CN112596050A - Vehicle, vehicle-mounted sensor system and driving data acquisition method - Google Patents

Vehicle, vehicle-mounted sensor system and driving data acquisition method Download PDF

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Publication number
CN112596050A
CN112596050A CN202011449914.8A CN202011449914A CN112596050A CN 112596050 A CN112596050 A CN 112596050A CN 202011449914 A CN202011449914 A CN 202011449914A CN 112596050 A CN112596050 A CN 112596050A
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China
Prior art keywords
vehicle
sensor
target vehicle
radar sensor
target
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CN202011449914.8A
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CN112596050B (en
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马涛
宗诗皓
钱鹏
李怡康
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Shanghai Sensetime Lingang Intelligent Technology Co Ltd
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Shanghai Sensetime Lingang Intelligent Technology Co Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/87—Combinations of radar systems, e.g. primary radar and secondary radar
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
    • B60R11/04—Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
    • B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
    • G01S13/862—Combination of radar systems with sonar systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
    • G01S13/865—Combination of radar systems with lidar systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
    • G01S13/867—Combination of radar systems with cameras
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/86—Combinations of sonar systems with lidar systems; Combinations of sonar systems with systems not using wave reflection
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
    • B60R2011/0001—Arrangements for holding or mounting articles, not otherwise provided for characterised by position
    • B60R2011/004—Arrangements for holding or mounting articles, not otherwise provided for characterised by position outside the vehicle

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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)
  • Mechanical Engineering (AREA)
  • Electromagnetism (AREA)
  • Optical Radar Systems And Details Thereof (AREA)
  • Traffic Control Systems (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

The utility model provides a vehicle and on-vehicle sensor system and driving data acquisition method thereof, wherein, this on-vehicle sensor system includes: a radar sensor, an auxiliary sensor and a processor; the radar sensor is arranged at the front end of the target vehicle, the installation height of the radar sensor on the target vehicle is smaller than the height of the body of the target vehicle, and the auxiliary sensor is arranged on the position, capable of acquiring scene information on at least one direction around the target vehicle, of the target vehicle; the method comprises the steps that a radar sensor collects point cloud data in a first scanning range; the auxiliary sensor acquires scene information in a second scanning range; and the processor fuses the point cloud data and the scene information to obtain multi-azimuth environmental information around the target vehicle. The vehicle-mounted sensor system provided by the embodiment of the disclosure can expand the detection range of the vehicle-mounted sensor and improve the reliability and accuracy of information acquired by the vehicle-mounted sensor, thereby improving the control precision of the vehicle and the safety of automatic driving of the vehicle.

Description

Vehicle, vehicle-mounted sensor system and driving data acquisition method
Technical Field
The disclosure relates to the technical field of automatic driving, in particular to a vehicle and a vehicle-mounted sensor system thereof, and a driving data acquisition method.
Background
Currently, in the field of automatic driving, a vehicle automatically acquires surrounding environmental information and controls the vehicle to automatically travel according to the acquired environmental information. When collecting environmental information around a vehicle, the environmental information can be collected by a sensor previously installed on the vehicle, and therefore, the installation manner of the sensor and the collection range of the sensor will affect the accuracy and reliability of the collected environmental information. In the conventional sensor mounting technology, the sensor is generally mounted at the top end position of the vehicle, but the mounting mode forms a detection blind area. At this moment, the sensor can not detect the environmental information in the blind area, thereby influencing the accuracy and reliability of the acquired environmental information.
Disclosure of Invention
The embodiment of the disclosure at least provides a vehicle, a vehicle-mounted sensor system thereof and a driving data acquisition method.
In a first aspect, an embodiment of the present disclosure provides an on-vehicle sensor system, including: a radar sensor, an auxiliary sensor and a processor; the radar sensor is installed at the front end of a target vehicle, the installation height of the radar sensor on the target vehicle is smaller than the height of a vehicle body of the target vehicle, and the auxiliary sensor is installed on the target vehicle at a position where scene information on at least one azimuth around the target vehicle can be acquired; the radar sensor is configured to acquire point cloud data within a first scanning range; the auxiliary sensor is configured to acquire scene information within a second scanning range; the processor is configured to fuse the point cloud data and the scene information to obtain environmental information of multiple directions around the target vehicle.
According to the embodiment of the invention, the radar sensor is arranged at the front end of the vehicle, and the point cloud data in the first scanning range is collected, so that the detection range of the vehicle-mounted sensor can be enlarged, the reliability and accuracy of the environmental information collected by the vehicle-mounted sensor are improved, the control precision of the vehicle can be further improved, and the safety of automatic driving of the vehicle is improved.
In an alternative embodiment, the auxiliary sensor includes a plurality of types of sensors, wherein the plurality of types of sensors are provided on the target vehicle at positions opposite to respective orientations around the target vehicle according to the degree of importance of the respective orientations, and the plurality of types of sensors include at least one of: millimeter-wave radar sensor, camera device and ultrasonic radar sensor.
In the embodiment of the disclosure, by installing various auxiliary sensors on the target vehicle, the environmental information around the target vehicle can be collected by various vehicle-mounted sensors together, so that the multi-directional environmental information with higher accuracy and reliability can be obtained, the control precision of the vehicle can be further improved, and the safety of automatic driving of the vehicle can be improved.
In an alternative embodiment, the auxiliary sensor comprises: the millimeter wave radar sensor is mounted on a target position of the head and/or the tail of the target vehicle; the auxiliary sensor is configured to acquire scene information in a scanning range of the auxiliary sensor at the head and/or tail of the target vehicle.
In an optional embodiment, the target position is a central axis of a head and/or a tail of the target vehicle.
In the embodiment of the disclosure, the scanning area of the millimeter wave radar sensor can be the front or the back of the target vehicle by installing the millimeter wave radar sensor at the position of the central axis of the vehicle head and/or the vehicle tail, so that the accuracy of acquiring the scene information of the front or the back of the target vehicle is improved.
In an optional embodiment, the millimeter wave radar sensor includes: the front millimeter wave radar sensor is mounted on a target position of a head of the target vehicle, the rear millimeter wave radar sensor is mounted on a target position of a tail of the target vehicle, and the sweep radius of the front millimeter wave radar sensor is larger than that of the rear millimeter wave radar sensor.
According to the description, the scene information of each direction of the target vehicle can be detected more comprehensively by installing the millimeter wave radar sensors at the vehicle head and the vehicle tail respectively, so that the obtained environmental information around the target vehicle is more reliable. Meanwhile, the scene information concerned in the front area and the rear area of the target vehicle is different, the mode that the scanning radius of the front millimeter wave radar sensor is larger than that of the rear millimeter wave radar sensor is set, the more accurate scene information detection can be carried out on the front area and the rear area of the target vehicle, and therefore the accuracy and the reliability of the environment information collected in multiple directions are further improved.
In an alternative embodiment, the auxiliary sensor comprises: the camera device is installed at the front end position of the target vehicle, and the lens direction of the camera device is the same as the traveling direction of the target vehicle; the camera device is configured to collect scene information in a lens shooting range of the camera device.
In the embodiment of the disclosure, the mode of shooting scene information by using the camera device can reduce the required number of the radar sensors under the condition of ensuring that the vehicle has sufficient perception on the environment, thereby reducing the cost.
In an alternative embodiment, the auxiliary sensor comprises: the ultrasonic radar sensors are arranged on two side surfaces of the target vehicle according to a preset arrangement mode; the ultrasonic radar sensor is configured to acquire scene information on both sides of the target vehicle within a scanning range of the ultrasonic radar sensor.
In the embodiment of the disclosure, the ultrasonic radar sensors are used for collecting the scene information of the two sides of the vehicle, so that the quantity of the radar sensors required by the vehicle can be reduced under the condition of ensuring that the vehicle fully senses the environment, and the cost is reduced.
In an alternative embodiment, the installation distance between any two adjacent ultrasonic radar sensors in the ultrasonic radar sensors is smaller than the envelope width of the ultrasonic signal emitted by the ultrasonic radar sensors.
In the embodiment of the disclosure, the installation distance is smaller than the width of the envelope surface of the ultrasonic signal sent by the ultrasonic radar sensor, so that the scanning areas of the two side areas of the target vehicle can be increased, the accuracy of the collected scene information is improved, and the reliability of the environment information collected in multiple directions is improved.
In an optional implementation manner, the radar sensor is a radar sensor, and if the number of the laser radar sensors is one, the laser radar sensors are installed in a center position of a vehicle head of the target vehicle.
In the embodiment of the disclosure, by installing one laser radar sensor on the target vehicle, the number of installation requirements of the laser radar sensor can be reduced while the detection range of the laser radar sensor is ensured to be enlarged, so that the installation cost is reduced.
In an optional implementation manner, the radar sensors are lidar sensors, and if the number of the lidar sensors is multiple, the lidar sensors are mounted at positions on two sides of a vehicle head of the target vehicle.
A plurality of laser radar sensors are arranged on the target vehicle, so that the sensing range of the laser radar sensors can be enlarged, and the sensing precision of the target vehicle to the surrounding environment is improved.
In a second aspect, an embodiment of the present disclosure provides a driving data acquisition method, including: acquiring point cloud data acquired by a radar sensor in a vehicle-mounted sensor system; the radar sensor is installed at the front end of a target vehicle, and the installation height of the radar sensor on the target vehicle is smaller than the height of a vehicle body of the target vehicle; acquiring scene information acquired by an auxiliary sensor in a vehicle-mounted sensor system; the auxiliary sensor is arranged on the target vehicle at a position capable of acquiring scene information on at least one direction around the target vehicle; and fusing the point cloud data and the scene information to obtain multi-azimuth environmental information around the target vehicle.
In an optional implementation, after obtaining environmental information of multiple directions around the target vehicle, the method further includes: and controlling the driving state of the target vehicle according to the multi-azimuth environmental information generated by the vehicle-mounted sensor system.
According to the embodiment of the invention, the radar sensor is arranged at the front end of the vehicle, and the point cloud data in the first scanning range are collected, so that the detection range of the vehicle-mounted sensor can be enlarged, more accurate and more reliable environmental information can be obtained, the control precision of the vehicle can be further improved, and the safety of automatic driving of the vehicle can be improved.
In a third aspect, the disclosed embodiments provide a vehicle, comprising a vehicle body and the vehicle-mounted sensor system of any one of the above first aspects; the vehicle-mounted sensor system is mounted on the vehicle body.
In order to make the aforementioned objects, features and advantages of the present disclosure more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings required for use in the embodiments will be briefly described below, and the drawings herein incorporated in and forming a part of the specification illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the technical solutions of the present disclosure. It is appreciated that the following drawings depict only certain embodiments of the disclosure and are therefore not to be considered limiting of its scope, for those skilled in the art will be able to derive additional related drawings therefrom without the benefit of the inventive faculty.
FIG. 1 is a schematic diagram illustrating a vehicle-mounted sensor system according to an embodiment of the present disclosure;
fig. 2 is a schematic diagram illustrating a mounting structure of a lidar sensor provided by an embodiment of the disclosure;
FIG. 3 is a schematic diagram illustrating a scanning range of a lidar sensor provided by an embodiment of the present disclosure;
FIG. 4 is a schematic diagram illustrating an alternative lidar sensor mounting configuration provided by an embodiment of the disclosure;
FIG. 5 is a schematic diagram illustrating a scanning range of another lidar sensor provided by an embodiment of the disclosure;
FIG. 6 is a schematic diagram illustrating a scanning range of multiple types of sensors in an onboard sensor system according to an embodiment of the present disclosure;
FIG. 7 is a schematic diagram illustrating the structure of the scanning range of various types of sensors in another vehicle-mounted sensor system provided by the embodiments of the present disclosure;
fig. 8 shows a flowchart of a driving data collection method provided by an embodiment of the present disclosure.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present disclosure more clear, the technical solutions of the embodiments of the present disclosure will be described clearly and completely with reference to the drawings in the embodiments of the present disclosure, and it is obvious that the described embodiments are only a part of the embodiments of the present disclosure, not all of the embodiments. The components of the embodiments of the present disclosure, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present disclosure, presented in the figures, is not intended to limit the scope of the claimed disclosure, but is merely representative of selected embodiments of the disclosure. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the disclosure without making creative efforts, shall fall within the protection scope of the disclosure.
It has been found that, in the conventional sensor mounting technology, the sensor is generally mounted at the top end position of the vehicle, and although the sensor can have a wider field of view by the mounting method, the mounting method forms a detection blind area. At this moment, the sensor can not detect the environmental information in the blind area, thereby influencing the accuracy and reliability of the acquired environmental information.
Based on the research, the disclosure provides a vehicle, a vehicle-mounted sensor system thereof and a driving data acquisition method. In the vehicle-mounted sensor system, the point cloud data in a first scanning range is acquired through a radar sensor arranged at the front end of a target vehicle, the scene information in a second scanning range is acquired through an auxiliary sensor arranged on the target vehicle and capable of acquiring the scene information in at least one direction around the target vehicle, and finally the point cloud data and the scene information are fused through a processor to obtain the multi-azimuth environment information around the target vehicle. Compared with the mode of installing the sensor at the top end of the vehicle in the prior art, the detection range of the vehicle-mounted sensor can be enlarged by installing the radar sensor at the front end of the vehicle and acquiring the point cloud data in the first scanning range, the reliability and the accuracy of the environmental information acquired by the vehicle-mounted sensor are improved, the control precision of the vehicle can be further improved, and the safety of automatic driving of the vehicle is improved.
The above-mentioned drawbacks are the results of the inventor after practical and careful study, and therefore, the discovery process of the above-mentioned problems and the solutions proposed by the present disclosure to the above-mentioned problems should be the contribution of the inventor in the process of the present disclosure.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
For the understanding of the present embodiment, a detailed description will be given of an in-vehicle sensor system disclosed in the embodiments of the present disclosure.
Referring to fig. 1, a schematic structural diagram of an on-board sensor system provided in an embodiment of the present disclosure is shown, where the on-board sensor system includes: radar sensor 10, auxiliary sensor 20 and processor 30.
In the disclosed embodiment, the radar sensor 10 is mounted on the front end of the target vehicle, and the mounting height of the radar sensor 10 on the target vehicle is smaller than the body height of the target vehicle. The auxiliary sensor 20 is installed at a position on the subject vehicle where scene information in at least one direction around the subject vehicle can be collected.
It should be understood that the target vehicle may be any type of vehicle, for example, the target vehicle may be a car, a bus, a minibus, a truck, or various types of machineshop cars.
In the embodiment of the present disclosure, the radar sensor 10 may be a lidar sensor, and in addition, the radar sensor may be other sensor devices capable of replacing the lidar sensor, which is not specifically limited by the present disclosure.
The number of the radar sensors may be one or more, and the radar sensors may be installed at a front end of the target vehicle, for example, at a head position of the target vehicle. In the embodiment of the present disclosure, the installation position of the radar sensor at the front end of the target vehicle may be determined according to the type of the vehicle to which the target vehicle belongs. When determining the installation position of the radar sensor, the scanning range of the radar sensor is required to be not sheltered by the vehicle head. The vehicle body height refers to a height from a ground where tires of a target vehicle are located to a highest point of a roof of the target vehicle, and it should be noted that if the roof of the target vehicle includes a bearing frame and the bearing frame includes a bearing object, the vehicle body height does not include heights of the bearing frame and the bearing object.
The number of the auxiliary sensors may be one or more, and the types of the auxiliary sensors may be the same or different. The at least one orientation of the target vehicle refers to at least one of two sides of the target vehicle, a nose of the target vehicle, and a tail of the target vehicle. For example, the auxiliary sensor may be installed at a position capable of acquiring scene information in at least one azimuth around the target vehicle, for example, the position may be: the head of the target vehicle, the two sides of the target vehicle and the tail position of the target vehicle.
Since the body heights, body lengths, and body structures of different types of vehicles are not the same, in the disclosed embodiment, the number and type of auxiliary sensors are each associated with the vehicle type of the target vehicle, and at least one orientation of the target vehicle is also associated with the type of the target vehicle.
In the disclosed embodiment, the radar sensor 10 is configured to acquire point cloud data within a first scanning range; the auxiliary sensor 20 is configured to acquire scene information within a second scanning range; the processor 30 is configured to fuse the point cloud data and the scene information, resulting in environmental information of multiple directions around the target vehicle.
It should be understood that the first scanning range refers to the scanning range of each radar sensor, for example, the first scanning range may be a sector area, wherein the vertex of the sector area is the position of the radar sensor, the included angle of the sector area is the scanning angle of the radar sensor, and the radius of the sector area is the scanning length of the radar sensor. The second scanning range refers to a scanning range of the corresponding auxiliary sensor, wherein the area shape of the second scanning range is associated with the kind of the auxiliary sensor.
In the embodiment of the present disclosure, the scene information may be obstacle information in a scene in which the target vehicle is located, for example, the obstacle information may include at least one of the following information: the second scanning range includes information such as a distance to the obstacle from the target vehicle, direction information, and a moving speed of the obstacle from the target vehicle. For example, the obstacle a in the second scanning range is 2 meters directly in front of the vehicle. The obstacle may be understood as an object that blocks the target vehicle from traveling, and the object may be a moving object or a stationary object.
In the embodiment of the disclosure, after point cloud data and scene information are collected, a processor can fuse the point cloud data and the scene information to obtain multi-directional environmental information around the target vehicle, and control the driving state of the target vehicle according to the multi-directional environmental information.
In the embodiment of the disclosure, the point cloud data in the first scanning range is acquired through the radar sensor installed at the front end of the target vehicle, the scene information in the second scanning range is acquired through the auxiliary sensor installed on the position of the target vehicle, which can acquire the scene information in at least one azimuth around the target vehicle, and finally, the point cloud data and the scene information are fused through the processor to obtain the multi-azimuth environment information around the target vehicle. Compared with the mode of installing the sensor at the top end of the vehicle in the prior art, the detection range of the vehicle-mounted sensor can be enlarged by installing the radar sensor at the front end of the vehicle and acquiring the point cloud data in the first scanning range, the reliability and the accuracy of the environmental information acquired by the vehicle-mounted sensor are improved, the control precision of the vehicle can be further improved, and the safety of automatic driving of the vehicle is improved.
As can be seen from the above description, in the existing sensor mounting technology, the sensor is generally mounted at the top end position of the vehicle, and the mounting mode forms a detection blind area. At this time, if a radar sensor (e.g., a laser radar sensor) is mounted on the top end of the vehicle, a region near the vehicle body or the like cannot be irradiated by the radar sensor mounted on the roof, so that a blind area is formed. At this time, a blind-fill radar sensor may be installed in the top radar sensor blind area. For example, radar sensors may be placed at the corners of the vehicle, which, while providing a good field of view, may add significantly to the cost.
Based on this, in this disclosure embodiment, can install radar sensor at the front end of target vehicle, at this moment, radar sensor's scanning range can cover to the both sides region of target vehicle's locomotive to alleviate the problem that radar sensor's the field of vision is sheltered from among the existing mounting means.
In the embodiment of the present disclosure, in order to expand the scanning range of the radar sensor, the installation height of the radar sensor on the target vehicle may also be set, for example, the installation height of the radar sensor is selected to be between a% and B% of the height of the vehicle body, where a may take a value of 30 and B may take a value of 60. Assuming that the height of the body of the target vehicle is 2.5 meters, the installation height of the radar sensor may be selected to be between 0.75 and 1.5 meters. In addition to selecting the mounting height of the radar sensor in the above-described manner, a% and B% may be set to other values, for example, the mounting height of the radar sensor may be selected to be between 20% and 70% of the vehicle body height. The values of A and B satisfy that A is smaller than B, B is smaller than the height of the vehicle body, A is larger than zero, and a user can adjust the sizes of A and B according to actual needs.
As can be seen from the above description, the radar sensor 10 may be a lidar sensor, and in this case, the number of the lidar sensors may be one or more, and the installation manner of the lidar sensors is described in different numbers below.
Case one, the number of lidar sensors is one.
In this disclosure, if the number of the lidar sensors is one, the lidar sensors are installed in a center position of a head of the target vehicle.
As shown in fig. 2, if the number of the lidar sensors is one, in order to ensure that the first scanning range of the lidar sensors can cover both side areas of the head of the target vehicle, at this time, the lidar sensors may be installed at a central position of the head of the target vehicle, for example, as shown in fig. 2, a position indicated by a symbol "1". In this case, the first scanning range of the lidar sensor may be a scanning range as shown in fig. 3, and as can be seen from fig. 3, the first scanning range of the lidar sensor may cover both side areas of the vehicle head of the target vehicle.
It should be noted that, in the embodiment of the present disclosure, the vehicle head center position may be understood as a position of a central axis (or vehicle head central axis) between the left side and the right side of the target vehicle, where the left side and the right side of the target vehicle are the left side and the right side of the traveling direction of the target vehicle. After determining the central axis between the left side and the right side, the installation position of the lidar sensor may be determined on the central axis, for example, the installation height of the lidar sensor may be selected to be between a% and B% of the vehicle height, where a may be 30 and B may be 60.
In the embodiment of the disclosure, by installing a laser radar sensor at the center of the vehicle head of the target vehicle, the number of installation requirements of the laser radar sensor can be reduced while the detection range of the laser radar sensor is ensured to be enlarged, so that the installation cost is reduced.
In case two, the number of the laser radar sensors is plural.
In the embodiment of the present disclosure, if the number of the laser radar sensors is multiple, the multiple laser radar sensors are installed at positions on two sides of the head of the target vehicle.
If the quantity of laser radar sensor is a plurality of, can cover the both sides region to the locomotive of target vehicle in order to guarantee the first scanning scope of laser radar sensor, at this moment, can install the laser radar sensor in the locomotive both sides position of target vehicle.
For example, the number of the lidar sensors may be set to 2, and 2 lidar sensors may be installed at positions on both sides of the vehicle head, as shown in fig. 4, and at a-pillar positions indicated by a symbol "2". In this case, the first scanning range of the lidar sensor may be a scanning range as shown in fig. 5, and as can be seen from fig. 5, the first scanning range of the lidar sensor may cover both side areas of the nose of the target vehicle, and as can be seen from fig. 5, the scanning range of the lidar sensor may cover both side areas of the target vehicle, as well as an area in front of the nose, in addition to the position of the tail of the vehicle. As can be seen from fig. 4 and 5, in the case where the number of the lidar sensors is plural, it is possible to cover most of the area around the vehicle body of the target vehicle by installing 2 lidar sensors.
It should be noted that, in the embodiment of the present disclosure, the positions on both sides of the vehicle head may be other positions besides the position of the a-pillar, for example, positions on the engine compartment cover of the vehicle. The vehicle-head both-side positions may be positions that enable the first scanning range of the laser radar sensor to cover to the vehicle-head front area of the target vehicle, and to both-side areas of the vehicle head, for example, the scanning range shown in fig. 5.
In the embodiment of the disclosure, the installation height of the laser radar sensor is selected to be between A% and B% of the height of the vehicle body, wherein A can take the value of 30, and B can take the value of 60. The installation heights of the plurality of lidar sensors may be the same or different, and the disclosure does not specifically limit this. In the embodiment of the present disclosure, it is also not limited that the number of the plurality of lidar sensors is determined to be 2, and the user may set the number of the lidar sensors according to actual needs, for example, the number of the lidar sensors and the installation height of each lidar sensor may be selected according to the vehicle height and the vehicle length.
Through the mode of installing a plurality of laser radar sensors on the target vehicle, compared with the method of installing the laser radar sensors on the roof, the method and the device for installing the laser radar sensors on the roof can reduce the required number of the laser radar sensors under the condition of ensuring that the vehicle has sufficient perception on the environment, and therefore the cost is reduced.
In the disclosed embodiment, in addition to mounting the radar sensor 10 (e.g., a lidar sensor) on the target vehicle, an auxiliary sensor may be mounted on the target vehicle to assist the radar sensor 10 in short-distance detection of scene information around the target vehicle.
In an alternative embodiment, the auxiliary sensor includes a plurality of types of sensors, wherein the plurality of types of sensors are provided on the target vehicle at positions opposite to respective orientations according to the importance degree of the respective orientations around the target vehicle, and the plurality of types of sensors include at least one of: millimeter-wave radar sensor, camera device and ultrasonic radar sensor.
During the traveling of the vehicle, the scene information (e.g., obstacle information) in front of the vehicle is more important than the scene information (e.g., obstacle information) in both side areas of the vehicle and the scene information (e.g., obstacle information) in the rear area of the vehicle. Therefore, different degrees of importance may be set in advance for each orientation around the target vehicle, for example, the degrees of importance in the front of the vehicle, the sides of the vehicle, and the rear of the vehicle decrease in order. In this case, the auxiliary sensor may be provided at a position on the target vehicle opposite to each direction according to the importance of each direction around the target vehicle.
If the auxiliary sensor comprises at least one of: a millimeter wave radar sensor, an image pickup device, and an ultrasonic radar sensor, then auxiliary sensors may be installed in various orientations of the target vehicle in the manner described below: the millimeter wave radar sensors are installed at the head and the tail of the target vehicle, the camera device is installed at the front end of the target vehicle, and the ultrasonic radar sensors are installed on two sides of the target vehicle.
As can be seen from the above description, in the embodiment of the present disclosure, in a manner of installing multiple auxiliary sensors on a target vehicle, scene information around the target vehicle can be collected through multiple types of sensors, so that multi-directional environmental information with higher accuracy and reliability is obtained, and further, the control accuracy of the vehicle can be further improved, and the safety of automatic driving of the vehicle can be improved.
The following describes cases where the auxiliary sensors are a millimeter wave radar sensor, an image pickup device, and an ultrasonic radar sensor, respectively.
In a first aspect, an auxiliary sensor comprises: a millimeter wave radar sensor.
In the embodiment of the present disclosure, the number of the millimeter wave radar sensors may be plural, wherein the millimeter wave radar sensors are installed at target positions on a head and/or a tail of the target vehicle. An auxiliary sensor configured to acquire scene information within a scanning range of the auxiliary sensor at a nose and/or a tail of the target vehicle.
In the embodiment of the present disclosure, the scanning radius of the millimeter wave radar sensor is smaller than the scanning radius of the radar sensor 10 (e.g., laser radar sensor), and the scanning angle of the millimeter wave radar sensor is smaller than the scanning angle of the radar sensor 10, at which time, the millimeter wave radar sensor may be mounted on the target position of the head and/or the tail of the target vehicle. The area near the target vehicle is detected in a close range through the millimeter wave radar sensor, so that the millimeter wave radar sensor and the radar sensor 10 can sense the obstacles of the surrounding environment of the target vehicle together, and the reliability of multidirectional environment information is improved.
As can be seen from the above description, the importance levels of the vehicle front, the vehicle both sides, and the vehicle rear of the subject vehicle decrease in order. Therefore, the rear portion is less important to driving safety for the vehicle during forward travel of the vehicle. Based on this, it may be selected that no sensor is installed at the target position of the tail of the target vehicle, or that one millimeter wave radar sensor is installed at each of the target positions of the head and the tail of the target vehicle, so that the scene information of the front area and the rear area of the vehicle is collected by the millimeter wave radar sensors.
It should be noted that, in the embodiment of the present disclosure, the target position is a central axis of a head and/or a tail of the target vehicle. The number of the millimeter wave radar sensors arranged on the vehicle head can be the same as or different from that of the millimeter wave radar sensors arranged on the vehicle tail.
Through the mode of installing the central axis position of locomotive and/or rear of a vehicle with millimeter wave radar sensor, can make the scanning area of millimeter wave radar sensor be the dead ahead of target vehicle or dead behind to the accuracy of the scene information that millimeter wave radar sensor detected has been improved.
In an alternative embodiment, a millimeter wave radar sensor includes: a front millimeter wave radar sensor and a rear millimeter wave radar sensor. The front millimeter wave radar sensor is mounted on a target position of a head of the target vehicle, the rear millimeter wave radar sensor is mounted on a target position of a tail of the target vehicle, and the sweep radius of the front millimeter wave radar sensor is larger than that of the rear millimeter wave radar sensor.
In the embodiment of the present disclosure, if the number of the millimeter wave radar sensors is 2 (i.e., the front millimeter wave radar sensor and the rear millimeter wave radar sensor), the front millimeter wave radar sensor and the rear millimeter wave radar sensor are respectively installed at the target position of the vehicle head and the target position of the vehicle tail. At this time, the target position of the vehicle head may be a position C1 meters away from the ground on the central axis of the vehicle head, and the target position of the vehicle tail may be a position C2 meters away from the ground on the central axis of the vehicle tail, where C1 and C2 may be the same or different, and values of C1 and C2 are associated with the height of the obstacle in the driving environment of the target vehicle. Typically, the default values for C1 and C2 are 0.35 meters and 0.7 meters, respectively. The values of C1 and C2 are not fixed and may be changed according to the height of the obstacle in the environment where the target vehicle travels.
In the case where the scene information is obstacle information, if it is known from the obstacle information detected by the millimeter wave radar sensor that the obstacle within the environment in which the target vehicle is traveling has changed, for example, the height of the obstacle within the environment in which the target vehicle is traveling has increased, at this time, sensor adjustment information may be generated to instruct the user to adjust the height of the millimeter wave radar sensor. In addition to this, a slide rail may be set in advance on the target vehicle, at which time the millimeter wave radar sensor may be moved to a position of a specified height along the slide rail under the control of the motor, and after the movement, calibration information may be generated to a user (e.g., a driver) to instruct the user to calibrate the millimeter wave radar sensor.
As can be seen from the above description, in the embodiment of the present disclosure, the millimeter wave radar sensor is installed in a movable installation manner, so that the vehicle-mounted sensor in the vehicle-mounted sensor system can dynamically change along with the driving environment of the target vehicle, thereby improving the accuracy and reliability of the multi-directional environmental information.
In the embodiment of the present disclosure, the sweep angles of the front millimeter wave radar sensor and the rear millimeter wave radar sensor may be the same, or may be different, for example, the sweep angle of the front millimeter wave radar sensor is smaller than or equal to the sweep angle of the rear millimeter wave radar sensor; and the scanning radius of the front millimeter wave radar sensor is larger than that of the rear millimeter wave radar sensor.
In the embodiment of the disclosure, when a user drives a vehicle to run on a road, the importance of the scene information in front of the lane where the target vehicle runs is higher for the front area of the target vehicle, and therefore, the millimeter wave radar sensor with a smaller scanning angle and a larger scanning radius can be used for collecting the scene information in the front area. For the rear area of the target vehicle, the importance of the scene information in the short distance behind the target vehicle is higher, for example, the importance of the scene information in the short distance with the target vehicle is higher when the vehicle is backed up, so that the millimeter wave radar sensor with a larger scanning angle and a smaller scanning radius can be used for collecting the scene information in the rear area.
According to the description, the millimeter wave radar sensors are respectively arranged at the head and the tail of the vehicle, so that the target vehicle can be detected more comprehensively in all directions, and the more reliable and multidirectional environmental information can be obtained. Meanwhile, the sweep radius of the front millimeter wave radar sensor is set to be larger than that of the rear millimeter wave radar sensor according to the fact that scene information focused on the front area and the rear area of the target vehicle are different, so that more accurate obstacle detection is carried out on the front area and the rear area of the target vehicle, and accuracy and reliability of multidirectional environmental information are further improved.
In case two, the auxiliary sensor includes: an image pickup device.
In the disclosed embodiment, the camera device is installed at a front end position of the target vehicle, and a lens direction of the camera device is the same as a traveling direction of the target vehicle. The camera device is configured to collect scene information in a lens shooting range of the camera device.
The image pickup device may be mounted on the outside of the subject vehicle, and may also be mounted on the inside of the subject vehicle, wherein, when mounted on the outside of the subject vehicle, a waterproof device may also be mounted for the image pickup device. When the image pickup device is installed inside the target vehicle, the image pickup device may be installed inside a front windshield with a lens of the image pickup device facing the advancing direction of the target vehicle.
In the disclosed embodiment, the installation height of the camera device may be 50% -85% of the vehicle body height, and assuming that the vehicle body height of the target vehicle is 2.5 meters, the installation height of the camera device may be 1.25-2.125 meters.
It should be noted that, in the embodiment of the present disclosure, the installation height of the camera device is not fixed, and in order to ensure the accuracy of the scene information collected by the camera device, the camera device may be installed inside the windshield of the vehicle head, the lens faces forward, and the ground clearance is 1.8 meters.
As can be seen from the above description, in the embodiment of the present disclosure, the mode of detecting scene information within the shooting range of the lens through the camera device can reduce the required number of radar sensors under the condition of ensuring that the vehicle has sufficient perception on the environment, thereby reducing the cost.
Case three, the auxiliary sensor includes: an ultrasonic radar sensor.
In the embodiment of the present disclosure, the ultrasonic radar sensors are disposed on two side surfaces of the target vehicle according to a preset arrangement manner; an ultrasonic radar sensor configured to acquire scene information on both sides of the target vehicle within a scanning range of the ultrasonic radar sensor.
The ultrasonic radar sensors can be uniformly distributed on two sides of the target vehicle; the ultrasonic radar sensors may also be non-uniformly distributed on both sides of the target vehicle. The installation distance between any two adjacent ultrasonic radar sensors in the ultrasonic radar sensors is smaller than the width of an envelope surface of an ultrasonic signal sent by the ultrasonic radar sensors.
In the disclosed embodiment, the height of the ultrasonic radar sensor from the ground may be 0.4 to 0.8 m, for example, the installation height of the ultrasonic radar sensor may be 0.45 m.
It should be noted that, in the embodiment of the present disclosure, the installation height of the ultrasonic radar sensor is not fixed, and the user may change according to the change of the height of the obstacle in the driving environment of the target vehicle.
It can be known from the above description that in the embodiment of the present disclosure, the mode of detecting the scene information of the two sides of the vehicle through the ultrasonic radar sensor can reduce the required number of the laser radar sensors under the condition of ensuring that the vehicle has sufficient perception on the environment, thereby reducing the cost.
The above embodiment will be exemplified with reference to fig. 6 and 7, in which the target vehicle is a small bus.
The first scheme is as follows: the vehicle-mounted sensor system includes: laser radar sensor, millimeter wave radar sensor, camera device and ultrasonic radar sensor, wherein, laser radar sensor's quantity is 2, and millimeter wave radar sensor includes: front portion millimeter wave radar sensor and rear portion millimeter wave radar sensor, the quantity of ultrasonic wave radar sensor is 8.
Two laser radar sensors are arranged at the A column position of the minibus, and the height from the ground is 1 meter. The two millimeter wave radar sensors are respectively arranged on the central axis positions of the vehicle head and the vehicle tail. The height of the front millimeter wave radar sensor is 0.35 meter, and the height of the rear millimeter wave radar sensor is 0.7 meter. The camera device is installed at the inside of the windshield of the locomotive, the lens faces forwards, and the ground clearance is 1.8 meters. Ultrasonic radar sensors are uniformly distributed on two sides of the vehicle body. The distance between two adjacent ultrasonic radar sensors is not larger than the width of an envelope surface of an ultrasonic signal sent by a probe of the ultrasonic radar sensor, and the ground clearance of the ultrasonic radar sensors is 0.45 m.
As can be seen from fig. 6, the first scanning range and the second scanning range comprise overlapping ranges.
In the embodiment of the disclosure, the front part of the target vehicle is sensed by the laser radar sensor, the millimeter wave radar sensor and the camera device together, and the method is safe and reliable. And the two sides adopt a laser radar sensor and an ultrasonic radar sensor to sense together. The importance of the rear of the vehicle to the driving safety is low, and a millimeter wave radar sensor is used. The mounting mode can acquire the environmental information around the target vehicle through various types of sensors, so that the comprehensive environmental information with higher accuracy and reliability is obtained, the control precision of the vehicle can be further improved, and the safety of automatic driving of the vehicle is improved.
Scheme II:
the vehicle-mounted sensor system includes: laser radar sensor, millimeter wave radar sensor, camera device and ultrasonic radar sensor, wherein, laser radar sensor's quantity is 1, and millimeter wave radar sensor includes: front portion millimeter wave radar sensor and rear portion millimeter wave radar sensor, the quantity of ultrasonic wave radar sensor is 8.
Two laser radar sensors are arranged at the center of the head of the minibus, and the height from the ground is 1 meter. The two millimeter wave radar sensors are respectively arranged on the central axis positions of the vehicle head and the vehicle tail. The height of the front millimeter wave radar sensor is 0.35 meter, and the height of the rear millimeter wave radar sensor is 0.7 meter. The camera device is installed at the inside of the windshield of the locomotive, the lens faces forwards, and the ground clearance is 1.8 meters. Ultrasonic radar sensors are uniformly distributed on two sides of the vehicle body. The distance between two adjacent ultrasonic radar sensors is not larger than the width of an envelope surface of an ultrasonic signal sent by a probe of the ultrasonic radar sensor, and the ground clearance of the ultrasonic radar sensors is 0.45 m.
As can be seen from fig. 7, the first scanning range and the second scanning range comprise overlapping ranges.
In the embodiment of the disclosure, the front part of the target vehicle is sensed by the laser radar sensor, the millimeter wave radar sensor and the camera device together, and the method is safe and reliable. And the two sides adopt a laser radar sensor and an ultrasonic radar sensor to sense together. The importance of the rear of the vehicle to the driving safety is low, and a millimeter wave radar sensor is used. The mounting mode can acquire the environmental information around the target vehicle through various types of sensors, so that the comprehensive environmental information with higher accuracy and reliability is obtained, the control precision of the vehicle can be further improved, and the safety of automatic driving of the vehicle is improved.
Referring to fig. 8, a flowchart of a driving data collecting method provided in the embodiment of the present disclosure is shown, where the method includes:
step S802, point cloud data collected by a radar sensor in a vehicle-mounted sensor system is obtained; the radar sensor is installed at the front end of a target vehicle, and the installation height of the radar sensor on the target vehicle is smaller than the height of a vehicle body of the target vehicle;
step S804, scene information acquired by an auxiliary sensor in the vehicle-mounted sensor system is acquired; the auxiliary sensor is arranged on the target vehicle at a position capable of acquiring scene information on at least one direction around the target vehicle;
and step S806, fusing the point cloud data and the scene information to obtain multi-azimuth environmental information around the target vehicle.
In the embodiment of the present disclosure, after obtaining environmental information of multiple directions around the target vehicle, the driving state of the target vehicle may be controlled according to the environmental information of multiple directions generated by the vehicle-mounted sensor system.
It should be noted that, in the embodiment of the present disclosure, the processes described in the above steps S802 to S806 may be executed by the processor in the vehicle-mounted sensor system in the above-described embodiment.
According to the embodiment of the invention, the radar sensor is arranged at the front end of the vehicle, and the point cloud data in the first scanning range are collected, so that the detection range of the sensor can be enlarged, the reliability and accuracy of the environmental information collected by the sensor can be improved, the control precision of the vehicle can be further improved, and the safety of automatic driving of the vehicle can be improved.
In an embodiment of the present disclosure, there is also provided a vehicle including a vehicle body and the in-vehicle sensor system described in the above embodiment; the vehicle-mounted sensor system is mounted on the vehicle body. The mounting method of the vehicle-mounted sensor system may be the mounting method described in the above embodiments, and will not be described in detail here.
The embodiment of the present disclosure further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the steps of the driving data acquisition method in the above method embodiment are executed. The storage medium may be a volatile or non-volatile computer-readable storage medium.
The embodiments of the present disclosure also provide a computer program, which when executed by a processor implements any one of the methods of the foregoing embodiments. The computer program product may be embodied in hardware, software or a combination thereof. In an alternative embodiment, the computer program product is embodied in a computer storage medium, and in another alternative embodiment, the computer program product is embodied in a Software product, such as a Software Development Kit (SDK), or the like.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the system and the apparatus described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again. In the several embodiments provided in the present disclosure, it should be understood that the disclosed system, apparatus, and method may be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one logical division, and there may be other divisions when actually implemented, and for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or units through some communication interfaces, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present disclosure may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a non-volatile computer-readable storage medium executable by a processor. Based on such understanding, the technical solution of the present disclosure may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present disclosure. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
Finally, it should be noted that: the above-mentioned embodiments are merely specific embodiments of the present disclosure, which are used for illustrating the technical solutions of the present disclosure and not for limiting the same, and the scope of the present disclosure is not limited thereto, and although the present disclosure is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive of the technical solutions described in the foregoing embodiments or equivalent technical features thereof 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 disclosure, and should be construed as being included therein. Therefore, the protection scope of the present disclosure shall be subject to the protection scope of the claims.

Claims (13)

1. An in-vehicle sensor system, comprising: a radar sensor, an auxiliary sensor and a processor; the radar sensor is installed at the front end of a target vehicle, the installation height of the radar sensor on the target vehicle is smaller than the height of a vehicle body of the target vehicle, and the auxiliary sensor is installed on the target vehicle at a position where scene information on at least one azimuth around the target vehicle can be acquired;
the radar sensor is configured to acquire point cloud data within a first scanning range;
the auxiliary sensor is configured to acquire scene information within a second scanning range;
the processor is configured to fuse the point cloud data and the scene information to obtain environmental information of multiple directions around the target vehicle.
2. The on-vehicle sensor system according to claim 1, wherein the auxiliary sensor includes a plurality of types of sensors, wherein the plurality of types of sensors are provided on the target vehicle at positions opposite to respective orientations around the target vehicle in accordance with the degree of importance of the respective orientations, the plurality of types of sensors including at least one of: millimeter-wave radar sensor, camera device and ultrasonic radar sensor.
3. The on-vehicle sensor system according to claim 1 or 2, characterized in that the auxiliary sensor includes: the millimeter wave radar sensor is mounted on a target position of the head and/or the tail of the target vehicle;
the auxiliary sensor is configured to acquire scene information in a scanning range of the auxiliary sensor at the head and/or tail of the target vehicle.
4. The vehicle-mounted sensor system of claim 3, wherein the target location is a central axis of a nose and/or a tail of the target vehicle.
5. The in-vehicle sensor system according to claim 3 or 4, characterized in that the millimeter wave radar sensor includes: the front millimeter wave radar sensor is mounted on a target position of a head of the target vehicle, the rear millimeter wave radar sensor is mounted on a target position of a tail of the target vehicle, and the sweep radius of the front millimeter wave radar sensor is larger than that of the rear millimeter wave radar sensor.
6. The on-vehicle sensor system according to any one of claims 1 to 5, characterized in that the auxiliary sensor includes: the camera device is installed at the front end position of the target vehicle, and the lens direction of the camera device is the same as the traveling direction of the target vehicle;
the camera device is configured to collect scene information in a lens shooting range of the camera device.
7. The on-vehicle sensor system according to any one of claims 1 to 6, characterized in that the auxiliary sensor includes: the ultrasonic radar sensors are arranged on two side surfaces of the target vehicle according to a preset arrangement mode;
the ultrasonic radar sensor is configured to acquire scene information on both sides of the target vehicle within a scanning range of the ultrasonic radar sensor.
8. The vehicle-mounted sensor system according to claim 7, wherein a mounting distance between any two adjacent ultrasonic radar sensors among the ultrasonic radar sensors is smaller than an envelope width of an ultrasonic signal emitted from the ultrasonic radar sensor.
9. The vehicle-mounted sensor system according to any one of claims 1 to 8, wherein the radar sensor is a lidar sensor, and if the number of the lidar sensors is one, the lidar sensor is installed at a center position of a head of the target vehicle.
10. The vehicle-mounted sensor system according to any one of claims 1 to 8, wherein the radar sensors are lidar sensors, and if the number of the lidar sensors is multiple, the lidar sensors are mounted at positions on two sides of a vehicle head of the target vehicle.
11. A driving data acquisition method is characterized by comprising the following steps:
acquiring point cloud data acquired by a radar sensor in a vehicle-mounted sensor system; the radar sensor is installed at the front end of a target vehicle, and the installation height of the radar sensor on the target vehicle is smaller than the height of a vehicle body of the target vehicle;
acquiring scene information acquired by an auxiliary sensor in a vehicle-mounted sensor system; the auxiliary sensor is arranged on the target vehicle at a position capable of acquiring scene information on at least one direction around the target vehicle;
and fusing the point cloud data and the scene information to obtain multi-azimuth environmental information around the target vehicle.
12. The method of claim 11, further comprising, after obtaining environmental information for a plurality of directions around the target vehicle:
and controlling the driving state of the target vehicle according to the multi-azimuth environmental information generated by the vehicle-mounted sensor system.
13. A vehicle characterized by comprising a vehicle body and the vehicle-mounted sensor system of any one of claims 1 to 10 above; the vehicle-mounted sensor system is mounted on the vehicle body.
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CN113111513A (en) * 2021-04-13 2021-07-13 上海商汤临港智能科技有限公司 Sensor configuration scheme determination method and device, computer equipment and storage medium
CN113111513B (en) * 2021-04-13 2024-04-12 上海商汤临港智能科技有限公司 Sensor configuration scheme determining method and device, computer equipment and storage medium
CN113391289A (en) * 2021-06-11 2021-09-14 森思泰克河北科技有限公司 Radar false target suppression method and device and terminal equipment
CN113484863A (en) * 2021-07-07 2021-10-08 上海商汤临港智能科技有限公司 Vehicle, vehicle-mounted sensor system thereof and driving data acquisition method

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