CN112109716A

CN112109716A - Sensing system of automatic driving tractor and automatic driving tractor

Info

Publication number: CN112109716A
Application number: CN202011128275.5A
Authority: CN
Inventors: 张兵; 韦松; 杜一光; 郭立群
Original assignee: Suzhou Zhitu Technology Co Ltd
Current assignee: Suzhou Zhitu Technology Co Ltd
Priority date: 2020-10-22
Filing date: 2020-10-22
Publication date: 2020-12-22

Abstract

The invention provides a sensing system of an automatic driving tractor and the automatic driving tractor, which relate to the technical field of automatic driving, and the sensing system of the automatic driving tractor comprises: the sensor system comprises a computing unit, a sensor system and a fixing mechanism for fixing the sensor system, wherein the sensor system comprises a millimeter wave radar module, a laser radar module and a camera module; the millimeter wave radar module comprises a short-distance millimeter wave radar and a medium-distance millimeter wave radar; the camera module comprises a front-view camera, a wide-angle camera and a middle-distance camera; the laser radar module comprises at least one laser radar; the sensing system of the automatic driving tractor and the automatic driving tractor provided by the invention can realize sensing without dead angles within the range of 360 degrees around the automatic driving tractor, obtain better sensing effect, and are beneficial to realizing automatic dragging of the automatic driving tractor so as to meet the sensing requirement on a sensor system.

Description

Sensing system of automatic driving tractor and automatic driving tractor

Technical Field

The invention relates to the technical field of automatic driving, in particular to a sensing system of an automatic driving tractor and the automatic driving tractor.

Background

The automatic driving vehicle mainly utilizes a vehicle-mounted sensor to sense the surrounding environment and the vehicle information of the vehicle, obtains information such as road conditions, vehicle positions, obstacles and the like after analysis and processing by a vehicle-mounted computing unit, and then intelligently and automatically controls the steering, speed and braking system of the vehicle, so that the vehicle can safely and reliably run on the road.

The tractor is a vehicle for towing a loaded trailer to run, and is generally applied to medium-long distance cargo transportation. At present, the demand of long-distance transportation is increasing day by day, and the driving safety of a driver can be obviously improved and the logistics cost can be greatly reduced by using an automatic driving traction vehicle for transportation.

Generally, a tractor driven automatically is required to be able to complete operations such as trailer towing, road running, obstacle avoidance recognition and the like without intervention of a driver, but since the tractor has a large size and tends to generate a blind area even in a scene such as a turn, the demand for a vehicle sensing system is high. The sensor adopted in the prior art generally has the defects of large detection blind area, poor detection distance and accuracy and the like.

Disclosure of Invention

In view of the above, the present invention provides a sensing system for an automatic tractor and an automatic tractor, so as to alleviate the above technical problems.

In a first aspect, an embodiment of the present invention provides a sensing system for an automatic tractor, including: the sensor system is in communication connection with the computing unit, and the computing unit is also in communication connection with a controller of the automatic driving tractor; the sensor system detects obstacles in corresponding directions and sends detection data to the computing unit; the calculation unit is used for sending the detection data to a controller of the automatic driving tractor so that the controller of the automatic driving tractor can identify the obstacle and a travelable area of the current road; the sensor system comprises a millimeter wave radar module, a laser radar module and a camera module; the millimeter wave radar module comprises a short-distance millimeter wave radar and a medium-distance millimeter wave radar; the short-distance millimeter wave radar is arranged on two sides of the front part of the tractor head of the automatic driving tractor and two sides of the tractor body; the middle-distance millimeter wave radar is arranged right in front of the automatic driving tractor and is positioned on a vehicle central axis; the camera module comprises a front-view camera, a wide-angle camera and a middle-distance camera; the front-view camera is arranged right in front of the automatic driving tractor and is positioned on the central axis of the vehicle, and the center of the visual field of the front-view camera is superposed with the central axis of the vehicle; the wide-angle camera is arranged below a left rear-view mirror and a right rear-view mirror of the automatic driving tractor, and the view center of the wide-angle camera is vertical to the central axis of the vehicle; the middle-distance camera is installed at a preset position of a cab of the automatic driving tractor; the laser radar module includes at least one laser radar, just, the top edge in laser radar's the field of vision set up to with the axis of autopilot tractor is parallel.

With reference to the first aspect, an embodiment of the present invention provides a first possible implementation manner of the first aspect, where the fixing mechanism includes a first fixing bracket matched with the millimeter wave radar module; the short-distance millimeter wave radar is arranged on two sides of the front part of the tractor head of the automatic driving tractor and two sides of the tractor body through the first fixing support; the middle-distance millimeter wave radar is installed right ahead of the automatic driving tractor through the first fixing support and is located on the vehicle central axis.

With reference to the first possible implementation manner of the first aspect, an embodiment of the present invention provides a second possible implementation manner of the first aspect, wherein the first fixing bracket includes a first fixing piece and a first mounting seat that are fixedly connected; the first fixing piece and the first mounting seat are arranged at a preset angle; the first fixing piece is used for fixing the automatic driving tractor, and the first mounting seat is used for fixing the short-distance millimeter wave radar and the medium-distance millimeter wave radar.

With reference to the first aspect, an embodiment of the present invention provides a third possible implementation manner of the first aspect, where the fixing mechanism further includes a second fixing bracket matched with the laser radar module, and the laser radar is fixed by the second fixing bracket.

With reference to the third possible implementation manner of the first aspect, an embodiment of the present invention provides a fourth possible implementation manner of the first aspect, wherein the second fixing bracket includes a second fixing element and a second mounting seat that are fixedly connected; the second fixing piece and the second mounting seat are arranged at a preset angle; the second fixing piece is used for fixing the automatic driving tractor, and the second mounting seat is used for fixing at least one laser radar.

With reference to the first aspect, an embodiment of the present invention provides a fifth possible implementation manner of the first aspect, where the fixing mechanism further includes a third fixing bracket matched with the camera module; the front-view camera is installed right in front of the automatic driving tractor through the third fixing support; the wide-angle camera is installed below the left rear-view mirror and the right rear-view mirror of the automatic driving tractor through the third fixing support; the middle-distance camera is installed at a preset position of a cab of the automatic driving tractor through the third fixing support.

With reference to the fifth possible implementation manner of the first aspect, an embodiment of the present invention provides a sixth possible implementation manner of the first aspect, where the third fixing bracket is a rotating bracket, the rotating bracket includes a fixing base, and the fixing base is configured with a rotating mechanism; the camera module is fixed on the rotating mechanism, and the rotating mechanism is used for adjusting the visual angle of the camera module.

With reference to the first aspect, an embodiment of the present invention provides a seventh possible implementation manner of the first aspect, where the sensor system further includes a wheel speed sensor; the wheel speed sensor is used for measuring a wheel speed signal of the automatic driving tractor; the computing unit is further used for controlling the rotating mechanism to rotate according to the wheel speed signal so as to adjust the visual angle of the camera module.

With reference to the first aspect, an embodiment of the present invention provides an eighth possible implementation manner of the first aspect, where the computing unit is provided with a plurality of electrical interfaces; the sensor system is connected with the computing unit through the electrical interface; the plurality of electrical interfaces comprise an Ethernet interface, a CAN interface and an LVDS interface.

In a second aspect, an embodiment of the present invention further provides an automatic driving tractor, where the automatic driving tractor is configured with the sensing system of the automatic driving tractor according to the first aspect.

The embodiment of the invention has the following beneficial effects:

the sensing system of the automatic driving tractor and the automatic driving tractor provided by the embodiment of the invention have the advantages that through arranging the computing unit and the sensor system, and a fixing mechanism for fixing the sensor system, the sensor system can be fixed at a preset position of the automatic driving tractor, the sensor system further comprises a plurality of sensors such as a millimeter wave radar module, a laser radar module and a camera module, by arranging various sensors around the body of the automatic driving tractor and reasonably distributing and installing the sensors, the dead-angle-free sensing can be realized within the range of 360 degrees around the automatic driving tractor, particularly, aiming at different scenes of vehicle starting and normal driving, a better sensing effect can be obtained by setting automatic adjustment of a sensor sensing area, and the automatic towing of the automatic driving tractor is facilitated to be realized so as to meet the sensing requirement on a sensor system.

Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.

In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.

Fig. 1 is a schematic structural diagram of a sensing system of an automatic tractor provided in an embodiment of the present invention;

fig. 2 is a schematic layout diagram of a sensor system according to an embodiment of the present invention;

fig. 3 is a schematic diagram of an arrangement and a view of a lidar module according to an embodiment of the present invention;

fig. 4 is a schematic diagram of an arrangement and a view of a millimeter wave radar module according to an embodiment of the present invention;

fig. 5 is a schematic view of an arrangement and a view of a camera module according to an embodiment of the present invention;

FIG. 6 is a schematic structural diagram of a first fixing bracket according to an embodiment of the present invention;

FIG. 7 is a schematic structural diagram of a second fixing bracket according to an embodiment of the present invention;

fig. 8 is a schematic structural diagram of a third fixing bracket according to an embodiment of the present invention.

Icon: 10-a calculation unit; 201-millimeter wave radar module; 202-laser radar module; 203-camera module; 201 a-short range millimeter wave radar; 201 b-medium range millimeter wave radar; 203 a-forward looking camera; 203 b-wide angle camera; 203 c-middle range camera; 202 a-lidar; 20-an autonomous driving tractor; 601-a first fixture; 602-a first mount; 701-a second fixing piece; 702-a second mount; 801-fixing seat.

Detailed Description

To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

At present, the demand of long-distance transportation is increasing day by day, uses the autopilot tractor to transport, can show the driving safety that improves the driver, also can reduce the logistics cost by a wide margin. However, since the tractor has a large size and a blind area is likely to occur even in a scene such as a turn, the demand for the autonomous driving tractor sensing system is high. Based on the above, the sensing system of the automatic driving tractor and the automatic driving tractor provided by the embodiment of the invention can realize effective sensing of the automatic driving tractor to the surrounding environment of the vehicle.

For the convenience of understanding the embodiment, the sensing system of the automatic tractor disclosed by the embodiment of the invention is first described in detail.

In one possible implementation, an embodiment of the present invention provides a sensing system for an autonomous driving tractor, including: a computing unit, a sensor system, and a fixing mechanism for fixing the sensor system.

Specifically, the sensor system is in communication connection with a computing unit, and the computing unit is also in communication connection with a controller of the automatic driving tractor; the sensor system is used for detecting the obstacles in the corresponding direction and sending the detection data to the computing unit; the calculation unit is used for sending the detection data to the controller of the automatic driving tractor so that the controller of the automatic driving tractor can identify the obstacle and the travelable area of the current road.

For ease of understanding, fig. 1 shows a schematic structural diagram of a sensing system of an autonomous tractor, and for ease of explanation, fig. 1 shows only a computing unit 10 and a sensor system of the sensing system of the autonomous tractor (hereinafter also referred to simply as a vehicle).

The sensor system comprises a millimeter wave radar module 201, a laser radar module 202 and a camera module 203;

further, the millimeter wave radar module 201 includes a short-range millimeter wave radar 201a and a medium-range millimeter wave radar 201 b; in practical use, the number of the short-distance millimeter wave radar 201a and the medium-distance millimeter wave radar 201b is usually at least one, and specifically, the short-distance millimeter wave radar 201a is installed on both sides of the front part of the vehicle head and both sides of the vehicle body of the automatic driving tractor, and is used for detecting obstacles around the vehicle; the middle-distance millimeter wave radar 201b is installed right ahead of the automatic driving tractor, is located on a vehicle central axis, and is used for detecting an obstacle in front of the vehicle.

The camera module 203 comprises a front camera 203a, a wide-angle camera 203b and a middle-distance camera 203 c; the number of the front-view cameras 203a, the wide-angle cameras 203b, and the middle-distance cameras 203c may also be set to at least one according to the actual use requirement.

Specifically, the forward-looking camera 203a is installed right ahead of the automatic driving tractor and is located on a vehicle central axis, and a visual field center of the forward-looking camera coincides with the vehicle central axis for identifying lane lines, traffic markings, traffic signs, obstacles, and the like in front of the vehicle.

The wide-angle camera 203b is installed below the left and right rear-view mirrors of the automatic driving tractor, and the view center of the wide-angle camera is perpendicular to the central axis of the vehicle, so as to identify obstacles on two sides of the vehicle.

The middle distance camera 203c is installed at a preset position of a cab of the autonomous driving tractor, and is generally used to identify an obstacle behind the vehicle.

Lidar module 202 then includes at least one lidar, and, the top edge in lidar's the field of vision sets up to be parallel with the axis of autopilot tractor for detect the barrier in vehicle the place ahead and both sides.

Based on the sensor system, various sensors can be arranged around the body of the automatic driving tractor, so that the obstacle sensing of 360 degrees around the vehicle is realized.

Therefore, the sensing system of the automatic driving tractor provided by the embodiment of the invention has the advantages that the sensing system is provided with a computing unit and a sensor system, and a fixing mechanism for fixing the sensor system, the sensor system can be fixed at a preset position of the automatic driving tractor, the sensor system further comprises a plurality of sensors such as a millimeter wave radar module, a laser radar module and a camera module, by arranging various sensors around the body of the automatic driving tractor and reasonably distributing and installing the sensors, the dead-angle-free sensing can be realized within the range of 360 degrees around the automatic driving tractor, particularly, aiming at different scenes of vehicle starting and normal driving, a better sensing effect can be obtained by setting automatic adjustment of a sensor sensing area, and the automatic towing of the automatic driving tractor is facilitated to be realized so as to meet the sensing requirement on a sensor system.

In practical use, the computing unit is usually an embedded computing unit, and specifically, may be implemented by a Programmable device such as an FPGA (Field Programmable Gate Array), and may integrate a Programmable input/output unit, configure a logic block, a digital clock management module, an embedded block RAM, a wiring resource, and the like, and embed a dedicated hard core, and embed a functional unit and the like in a bottom layer, so as to realize acquisition and transmission of detection data of the sensor system, so that a controller of the automatic driving tractor may analyze a surrounding environment of a vehicle based on the detection data acquired by the sensor system, and identify an obstacle and a drivable area of a road. The calculation unit may directly analyze and process the detection data and identify an obstacle according to actual calculation capability, and send the result to the controller of the autonomous driving tractor, or directly generate the detection data of the sensor system to the controller of the autonomous driving tractor, and the detection data is analyzed and processed by the controller of the autonomous driving tractor.

Further, the computing unit is typically provided with a plurality of electrical interfaces; the sensor system comprises a plurality of sensors which are connected with a computing unit through an electrical interface; the plurality of electrical interfaces include an ethernet interface, a CAN (Controller Area Network) interface, and an LVDS (Low Voltage Differential Signaling) interface. Specifically, the laser radar module is connected with the computing unit by using an Ethernet interface, the millimeter wave radar module is connected with the computing unit by using a CAN interface, the camera module is connected with the computing unit by using an LVDS interface, and the computing unit analyzes, processes and transmits data of several modules of the sensor system.

For convenience of understanding, fig. 2 shows a schematic layout of a sensor system, and as shown in fig. 2, the description is made by taking an example in which the laser radar module includes two 4-line laser radars, the millimeter wave radar module includes four short-range millimeter wave radars and one middle-range millimeter wave radar, and the camera module includes one front-view camera, two wide-angle cameras, and three middle-range cameras.

It should be understood that the number and arrangement of the sensors in the sensor system shown in fig. 2 are only one possible implementation, and in other embodiments, the number and arrangement may also be set according to the actual use situation, and the embodiment of the present invention is not limited thereto.

Specifically, as shown in fig. 2, the vehicle includes an autonomous driving tractor 20, and various sensors disposed around the vehicle body, wherein a broken line in fig. 2 is a vehicle central axis.

Wherein, the foresight camera 203a and the medium distance millimeter wave radar 201b have been arranged to the locomotive dead ahead, laser radar 202a and short distance millimeter wave radar 201a have been arranged to locomotive left side place ahead, wide angle camera 203b and medium distance camera 203c have been arranged to left side rear-view mirror department, short distance millimeter wave radar 201a has been arranged to left side rear wheel top, short distance millimeter wave radar 201a has also been arranged to right side rear wheel top, the back glass department of driver's cabin arranges medium distance camera 203c, the wide angle camera 203b and medium distance camera 203c are arranged to right side rear-view mirror, laser radar 202a and short distance millimeter wave radar 201a have been arranged to locomotive right front.

Further, based on the arrangement schematic diagram of the sensor system shown in fig. 2, fig. 3 also shows an arrangement and a view schematic diagram of a lidar module, as shown in fig. 3, 4-line lidar 202a is respectively installed at the left front side and the right front side of the vehicle head, and the installation height is typically 1.5 meters. Because the laser radars have very high distance detection precision, the arrangement mode can accurately measure the distance from an object in the field of view to the laser radars, and further, as shown in fig. 3, the upper edges of the field angles of the two laser radars are arranged to be parallel to the central axis of the vehicle, so that the left side and the right side of the vehicle body can be sensed respectively.

Further, fig. 4 shows an arrangement and view schematic diagram of a millimeter wave radar module, as shown in fig. 4, the medium-distance millimeter wave radar 201b is installed in front of the vehicle head, the center of the view angle coincides with the central axis of the vehicle, the installation height is consistent with the height of the license plate, so that obstacles in a far distance position in front of the vehicle can be sensed conveniently, and obstacle early warning is performed in advance. In the embodiment of the invention, the short-distance millimeter wave radars 201a are arranged at the left front part and the right front part of the vehicle head and above the rear wheels at the two sides of the vehicle body, the mounting height is 0.6 m, the 360-degree coverage of the periphery of the vehicle can be achieved through the splicing of the field angles of the short-distance millimeter wave radars, and the obstacles at the four corners of the vehicle are mainly sensed. It should be understood that, in fig. 2 and fig. 4, the positions of the short-distance millimeter wave radar on the two sides of the vehicle body are only a preferred embodiment, and in other embodiments, the short-distance millimeter wave radar may also be disposed at any position on the two sides of the vehicle body according to actual use requirements, such as a fuel tank position, and the like, and may be specifically disposed according to actual use conditions, which is not limited in the embodiment of the present invention.

Further, fig. 5 is a schematic view of arrangement and view of the camera module, and as shown in fig. 5, a front view camera 203a is installed below a front windshield of a cab, and a center of a view angle coincides with a central axis of a vehicle, and mainly recognizes an obstacle, a traffic sign, a lane line, and the like in front of the vehicle. The two wide-angle cameras 203b are respectively installed on the left rearview mirror and the right rearview mirror of the vehicle, the centers of the field angles are perpendicular to the central axis of the vehicle, and the wide-angle cameras are mainly used for sensing the areas near the vehicle body and making up blind areas of other sensors. The middle distance cameras 203c are mounted on left and right rear-view mirrors of the vehicle, respectively, and on a rear glass of a cab of the vehicle, for sensing an area behind the vehicle.

It should be understood that each sector in fig. 3-5 represents a field of view or field angle of the corresponding sensor. As can be seen from fig. 3 to 5, the arrangement of the sensors in the embodiment of the present invention can mutually compensate the blind area of the field of view, and 360 ° coverage around the vehicle can be achieved by splicing the field angles, so that the obstacles at the four corners of the vehicle can be sensed.

In addition, the distance parameters of the short-distance millimeter wave radar and the middle-distance millimeter wave radar included in the millimeter wave radar module are relatively speaking, the viewing angle parameters of the front-view camera, the wide-angle camera and the middle-distance camera included in the camera module are also relatively set, specific parameters can be set according to actual use conditions, and the embodiment of the invention is not limited to this.

Furthermore, in order to reasonably distribute and install various sensors of the sensor system around the body of the automatic driving tractor, the fixing mechanism usually comprises a first fixing support matched with the millimeter wave radar module; the short-distance millimeter wave radar is arranged on two sides of the front part of the tractor head and two sides of the tractor body of the automatic driving tractor through the first fixing support; the middle-distance millimeter wave radar is installed right ahead of the automatic driving tractor through the first fixing support and is located on a vehicle central axis.

For easy understanding, fig. 6 shows a schematic structural diagram of a first fixing bracket, specifically, taking the first fixing bracket as an example for fixing a short-distance millimeter wave radar 201a, the first fixing bracket includes a first fixing part 601 and a first mounting seat 602, which are fixedly connected; the first fixing piece and the first mounting seat are arranged at a preset angle; specifically, the preset angle may be set according to the actual vehicle condition and the distance parameter of the millimeter wave radar module, so as to achieve the view requirement shown in fig. 4. The first fixing piece 601 is used for fixing the automatic driving tractor, and the first mounting seat is used for fixing the short-distance millimeter wave radar and the medium-distance millimeter wave radar.

Furthermore, above-mentioned fixed establishment still includes the second fixed bolster that matches with the laser radar module, and above-mentioned laser radar passes through the second fixed bolster fixedly. Specifically, fig. 7 shows a schematic structural diagram of a second fixing bracket, which, like the first fixing bracket, includes a second fixing member 701 and a second mounting seat 702 that are fixedly connected; the second fixing piece 701 and the second mounting seat 702 are also arranged at a preset angle; second mount 701 is configured to be secured to an autonomous towing vehicle, and second mount 702 is configured to secure at least one lidar 202 a.

Further, the fixing mechanism further comprises a third fixing support matched with the camera module; the front-view camera is arranged right ahead of the automatic driving tractor through a third fixed support; the wide-angle camera is arranged below the left rear-view mirror and the right rear-view mirror of the automatic driving tractor through a third fixed support; the middle-distance camera is installed at a preset position of a cab of the automatic driving tractor through a third fixing support.

Further, the third fixing bracket is a rotating bracket, and as shown in a schematic structural view of the third fixing bracket shown in fig. 8, taking the example that the rotating bracket fixes a front-view camera 203a, the rotating bracket includes a fixing seat 801, and the fixing seat 801 is configured with a rotating mechanism; the camera module is fixed on the rotating mechanism, and the rotating mechanism is used for adjusting the visual angle of the camera module.

Specifically, the rotating mechanism is generally provided with a rotating motor, the driving of the rotating motor is connected with a computing unit or a controller of an automatic driving tractor, the field of view can be adjusted under the control of a driver, and in addition, the rotating bracket can be set to an automatic adjusting mode, for example, a lens of the wide-angle camera 203b is downward when the vehicle starts, so that whether obstacles exist on the ground on two sides of the vehicle or not can be sensed, and the vehicle starting safety can be ensured. After the vehicle normally runs, the sensing capability of the wide-angle camera is effectively utilized, the wide-angle camera 203b on the left side automatically rotates to face the left side of the vehicle, the wide-angle camera 203b on the right side automatically rotates to face the right side of the vehicle, and the obstacles above the ground on the two sides of the vehicle are detected.

Further, since the embodiment of the present invention is mainly directed to the automatically driven tractor, and the automatically driven tractor needs to be connected to the trailer during transportation, in the process of connecting the automatically driven tractor to the trailer, automatic towing can be completed by adjusting the view from the camera 203c through the rotating bracket and by identifying the trailer, and in addition, the specific rotating mode of the rotating bracket can be set according to the actual use situation, which is not limited in the embodiment of the present invention.

Further, the sensor system further comprises a wheel speed sensor; the wheel speed sensor is used for measuring a wheel speed signal of the automatic driving tractor; the calculating unit is also used for controlling the rotation of the rotating mechanism according to the wheel speed signal so as to adjust the visual angle of the camera module. For example, when the vehicle starts, the wheel speed sensor measures that the vehicle speed is lower than a threshold value (for example, 10km/h), and the wide-angle camera 203b is downward; when the vehicle is running normally, the wheel speed sensor measures that the vehicle speed is higher than a threshold value (for example, 10km/h), and the computing unit can control the rotating mechanism to rotate the wide-angle camera 203b by 90 degrees towards the left side and the right side of the vehicle, so that the automatic adjustment of the rotating bracket is realized.

In conclusion, the sensing system of the automatic driving tractor provided by the embodiment of the invention integrates the advantages of high ranging precision and no influence of illumination on the sensing effect of the laser radar; the millimeter wave radar module has better adaptability to dust and rain and fog weather, and has the advantage of directly obtaining the speed of the barrier; the camera module then has the advantage to barrier classification, lane line discernment, sign meaning information identification, realizes the cover to 360 scopes around the vehicle, in addition, can also be through the adjustment to the wide angle camera orientation when starting and normally traveling, has realized the best configuration of perception ability, simultaneously, to the operation characteristics of tractor, can also increase the perception ability that automatic trailed, greatly promote the operating efficiency and the driving safety of autopilot tractor.

On the basis of the above embodiment, the embodiment of the present invention further provides an autonomous driving tractor, which is provided with the sensing system of the autonomous driving tractor.

The automatic driving tractor provided by the embodiment of the invention has the same technical characteristics as the sensing system of the automatic driving tractor provided by the embodiment, so that the same technical problems can be solved, and the same technical effects are achieved.

It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working process of the automatic tractor described above may refer to the corresponding process in the foregoing embodiments, and will not be described herein again.

In addition, in the description of the embodiments of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases for those skilled in the art.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art will understand that the following embodiments are merely illustrative of the present invention, and not restrictive, and the scope of the present invention is not limited thereto: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the embodiments of the present invention, and they should be construed as being included therein. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A perception system for an autonomous driving tractor, comprising: the sensor system is in communication connection with the computing unit, and the computing unit is also in communication connection with a controller of the automatic driving tractor;

the sensor system is used for detecting obstacles in corresponding directions and sending detection data to the computing unit;

the calculation unit is used for sending the detection data to a controller of the automatic driving tractor so that the controller of the automatic driving tractor can identify the obstacle and a travelable area of the current road;

the sensor system comprises a millimeter wave radar module, a laser radar module and a camera module;

the millimeter wave radar module comprises a short-distance millimeter wave radar and a medium-distance millimeter wave radar; the short-distance millimeter wave radar is arranged on two sides of the front part of the tractor head of the automatic driving tractor and two sides of the tractor body; the middle-distance millimeter wave radar is arranged right in front of the automatic driving tractor and is positioned on a vehicle central axis;

the camera module comprises a front-view camera, a wide-angle camera and a middle-distance camera;

the front-view camera is arranged right in front of the automatic driving tractor and is positioned on the central axis of the vehicle, and the center of the visual field of the front-view camera is superposed with the central axis of the vehicle;

the wide-angle camera is arranged below a left rear-view mirror and a right rear-view mirror of the automatic driving tractor, and the view center of the wide-angle camera is vertical to the central axis of the vehicle;

the middle-distance camera is installed at a preset position of a cab of the automatic driving tractor;

the laser radar module includes at least one laser radar, just, the top edge in laser radar's the field of vision set up to with the axis of autopilot tractor is parallel.

2. The perception system of the autonomous tractor of claim 1,

the fixing mechanism comprises a first fixing support matched with the millimeter wave radar module;

the short-distance millimeter wave radar is arranged on two sides of the front part of the tractor head of the automatic driving tractor and two sides of the tractor body through the first fixing support;

the middle-distance millimeter wave radar is installed right ahead of the automatic driving tractor through the first fixing support and is located on the vehicle central axis.

3. The autonomous tractor vehicle sensing system of claim 2, wherein the first fixed bracket includes a first fixed member and a first mount fixedly connected;

the first fixing piece and the first mounting seat are arranged at a preset angle;

the first fixing piece is used for fixing the automatic driving tractor, and the first mounting seat is used for fixing the short-distance millimeter wave radar and the medium-distance millimeter wave radar.

4. The autonomous-tractor vehicle sensing system of claim 1, wherein the securing mechanism further comprises a second securing bracket mated to the lidar module, the lidar being secured by the second securing bracket.

5. The autonomous tractor vehicle sensing system of claim 4, wherein the second fixed bracket includes a second fixed member and a second mount fixedly connected;

the second fixing piece and the second mounting seat are arranged at a preset angle;

the second fixing piece is used for fixing the automatic driving tractor, and the second mounting seat is used for fixing at least one laser radar.

6. The autonomous-tractor vehicle sensing system of claim 1, wherein the securing mechanism further comprises a third securing bracket that mates with the camera module;

the front-view camera is installed right in front of the automatic driving tractor through the third fixing support;

the wide-angle camera is installed below the left rear-view mirror and the right rear-view mirror of the automatic driving tractor through the third fixing support;

the middle-distance camera is installed at a preset position of a cab of the automatic driving tractor through the third fixing support.

7. The perception system of the autonomous tractor of claim 6,

the third fixed bracket is a rotating bracket which comprises a fixed seat, and the fixed seat is provided with a rotating mechanism;

the camera module is fixed on the rotating mechanism, and the rotating mechanism is used for adjusting the visual angle of the camera module.

8. The perception system of the autonomous tractor of claim 7,

the sensor system further comprises a wheel speed sensor;

the wheel speed sensor is used for measuring a wheel speed signal of the automatic driving tractor;

the computing unit is further used for controlling the rotating mechanism to rotate according to the wheel speed signal so as to adjust the visual angle of the camera module.

9. The perception system of the autonomous-capable tractor according to claim 1, wherein the computing unit is provided with a plurality of electrical interfaces;

the sensor system is connected with the computing unit through the electrical interface;

the plurality of electrical interfaces comprise an Ethernet interface, a CAN interface and an LVDS interface.

10. An autonomous tractor, characterized in that it is equipped with a perception system of an autonomous tractor according to any of claims 1-9.