of view angle is typically small, and 16 common line laser radars are vertical
Field angle is only 30 °, and the single detectable region of laser radar is limited, close vehicle from（In 10 meters）Region in have it is blind
First ultrasonic sensor 4 and the second ultrasonic sensor 9 are arranged in the front-end and back-end of vehicle figure, ultrasonic sensor in area
The device using air as working media, by emitting ultrasonic wave and receiving echo, according to the transmitting of sound wave and reception when
Between difference calculate the distance of object under test, ultrasonic sensor simple structure is also preferable to the robustness of weather, but ultrasonic wave
There is also certain defects for sensor, and detectable distance is shorter, generally within 10 meters, in addition under the conditions of the prior art, it is difficult to
Ultrasound beamformer is converged into very little range, therefore the sensor that ultrasonic probe is detected as vehicle barrier is used only and is difficult to
It realizes detection of obstacles with a wide range of precise, all there is certain defect and deficiency in view of single type sensor, multisensor melts
Conjunction can supplement defect well, and realization has complementary functions.
Finally it should be noted that：The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention,
Although the present invention is described in detail referring to the foregoing embodiments, for those skilled in the art, still may be used
With technical scheme described in the above embodiments is modified or equivalent replacement of some of the technical features.
All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in the present invention's
Within protection domain.
Claims (5)
1. a kind of automatic driving vehicle obstacle detector, including car body（1）, chassis（3）, the first ultrasonic sensor
（4）, first laser radar（5）, window frame（6）, the second ultrasonic sensor（9）With second laser radar（10）, feature
It is, the car body（1）Top be fixed with first laser radar（5）With second laser radar（10）, the first laser
Radar（5）Mounted on car body（1）At the top of front outsides, the second laser radar（10）Mounted on car body（1）Rear outside top
Portion, first ultrasonic sensor（4）Mounted on car body（1）The ultrasonic sensor firm banking of front outsides lower part（8）
On, first ultrasonic sensor（4）The direction of sound wave transmitting and car body（1）The direction of straight forward is consistent, and described second
Ultrasonic sensor（9）Mounted on car body（1）The ultrasonic sensor firm banking of rear outside lower part（8）On, described second
Ultrasonic sensor（9）The direction of sound wave transmitting and car body（1）The direction of reversing straight trip is consistent, the car body（1）Lower section it is solid
Surely it is equipped with chassis（3）, the chassis（3）Lower section be fixed with wheel（2）.
2. a kind of automatic driving vehicle obstacle detector according to claim 1, it is characterised in that：It is described the first to surpass
Sonic sensor（4）Detection range covering front laser radar detection zone and car body（1）Blind area between front.
3. a kind of automatic driving vehicle obstacle detector according to claim 1, it is characterised in that：It is described the second to surpass
Sonic sensor（9）Detection range covering rear portion laser radar detection zone and car body（1）Blind area between rear portion.
4. a kind of automatic driving vehicle obstacle detector according to claim 1, it is characterised in that：Described first swashs
Optical radar（5）, the first ultrasonic sensor（4）, second laser radar（10）With the second ultrasonic sensor（9）Signal connects vehicle
Body auto-pilot controller.
5. a kind of automatic driving vehicle obstacle detector according to claim 1, it is characterised in that：The car body
（1）Top on the outside of be fixed with window frame（6）, the window frame（6）Vehicle window is inside installed（7）.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810202195.6A CN108333589A (en) | 2018-03-13 | 2018-03-13 | A kind of automatic driving vehicle obstacle detector |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810202195.6A CN108333589A (en) | 2018-03-13 | 2018-03-13 | A kind of automatic driving vehicle obstacle detector |
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| CN201810202195.6A Pending CN108333589A (en) | 2018-03-13 | 2018-03-13 | A kind of automatic driving vehicle obstacle detector |
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Cited By (8)
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| CN109765563A (en) * | 2019-01-15 | 2019-05-17 | 北京百度网讯科技有限公司 | A kind of ultrasonic radar array, obstacle detection method and system |
| CN109814114A (en) * | 2019-01-15 | 2019-05-28 | 北京百度网讯科技有限公司 | A kind of ultrasonic radar array, obstacle detection method and system |
| CN109901194A (en) * | 2019-03-18 | 2019-06-18 | 爱驰汽车有限公司 | Onboard system, method, equipment and the storage medium of anticollision |
| CN111098851A (en) * | 2019-11-29 | 2020-05-05 | 惠州市德赛西威汽车电子股份有限公司 | Method and system for detecting automobile blind area barrier, storage medium and automobile |
| CN111096112A (en) * | 2018-10-26 | 2020-05-05 | 井关农机株式会社 | Working vehicle |
| CN113156445A (en) * | 2021-05-11 | 2021-07-23 | 东风汽车集团股份有限公司 | Ultrasonic radar blind area monitoring system and monitoring method |
| CN113376638A (en) * | 2021-06-08 | 2021-09-10 | 武汉理工大学 | Unmanned logistics trolley environment sensing method and system |
| CN114325689A (en) * | 2020-09-30 | 2022-04-12 | 北京万集科技股份有限公司 | Target detection method and device, server and computer readable storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114325689A (en) * | 2020-09-30 | 2022-04-12 | 北京万集科技股份有限公司 | Target detection method and device, server and computer readable storage medium |
| CN113156445A (en) * | 2021-05-11 | 2021-07-23 | 东风汽车集团股份有限公司 | Ultrasonic radar blind area monitoring system and monitoring method |
| CN113156445B (en) * | 2021-05-11 | 2023-10-20 | 东风汽车集团股份有限公司 | Ultrasonic radar blind area monitoring system and monitoring method |
| CN113376638A (en) * | 2021-06-08 | 2021-09-10 | 武汉理工大学 | Unmanned logistics trolley environment sensing method and system |
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