CN108508895A - A kind of pilotless automobile road surface detection device and detection method - Google Patents
A kind of pilotless automobile road surface detection device and detection method Download PDFInfo
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- CN108508895A CN108508895A CN201810324596.9A CN201810324596A CN108508895A CN 108508895 A CN108508895 A CN 108508895A CN 201810324596 A CN201810324596 A CN 201810324596A CN 108508895 A CN108508895 A CN 108508895A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0251—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- Radar, Positioning & Navigation (AREA)
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Abstract
The present invention relates to unmanned technical fields to be installed on pilotless automobile fore-end in particular to a kind of pilotless automobile road surface detection device and detection method, including anticipation detection components；Probe assembly, it is installed on the front end position of the pilotless automobile, electric expansion device including being installed on the pilotless automobile front end, it is installed on the depth camera of electric expansion device front end, and the ultrasonic sensor being installed on the lower face of electric expansion device front end.
Description
Technical field
The present invention relates to unmanned technical fields, in particular to a kind of pilotless automobile road surface detection device
And detection method.
Background technology
It will increasingly be popularized in the following pilotless automobile, but not all road all can be smooth, die Dorfstrasse can go out
Existing various different road conditions, for example have big pit among road, there is deep ponding on road surface, and the high both sides in road surface centre are low to influence whether bottom
Disk etc. cannot such as solve the road conditions progress self-recision route that pilotless automobile adapts to these roads automatically, then to nothing
Further popularizing for people's driving causes greatly to hinder.Therefore how pilotless automobile detects the specific of front road conditions
Information is particularly important.A kind of automatic driving car velocity modulation based on surface evenness that referenced patent number is 201710656077.8 is whole
Device and the pilotless automobile of speed method of adjustment and Patent No. 201520400048.1 are paddled system, to unmanned
Automobile is coped with different road conditions processing methods and is optimized.
Invention content
The first object of the present invention is to provide a kind of pilotless automobile road surface detection device, to solve pilotless automobile
The technical issues of front road conditions are detected.
The second object of the present invention is to provide a kind of pilotless automobile road surface detection method, unmanned to solve to provide
The technical issues of process that automobile detects front road conditions.
What the pilotless automobile road surface detection device of the present invention was realized in：
A kind of pilotless automobile road surface detection device, including
Detection components are prejudged, pilotless automobile fore-end is installed on；
Probe assembly, is installed on the front end position of the pilotless automobile, including is installed on the unmanned vapour
The electric expansion device of Chinese herbaceous peony end, is installed on the depth camera of electric expansion device front end, and is installed on the electricity
Ultrasonic sensor on dynamic expansion bend front end lower face.
Further, pilotless automobile road surface detection device further includes being installed on the pilotless automobile
And the vehicle-mounted computer being electrically connected with the anticipation detection components and probe assembly；
Storage unit is installed in the vehicle-mounted computer.
Further, the electric expansion device includes telescopic rod, and the electric element for driving telescopic rod to move；
The depth camera is installed in the stretching piston nose portion of the telescopic rod, the ultrasonic sensor installation
In on the lower face in the stretching piston nose portion of the telescopic rod.
Further, the electric expansion device further includes a controller for triggering the electric element action, described
Controller is electrically connected with the vehicle-mounted computer.
Further, the anticipation detection components include being installed on the laser sensing of the pilotless automobile front end
Device, the vibrating sensor being installed on the chassis of the pilotless automobile front end are installed on the pilotless automobile front end
The ponding sensor in portion, and it is installed on the sensor icy on road of the pilotless automobile front end.
Further, described information analytic unit includes laser signal analytic unit, vibration information analytic unit, ultrasonic wave
Storage unit, image analyzing unit, waterlogging analysis unit and icing analytic unit；
Described information analytic unit is used to carry out the information that the anticipation detection components and probe assembly obtain at analysis
Reason makes corresponding judgement by vehicle-mounted computer and executes order with corresponding.
Further, the camera lens of the depth camera is parallel with the telescopic rod, i.e.,
The track of pilotless automobile described in the camera lens face of depth camera.
Further, it is additionally provided with filter module in described image analytic unit, it is unrelated in the image information for that will obtain
Signal removal, reinforce pavement image information.
What the pilotless automobile road surface detection method of the present invention was realized in：
A kind of pilotless automobile road surface detection method, includes the following steps,
Step S1：Surface evenness situation is detected in real time by anticipation detection components, vehicle-mounted computer is sent information to, by vehicle
The storage unit carried in computer is analyzed；Simultaneously depth camera in pilotless automobile driving process to front road
Face is detected, and image information is sent to vehicle-mounted computer, and image analysis is carried out by the image analyzing unit in vehicle-mounted computer；
Step S2：The information of reception is judged by vehicle-mounted computer；
Step S3：When vehicle-mounted computer passes to vehicle mounted electric from laser sensor or shock sensor or depth camera
The case where judging that there are road bumps in the information of brain is opened electric expansion device by vehicle-mounted computer control controller, is stretched electronic
Contracting device extends, and the depth camera and ultrasonic sensor of the setting of telescopic rod front extend to automotive front end；
Step S4：The information of the vehicle front road conditions detected is fed back to vehicle-mounted computer by depth camera, by vehicle mounted electric
The storage unit of intracerebral carries out image analysis；Judge road surface bumps situation, and plans pilotless automobile driving path；Together
When by vehicle-mounted computer control vehicle deceleration go slowly；
Step S5：When by ponding sensor passes to the information of vehicle-mounted computer in analyze road surface there are when ponding situation,
Electric expansion device is opened by vehicle-mounted computer control controller, electric expansion device is extended, the depth camera of telescopic rod front setting
Machine and ultrasonic sensor extend to automotive front end；
Step S6：Vehicle-mounted computer is opened ultrasonic sensor and is detected；
Step S7：The information of acquisition is fed back to vehicle-mounted computer by ultrasonic sensor, by the information analysis in vehicle-mounted computer
Unit carries out calculating analysis；Judge the depth of water, and plans pilotless automobile driving path；Vehicle is controlled by vehicle-mounted computer simultaneously
Slow down, stops or executes other safe travelling methods；
Step S8：When by sensor passes icy on road to the information of vehicle-mounted computer in judge that there are icing feelings on road surface
Condition feeds back to vehicle-mounted computer；
Step S9：It is gone slowly by vehicle-mounted computer control vehicle deceleration.
Further, in step 2 and step 4, the extension elongation of the electric expansion device is controllable, the electric expansion device
Extension elongation the seriousness of road bump situation is judged according to the information of acquisition to calculate by the vehicle-mounted computer.
Compared with the existing technology, the embodiment of the present invention has the advantages that：In pilotless automobile front end, setting is pre-
The pavement behavior of road can be monitored in real time by sentencing detection components cooperation depth camera, to which vehicle-mounted computer can be made accordingly
Instruction, has big pit encountering among road, and there are deep ponding, accumulated ice in road surface, and the high both sides in road surface centre are low to influence whether the feelings such as chassis
When condition, electric expansion device is opened in advance, by depth camera and ultrasonic sensor to extension so that pilotless automobile is visited
Ranging can control pilotless automobile and change route around pit, ponding, or reduce speed to prevent in time from becoming farther
Road is slided, and control vehicle changes direction, makes automatic driving vehicle side tire running to the high side in road surface, prevents among road
The raised area damages chassis, before the warning value that ponding reaches setting, makes parking or other safe driving schemes in advance.
Description of the drawings
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 shows the overall schematic that the embodiment of the present invention 1 is provided；
Fig. 2 shows the step of embodiment of the present invention 2 are provided to scheme.
In figure：Pilotless automobile 100, laser sensor 210, vibrating sensor 220, ponding sensor 230, road surface knot
Ice sensor 240, electric expansion device 310, depth camera 320, ultrasonic sensor 330, vehicle-mounted computer 400.
Specific implementation mode
In conjunction with the accompanying drawings, the present invention is further explained in detail.These attached drawings are simplified schematic diagram, only with
Illustration illustrates the basic structure of the present invention, therefore it only shows the composition relevant to the invention.
Embodiment 1
As shown in Figure 1, a kind of pilotless automobile road surface detection device, including anticipation detection components and probe assembly.
Detection components are prejudged, 100 fore-end of pilotless automobile is installed on.For judging pilotless automobile in advance
With the presence or absence of jolting, the road hazards situation such as ponding or accumulated ice is timely feedbacked 100 tracks to vehicle-mounted computer 400.
Probe assembly, is installed on the front end position of pilotless automobile 100, including is installed on pilotless automobile 100
The electric expansion device 310 of front end, is installed on the depth camera 320 of 310 front end of electric expansion device, and is installed on electronic
Ultrasonic sensor 330 on 310 front end lower face of expansion bend.Depth camera 320 is opened pilotless automobile 100 and is run over
It is always in journey, monitor the surface conditions of road in real time together with anticipation detection components.
Specifically, 100 road surface detection device of pilotless automobile further include be installed on it is on pilotless automobile 100 and with
Prejudge the vehicle-mounted computer 400 of detection components and probe assembly electric connection；Storage unit is installed in vehicle-mounted computer 400.
The information that vehicle-mounted computer 400 is used to analyze anticipation detection components and probe assembly passes back, and corresponding decision instruction is made,
It controls pilotless automobile 100 and changes route around pit, ponding, or reducing speed prevents road from sliding, and control vehicle changes
It changes direction, makes automatic driving vehicle side tire running to the high side in road surface, prevent the raised area damage chassis among road.
Electric expansion device 310 includes telescopic rod, and the electric element for driving telescopic rod to move；Depth camera
320 are installed in the stretching piston nose portion of telescopic rod, and ultrasonic sensor 330 is installed on the stretching piston nose portion of telescopic rod
Lower face on.In vehicle-mounted computer 400, by discriminatory analysis road conditions, there are pitchpole, either ponding is more or accumulated ice is serious etc.
When road conditions, that is, electric expansion device 310 is opened, depth camera 320 and ultrasonic sensor 330 are gone to extension, nobody is made to drive
Sailing automobile 100 farther can detect front road conditions, so that vehicle-mounted computer 400 is timely made correct judgement, improve nothing
The adaptability of people's 100 pairs of various road conditions of driving.
Preferably, electric expansion device 310 further include one for trigger electric element action controller, controller with it is vehicle-mounted
Computer 400 is electrically connected.The signal of controller is sent to by vehicle-mounted computer 400, it is flexible that controller controls electric element driving
Bar moves.
It includes being installed on the laser sensor 210 of 100 front end of pilotless automobile to prejudge detection components, is installed on nobody
The vibrating sensor 220 to drive a car on 100 front end chassis is installed on the ponding sensing of 100 front end of pilotless automobile
Device 230, and it is installed on the sensor icy on road 240 of 100 front end of pilotless automobile.Laser sensor 210 and vibration pass
Sensor 220, which coordinates, makes the signal of detection road bump more accurate, passes through ponding sensor 230 and sensor icy on road
The ponding or ice condition on 240 induction road surfaces.
While prejudging detection components work, depth camera 320 also works at the same time, auxiliary anticipation detection components, will
The more detailed situation on road surface is sent to the vehicle-mounted computer 400 of pilotless automobile 100, carries out auxiliary judgment.
Storage unit includes laser signal analytic unit, vibration information analytic unit, ultrasound information analytic unit,
Image analyzing unit, waterlogging analysis unit and icing analytic unit.
The information progress analyzing processing that storage unit is used to prejudge detection components and probe assembly obtains, by vehicle-mounted
Computer 400 makes corresponding judgement and executes order with corresponding.
The camera lens of depth camera 320 is parallel with telescopic rod, i.e. the camera lens face pilotless automobile of depth camera 320
100 track.320 face track of depth camera can more accurately calculate the three-dimensional dimension on road surface.
Filter module is additionally provided in image analyzing unit, the removal of unrelated signal, adds in the image information for that will obtain
Strong pavement image information.Miscellaneous remaining signal is filtered out by filter module, information of road surface is more clear and is accurately conveyed to image point
Analysis unit is analyzed.
Optionally, such as, but not limited to rainwater detector can be used in the ponding sensor 230.It is detected in the way of humidity
Either with or without the sensor of moisture, whether detection humidity reaches setting value, that is, judges whether road surface has ponding.Utilize supersonic sensing
The range measurement principle of device, meter calculate depth of accumulated water.
Optionally, such as, but not limited to active infra-red freezing sensor can be used in the freezing sensor 240.It is active
Infrared laser direct irradiation on surface icy on road, frozen surface reflection is received by photodetector by infrared sensor
The energy of laser back, operation obtain the reflectance factor of frozen surface under incidence angle and view angle not so, are according to freezing
The ice condition of number measuring and calculating body surface.
In pilotless automobile driving process, chassis and ground may it is parallel may also due to pavement roughness and road surface away from
From changing.When incidence angle is identical, surface ice sheet is thicker, and the light that ice sheet scattering is fallen is more, the energy of the reflected light received
Amount is fewer.If incidence is by ice-covered object from different perspectives for light, under the different view angles received using photodetector
Return laser beam energy, ice converts optical signals to electric signal, by amplification, the filtering to electric wave, is divided by vehicle-mounted computer
Analysis is handled.
Embodiment 2
As shown in Fig. 2, present embodiments providing a kind of pilotless automobile road surface detection method, include the following steps：
Step S1：Surface evenness situation is detected in real time by anticipation detection components, sends information to vehicle-mounted computer 400,
It is analyzed by the storage unit in vehicle-mounted computer 400；Depth camera 320 is travelled in pilotless automobile 100 simultaneously
Road surface ahead is detected in the process, image information is sent to vehicle-mounted computer 400, by the image in vehicle-mounted computer 400 point
It analyses unit and carries out image analysis；
Step S2：The information of reception is judged by vehicle-mounted computer 400；
Step S3：When vehicle-mounted computer 400 is passed from laser sensor 210 or shock sensor or depth camera 320
The case where judging that there are road bumps in the information of vehicle-mounted computer 400 is passed, it is electronic to control controller opening by vehicle-mounted computer 400
Expansion bend 310 extends electric expansion device 310, the depth camera 320 and ultrasonic sensor 330 of the setting of telescopic rod front
Extend to automotive front end；
Step S4：The information of the vehicle front road conditions detected is fed back to vehicle-mounted computer 400 by depth camera 320, by
Storage unit in vehicle-mounted computer 400 carries out image analysis；Judge road surface bumps situation, and plans pilotless automobile
100 driving paths；Vehicle deceleration is controlled by vehicle-mounted computer 400 simultaneously to go slowly；
Step S5：When analyzing road surface in the information for passing to vehicle-mounted computer 400 by ponding sensor 230, there are ponding shapes
When condition, controller is controlled by vehicle-mounted computer 400 and opens electric expansion device 310, electric expansion device 310 is extended, telescopic rod front
The depth camera 320 and ultrasonic sensor 330 of setting extend to automotive front end；
Step S6：Vehicle-mounted computer 400 is opened ultrasonic sensor 330 and is detected；
Step S7：The information of acquisition is fed back to vehicle-mounted computer 400 by ultrasonic sensor 330, by vehicle-mounted computer 400
Storage unit carries out calculating analysis；Judge the depth of water, and plans 100 driving paths of pilotless automobile；Simultaneously by vehicle
It carries the control vehicle deceleration of computer 400 to go slowly, stops or execute other safe travelling methods；
Step S8：It is tied when judging that road surface exists in the information for passing to vehicle-mounted computer 400 by sensor 240 icy on road
Ice condition condition feeds back to vehicle-mounted computer 400；
Step S9：Vehicle deceleration is controlled by vehicle-mounted computer 400 to go slowly.
Specifically, in step 2 and step 4, the extension elongation of electric expansion device 310 is controllable, and electric expansion device 310 is stretched
Go out length and the seriousness of road bump situation is judged according to the information of acquisition to calculate by vehicle-mounted computer 400.
In the description of the present invention, it is also necessary to which explanation is unless specifically defined or limited otherwise, term " setting ",
" installation ", " connected ", " connection " shall be understood in a broad sense, for example, it may be fixedly connected, may be a detachable connection or one
Connect to body；It can be mechanical connection, can also be electrical connection；It can be directly connected, it can also be indirect by intermediary
It is connected, can is the connection inside two elements.For the ordinary skill in the art, on being understood with concrete condition
State the concrete meaning of term in the present invention.
It should be noted that：Similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined, then it further need not be defined and explained in subsequent attached drawing in a attached drawing.
It these are only the preferred embodiment of the present invention, be not intended to restrict the invention, for those skilled in the art
For member, the invention may be variously modified and varied.Any modification made by all within the spirits and principles of the present invention,
Equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of pilotless automobile road surface detection device, which is characterized in that including
Detection components are prejudged, pilotless automobile fore-end is installed on；
Probe assembly, is installed on the front end position of the pilotless automobile, including before being installed on the pilotless automobile
The electric expansion device of end, is installed on the depth camera of electric expansion device front end, and is installed on described electronic stretch
Ultrasonic sensor on the lower face of contracting device front end.
2. pilotless automobile road surface according to claim 1 detection device, which is characterized in that the pilotless automobile
Road surface detection device further include be installed on it is on the pilotless automobile and with the anticipation detection components and probe assembly electricity
Property connection vehicle-mounted computer；
Storage unit is installed in the vehicle-mounted computer.
3. pilotless automobile road surface according to claim 2 detection device, which is characterized in that the electric expansion device packet
Include telescopic rod, and the electric element for driving telescopic rod to move；
The depth camera is installed in the stretching piston nose portion of the telescopic rod, and the ultrasonic sensor is installed on institute
It states on the lower face in stretching piston nose portion of telescopic rod.
4. pilotless automobile road surface according to claim 3 detection device, which is characterized in that the electric expansion device is also
Include a controller for triggering the electric element action, the controller is electrically connected with the vehicle-mounted computer.
5. pilotless automobile road surface according to claim 4 detection device, which is characterized in that the anticipation detection components
Laser sensor including being installed on the pilotless automobile front end, is installed on pilotless automobile front end chassis
On vibrating sensor, be installed on the ponding sensor of the pilotless automobile front end, and be installed on it is described nobody drive
Sail the sensor icy on road of automotive front end.
6. pilotless automobile road surface according to claim 5 detection device, which is characterized in that described information analytic unit
Including laser signal analytic unit, vibration information analytic unit, ultrasound information analytic unit, image analyzing unit, ponding point
Analyse unit and icing analytic unit；
Described information analytic unit is used to the information that the anticipation detection components and probe assembly obtain carrying out analyzing processing, by
Vehicle-mounted computer makes corresponding judgement and executes order with corresponding.
7. pilotless automobile road surface according to claim 6 detection device, which is characterized in that the depth camera
Camera lens is parallel with the telescopic rod, i.e.,
The track of pilotless automobile described in the camera lens face of depth camera.
8. pilotless automobile road surface according to claim 7 detection device, which is characterized in that described image analytic unit
It is inside additionally provided with filter module, pavement image information is reinforced in unrelated signal removal in the image information for that will obtain.
9. a kind of pilotless automobile road surface detection method, which is characterized in that include the following steps,
Step S1：Surface evenness situation is detected in real time by anticipation detection components, vehicle-mounted computer is sent information to, by vehicle mounted electric
Storage unit in brain is analyzed；Simultaneously depth camera in pilotless automobile driving process to road surface ahead into
Row detection, vehicle-mounted computer is sent to by image information, and image analysis is carried out by the image analyzing unit in vehicle-mounted computer；
Step S2：The information of reception is judged by vehicle-mounted computer；
Step S3：When vehicle-mounted computer passes to vehicle-mounted computer from laser sensor or shock sensor or depth camera
The case where judging that there are road bumps in information opens electric expansion device, by electric expansion device by vehicle-mounted computer control controller
Elongation, the depth camera and ultrasonic sensor of the setting of telescopic rod front extend to automotive front end；
Step S4：The information of the vehicle front road conditions detected is fed back to vehicle-mounted computer by depth camera, by vehicle-mounted computer
Storage unit carry out image analysis；Judge road surface bumps situation, and plans pilotless automobile driving path；While by
Vehicle-mounted computer control vehicle deceleration is gone slowly；
Step S5：When by ponding sensor passes to the information of vehicle-mounted computer in analyze road surface there are when ponding situation, by vehicle
Carry computer control controller open electric expansion device, electric expansion device is extended, telescopic rod front setting depth camera and
Ultrasonic sensor extends to automotive front end；
Step S6：Vehicle-mounted computer is opened ultrasonic sensor and is detected；
Step S7：The information of acquisition is fed back to vehicle-mounted computer by ultrasonic sensor, by the storage unit in vehicle-mounted computer
Carry out calculating analysis；Judge the depth of water, and plans pilotless automobile driving path；Subtracted simultaneously by vehicle-mounted computer control vehicle
Speed is gone slowly, other safe travelling methods are stopped or execute；
Step S8：When by sensor passes icy on road to the information of vehicle-mounted computer in judge that there are ice conditions on road surface, instead
It feeds vehicle-mounted computer；
Step S9：It is gone slowly by vehicle-mounted computer control vehicle deceleration.
10. pilotless automobile road surface according to claim 9 detection method, which is characterized in that in step 2 and step 4
In, the extension elongation of the electric expansion device is controllable, and the extension elongation of the electric expansion device is by the vehicle-mounted computer according to obtaining
The information obtained judges the seriousness of road bump situation to calculate.
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109343042A (en) * | 2018-11-20 | 2019-02-15 | 吉林大学 | A kind of road surface detection device suitable for mining area haulage vehicle |
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| CN109343042A (en) * | 2018-11-20 | 2019-02-15 | 吉林大学 | A kind of road surface detection device suitable for mining area haulage vehicle |
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| CN109436132A (en) * | 2018-12-25 | 2019-03-08 | 浙江大学昆山创新中心 | Intelligent delivery wagon |
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| WO2020252971A1 (en) * | 2019-06-19 | 2020-12-24 | 商汤集团有限公司 | Intelligent driving control method and apparatus, and electronic device |
| CN110207659A (en) * | 2019-06-27 | 2019-09-06 | 长沙理工大学 | A kind of operating mechanism of the terrain detection device of unmanned outdoor vehicles |
| CN113111693A (en) * | 2020-01-13 | 2021-07-13 | 北汽福田汽车股份有限公司 | Method for identifying by using automobile camera, vehicle-mounted controller and automobile |
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| CN111554093A (en) * | 2020-05-15 | 2020-08-18 | 无锡北斗星通信息科技有限公司 | Real-time analysis system and method for traffic reference data |
| CN113739723A (en) * | 2020-05-28 | 2021-12-03 | 广州汽车集团股份有限公司 | Ice surface flatness adjusting system and method |
| CN112380095A (en) * | 2020-11-16 | 2021-02-19 | 黑龙江亿林网络股份有限公司 | Multi-node road surface induction system for Internet of vehicles |
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