CN113484863A - Vehicle, vehicle-mounted sensor system thereof and driving data acquisition method - Google Patents

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

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Publication number
CN113484863A
CN113484863A CN202110768961.7A CN202110768961A CN113484863A CN 113484863 A CN113484863 A CN 113484863A CN 202110768961 A CN202110768961 A CN 202110768961A CN 113484863 A CN113484863 A CN 113484863A
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China
Prior art keywords
vehicle
target
target vehicle
sensor
millimeter wave
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CN202110768961.7A
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Chinese (zh)
Inventor
王纬经
常宝龙
宗诗皓
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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Priority to CN202110768961.7A priority Critical patent/CN113484863A/en
Publication of CN113484863A publication Critical patent/CN113484863A/en
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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
    • G01S13/88—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
    • 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
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • 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
    • G01S2013/9327—Sensor installation details
    • G01S2013/93271—Sensor installation details in the front of the 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
    • 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
    • G01S2013/9327—Sensor installation details
    • G01S2013/93272—Sensor installation details in the back of the vehicles

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Traffic Control Systems (AREA)
  • Optical Radar Systems And 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: the system comprises a plurality of radar sensors and a processor, wherein the radar sensors are respectively arranged on a plurality of target positions of a target vehicle, and when the radar sensors are arranged on the target positions, the radar sensors can carry out omnibearing acquisition on scene information around the target vehicle; each radar sensor is configured to acquire scene information in a corresponding scanning range to obtain first scene information; the processor is configured to fuse the first scene information to obtain environmental information of an omni-bearing environment around the target vehicle.

Description

Vehicle, vehicle-mounted sensor system thereof 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.
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: the system comprises a plurality of radar sensors and a processor, wherein the radar sensors are respectively arranged on a plurality of target positions of a target vehicle, and when the radar sensors are arranged on the target positions, the radar sensors can carry out omnibearing acquisition on scene information around the target vehicle; each radar sensor is configured to acquire scene information in a corresponding scanning range to obtain first scene information; the processor is configured to fuse the first scene information to obtain environmental information of an omni-bearing environment around the target vehicle.
In the embodiment of the disclosure, the radar sensor is arranged at the target position capable of collecting all-dimensional scene information around the target vehicle, so that the scanning range of the vehicle-mounted sensor system is enlarged, the scene information is detected in all directions, a detection blind area is avoided, the reliability and accuracy of the environmental information collected by the vehicle-mounted sensor are improved, and the safety of automatic driving of the vehicle is improved.
In an alternative embodiment, the radar sensor includes: laser radar sensors and millimeter wave radar sensors; the lidar sensor is mounted at a first target location of the target vehicle, the first target location comprising at least one of: the vehicle comprises a vehicle head position, a vehicle tail position and two side positions of a vehicle body; the millimeter wave radar sensor is mounted at a second target location of the target vehicle, the second location including at least one of: the position of the head of the vehicle and the position of the tail of the vehicle; the lidar sensor configured to acquire point cloud data within a corresponding first scanning range; the millimeter wave radar sensor is configured to acquire scene information corresponding to the second scanning range.
In the embodiment, the laser radar sensor is arranged at the first target position of the target vehicle, and the millimeter wave radar sensor is arranged at the second target position of the target vehicle, so that the scene information is detected in an all-directional mode, the reliability and the accuracy of the environmental information collected by the vehicle-mounted sensor are improved, and the safety of automatic driving of the vehicle is improved.
In an optional embodiment, in a case that the first target position includes a head position and/or a tail position, the first target position is a position on a central axis of the head and/or the tail of the target vehicle.
In an optional embodiment, the second target position is a position on a central axis of a head and/or a tail of the target vehicle, and/or positions of two ends of the head and/or the two ends of the tail of the target vehicle.
In the above embodiment, the millimeter wave radar sensor and the laser radar sensor are installed at the positions of the central axes of the vehicle head and/or the vehicle tail, so that the scanning areas of the millimeter wave radar sensor and the laser radar sensor are the front or the back of the target vehicle, and 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 radar system comprises at least one front millimeter wave radar sensor and at least one rear millimeter wave radar sensor, wherein the at least one front millimeter wave radar sensor is installed at the head position of the target vehicle, and the at least one rear millimeter wave radar sensor is installed at the tail position of the target vehicle.
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 mode that the scanning radius of the front millimeter wave radar sensor is larger than that of the rear millimeter wave radar sensor can be set according to the fact that the scene information concerned by the front area and the rear area of the target vehicle are different, the scene information can be detected more accurately in the front area and the rear area of the target vehicle, and therefore accuracy and reliability of collected environment information are further improved.
In an alternative embodiment, the lidar sensor comprises: the system comprises a front laser radar sensor, a rear laser radar sensor and two side laser radar sensors; the front laser radar sensor is installed on the head position of the target vehicle, the rear laser radar sensor is installed on the tail position of the target vehicle, and the laser radar sensors on the two sides are installed on the positions of the two sides of the body of the target vehicle.
According to the above description, the laser radar sensors are arranged around the target vehicle, so that the scene information of each direction of the target vehicle can be detected more comprehensively, and the obtained environmental information around the target vehicle is more reliable.
In an alternative embodiment, the vehicle-mounted sensor system further comprises: at least one camera device, each camera device being arranged on a body of the target vehicle; each camera device is configured to acquire second scene information within a lens shooting range of the camera device; the processor is further configured to fuse the first scene information and the second scene information to obtain the all-directional environmental information around the target vehicle.
The camera device is used for collecting the second scene information within the shooting range of the lens, so that various types of scene information can be fused, and when the driving state of the target vehicle is controlled according to the comprehensive environmental information obtained after fusion, the control precision of the target vehicle can be improved, and the safety of people and pedestrians in the vehicle can be further ensured.
In an alternative embodiment, at least one of the cameras is mounted at a third target location on the target vehicle, the third target location including at least one of: the position of the head of the vehicle, the position of the tail of the vehicle and the positions of the two sides of the vehicle body.
In an alternative embodiment, the plurality of image capture devices comprises: a first camera device, a second camera device and a third camera device; the first camera device is installed at the head position of the target vehicle, and the lens direction of the first camera device is the same as the advancing direction of the target vehicle; the second camera device is installed at the tail position of the target vehicle, and the lens direction of the second camera device is opposite to the advancing direction of the target vehicle; the third camera device is installed on two sides of the body of the target vehicle, and the lens direction of the third camera device is the two sides of the advancing direction of the target vehicle.
In the embodiment of the disclosure, the mode of shooting the scene information by the camera device can enhance the perception intensity around the target vehicle and 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.
In an alternative embodiment, the number of the first camera devices is multiple, where the multiple first camera devices are installed at different positions of a central axis of a head of the target vehicle, and scanning ranges of the multiple first camera devices are not completely the same.
In an alternative embodiment, the number of the third camera devices is multiple, wherein multiple third camera devices are installed at different positions on two sides of the vehicle body of the target vehicle, and the number of the third camera devices arranged on two sides of the vehicle body is the same or different.
In the embodiment of the disclosure, the camera devices with different scanning ranges are arranged at the vehicle head position, so that the scanning range can be enlarged, and the scanning distance can be increased, thereby acquiring different scene information and further improving the safety of automatic driving. Through set up a plurality of third camera devices in automobile body both sides position, can realize carrying out omnidirectional detection to the scene information of automobile body both sides to improve the reliability and the accuracy of the environmental information that on-vehicle sensor gathered, and then improved vehicle autopilot's security.
In a second aspect, an embodiment of the present disclosure provides a driving data acquisition method, including: acquiring first scene information acquired by a plurality of radar sensors in a vehicle-mounted sensor system; the radar sensors are respectively arranged on a plurality of target positions of a target vehicle, and when the radar sensors are arranged on the target positions, scene information around the target vehicle can be acquired in an all-around mode; and fusing the first scene information to obtain the all-around environment information around the target vehicle.
In an optional embodiment, after obtaining the environmental information of all directions around the target vehicle, the method further includes: and controlling the driving state of the target vehicle according to the omnibearing environmental information generated by the vehicle-mounted sensor system.
In a third aspect, an embodiment of the present disclosure provides a vehicle, which is characterized by comprising a vehicle body and the vehicle-mounted sensor system of any one of the first aspect; 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 illustrates a schematic structural diagram of another in-vehicle sensor system provided by an embodiment of the present disclosure;
FIG. 3 is a schematic diagram illustrating the effect of the scanning range of a lidar sensor mounted on a target vehicle provided by an embodiment of the disclosure;
FIG. 4 is a diagram illustrating the effect of the scanning range of a first millimeter wave radar sensor mounted on a target vehicle provided by the embodiment of the present disclosure;
FIG. 5 is a diagram illustrating the effect of a second scanning range of a millimeter wave radar sensor mounted on a target vehicle provided by an embodiment of the present disclosure;
FIG. 6 is a diagram illustrating the effect of the scanning range of a third millimeter wave radar sensor mounted on a target vehicle provided by the embodiment of the present disclosure;
FIG. 7 is a diagram illustrating the effect of a fourth scanning range of a millimeter wave radar sensor mounted on a target vehicle provided by an embodiment of the present disclosure;
FIG. 8 is a diagram illustrating the effect of the scanning range of a fifth millimeter wave radar sensor mounted on a target vehicle provided by the embodiment of the present disclosure;
FIG. 9 is a schematic diagram illustrating a further exemplary vehicle sensor system provided by an embodiment of the present disclosure;
fig. 10 is a schematic diagram illustrating an effect of a scanning range of an image pickup device mounted on a target vehicle according to an embodiment of the present disclosure;
FIG. 11 is a schematic diagram illustrating the effect of the scanning range of each vehicle-mounted sensor in the vehicle-mounted sensor system installed on the target vehicle according to the embodiment of the disclosure;
fig. 12 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 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.
The term "and/or" herein merely describes an associative relationship, meaning that three relationships may exist, e.g., a and/or B, may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the term "at least one" herein means any one of a plurality or any combination of at least two of a plurality, for example, including at least one of A, B, C, and may mean including any one or more elements selected from the group consisting of A, B and C.
Research shows that one or more laser radar sensors are usually installed at the top end of an existing automatic driving vehicle, but a plurality of blind areas can occur in the installation mode, so that the accuracy and the reliability of collected environmental information are affected, and meanwhile, the safety of a driver in the vehicle is also reduced.
Based on the research, the present disclosure provides a vehicle-mounted sensor system. The vehicle-mounted sensor system includes a radar sensor, an imaging device, and a processor. In the embodiment of the disclosure, the camera device and the radar sensor are arranged at the target position capable of collecting the scene information in at least one direction around the target vehicle, so that the scanning range of the vehicle-mounted sensor system can be enlarged, the scene information can be detected in all directions, the reliability and the accuracy of the environmental information collected by the vehicle-mounted sensor are improved, and the safety of automatic driving of the vehicle is improved.
The defects existing in the above solutions are the results obtained after the inventor goes through practice and research, therefore, the discovery process of the above problems and the solution proposed by the present invention to the above problems in the following should be the contribution of the inventor to the present invention in the process of the present invention.
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 convenience of understanding the present embodiment, a detailed description will be given to an in-vehicle sensor system disclosed in the present embodiment.
Referring to fig. 1, a schematic structural diagram of a vehicle-mounted sensor system provided in an embodiment of the present invention is shown, where the vehicle-mounted sensor system includes: a plurality of radar sensors 10 and a processor 20.
In the embodiment of the disclosure, a plurality of radar sensors are respectively installed at target positions of a target vehicle, wherein the plurality of radar sensors are installed at the plurality of target positions to enable omni-directional acquisition of scene information around the target vehicle. The installation height of the plurality of radar sensors on the target vehicle is smaller than the body height of the target vehicle.
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 type of the radar sensor may be one, and may also be multiple, for example, the radar sensor may include: laser radar sensors and millimeter wave radar sensors. In the case where the kinds of the radar sensors are plural, the number of each type of the radar sensors may be set to be plural.
In the case where the radar sensor is provided in plural types, each type of radar sensor may be required to be installed at a plurality of target positions of the target vehicle, respectively, and the target positions corresponding to the different types of radar sensors may not be identical.
In the disclosed embodiment, the installation position and the number of installations of each type of radar sensor on the target vehicle can also be set according to the degree of importance of the respective directions around the target vehicle. For example, for a vehicle head position with a higher importance degree, multiple types of radar sensors can be arranged at the same time, and a larger number of radar sensors can be arranged compared with other directions. For example, a smaller number and/or type of radar sensors may be provided for the least important rear positions, or no radar sensors may be provided, etc.
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 radar sensors are each associated with the vehicle type of the target vehicle.
In the disclosed embodiment, each radar sensor 10 is configured to collect scene information within a corresponding scanning range, resulting in first scene information.
The scanning range is understood to be the scanning range of each radar sensor, for example, the 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.
In the embodiment of the present disclosure, the first context information may be obstacle information within a context in which the target vehicle is located, for example, the obstacle information may include at least one of the following information: distance of the obstacle to the target vehicle, direction information, moving speed of the obstacle to the target vehicle, and the like. For example, the obstacle a 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.
The processor 20 is configured to fuse the plurality of first scene information to obtain the environmental information of the entire surroundings of the target vehicle.
In the embodiment of the disclosure, the radar sensor is arranged at the target position capable of collecting all-dimensional scene information around the target vehicle, so that the scanning range of the vehicle-mounted sensor system can be enlarged, the scene information can be detected in all directions, the reliability and accuracy of the environmental information collected by the vehicle-mounted sensor are improved, and the safety of automatic driving of the vehicle is improved.
In an alternative embodiment, as shown in fig. 2, the radar sensor 10 includes: a lidar sensor 101.
Lidar sensor 101 is mounted at a first target location of the target vehicle, the first target location comprising at least one of: the vehicle comprises a vehicle head position, a vehicle tail position and two side positions of a vehicle body; the lidar sensor is configured to acquire point cloud data corresponding to a first scanning range.
In current automatic driving vehicle, can set up a laser radar sensor on the top of vehicle, this mounting means can lead to the plantago and the rear of a vehicle because the automobile body shelters from there is great blind area, consequently is unfavorable for scene information's collection, and this security that can reduce automatic driving vehicle. If heighten the laser radar sensor at the roof, although can alleviate the problem that the field of vision is sheltered from, can increase whole car height, be unfavorable for vehicle safety, especially some traffic scenes that have the limit for height requirement will restrict the passing of this automatic driving vehicle, bring certain trouble for the user trip.
As can be seen from the above description, the installation height of the lidar sensor on the target vehicle is smaller than the vehicle body height of the target vehicle. In order to expand the scanning range of the laser radar sensor, the installation height of the laser radar sensor on the target vehicle may also be set, for example, the installation height of the laser radar sensor may be selected to be between a% and B% of the vehicle height, where a may be 35-40, and B may be 75-80. Assuming that the height of the body of the target vehicle is 1.5 m, the mounting height of the lidar sensor may be selected to be between 0.6 and 1.2 m. In addition to selecting the mounting height of the lidar sensor in the manner described above, a% and B% may be set to other values, for example, the mounting height of the lidar sensor may be selected to be between 30% and 80% 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.
It will be appreciated that the mounting heights of the lidar sensors may or may not be the same when the lidar sensors are disposed at different first target locations on the target vehicle. In order to ensure the accuracy of the acquired scene information, the installation height of each laser radar sensor can be set to be the same.
In the embodiment of the disclosure, by arranging radar sensors (for example, laser radar sensors) at the head position and the tail position of the target vehicle, the problem that the head and the tail have large blind areas due to the fact that the laser radar sensors are installed on the roof can be avoided. The radar sensors (for example, the laser radar sensors) are arranged on the two sides of the vehicle body, so that the scanning range of the laser radar sensors can be enlarged, the omnibearing detection of scene information is realized, and the safety of automatic driving is further improved.
For example, for an autonomous vehicle having a long vehicle body or a high vehicle body, there are large blind areas on both sides of the vehicle body. When a pedestrian or a vehicle enters the range of the blind area, the pedestrian or the vehicle cannot be tracked and monitored, and the safety of a driver in the pedestrian or the vehicle is affected. At the moment, the laser radar sensors are installed on the two sides of the vehicle body of the vehicle, blind areas on the two sides of the vehicle body can be reduced as far as possible, and therefore when pedestrians or vehicles drive the two sides of the vehicle body of the automatic driving vehicle, the pedestrians or the vehicles can still be tracked and monitored, and driving safety is guaranteed.
In the embodiment of the present disclosure, in the case that the first target position includes a head position and/or a tail position, the first target position may be a position on a central axis of the head and/or the tail of the target vehicle.
Specifically, a first target position may be determined on a center axis of the vehicle head and/or the vehicle tail, and the first target position may be any one of positions on the center axis where the mounting height is between a% and B% of the vehicle body height. For example, when the height of the body of the target vehicle is 1.5 m, the laser radar sensor may be mounted at a position selected to have a mounting height of 0.6 m to 1.2 m on the center axis of the head, or at a position selected to have a mounting height of 0.6 m to 1.2 m on the center axis of the tail.
In the disclosed embodiment, in the case where the first target position includes the vehicle both-side position, the first target position may be located at any one of positions between a% and B% of the vehicle body height at both sides of the target vehicle. For example, in the case where the height of the body of the subject vehicle is 1.5 m, the laser radar sensors may be mounted at positions between 0.6 m and 1.2 m on the positions on both sides of the body.
In an alternative embodiment, the lidar sensor comprises: the system comprises a front laser radar sensor, a rear laser radar sensor and two side laser radar sensors; the front laser radar sensor is installed on the head position of the target vehicle, the rear laser radar sensor is installed on the tail position of the target vehicle, and the laser radar sensors on the two sides are installed on the positions of the two sides of the body of the target vehicle.
Here, the number of front lidar sensors, the number of rear lidar sensors, and the number of both side lidar sensors are each at least one.
In an optional installation mode of the laser radar sensors, the number of the laser radar sensors is 4, wherein one laser radar sensor (namely, a front laser radar sensor) can be installed on a central axis of the vehicle head position, and the installation height of the laser radar sensor is between A% and B% of the height of the vehicle body. A laser radar sensor (namely, a rear laser radar sensor) can be arranged on the central axis of the tail position of the vehicle, and the installation height of the laser radar sensor is between A% and B% of the height of the vehicle body. The laser radar sensors (namely, the laser radar sensors on two sides) can be arranged on the positions of two sides of the vehicle body, the installation height of the two laser radar sensors can be between A% and B% of the height of the vehicle body, wherein A can be 35-40, and B can be 75-80. In this case, the effect of the scanning range of the lidar sensor mounted on the target vehicle is schematically shown in fig. 3.
In an alternative embodiment, as shown in fig. 2, the radar sensor 10 further includes: millimeter-wave radar sensor 102.
Millimeter-wave radar sensor 102 is mounted at a second target location of the target vehicle, the second location including at least one of: the position of the head of the vehicle and the position of the tail of the vehicle; the millimeter wave radar sensor is configured to acquire scene information corresponding to the second scanning range.
When the millimeter wave radar sensors are arranged at different second target positions of the target vehicle, the installation heights of the millimeter wave radar sensors may be the same or may be different.
In the disclosed embodiment, the installation height of the millimeter wave radar sensor on the target vehicle is smaller than the vehicle body height of the target vehicle. In order to be able to expand the scanning range of the millimeter wave radar sensor, the installation height of the millimeter wave radar sensor on the target vehicle may be set. For example, the installation height of the laser radar sensor can be selected to be between C% and D% of the height of the vehicle body, wherein A can be 25-28, and B can be 65-60. Assuming that the height of the body of the target vehicle is 1.5 m, the mounting height of the lidar sensor may be selected to be between 0.4 and 1 m.
In an alternative embodiment, the second target position may be a position on a central axis of a head and/or a tail of the target vehicle, and/or positions of two ends of the head and/or the tail of the target vehicle. The installation of the millimeter-wave radar sensor is described in the following cases.
The first condition is as follows: the number of the millimeter wave radar sensors is 1.
At this time, the millimeter wave radar sensor can be installed on the central axis of the vehicle head or the vehicle tail, and the installation height of the millimeter wave radar sensor is between C% and D% of the vehicle height. Assuming that the height of the vehicle body is 1.5 m, the installation height of the millimeter wave radar sensor may be 0.4 m to 1 m. In this case, the effect diagram of the scanning range of the millimeter wave radar sensor mounted on the target vehicle is shown in fig. 4.
In consideration of the highest degree of importance of the vehicle head position, the millimeter wave radar sensor may be mounted on the vehicle head central axis in the case where the number of the millimeter wave radar sensors is 1.
Case two: the number of the millimeter wave radar sensors is plural.
In this case, it may be provided that the millimeter wave radar sensor includes: the radar system comprises at least one front millimeter wave radar sensor and at least one rear millimeter wave radar sensor, wherein the at least one front millimeter wave radar sensor is arranged at the head position of a target vehicle, and the at least one rear millimeter wave radar sensor is arranged at the tail position of the target vehicle.
(1) And the number of the millimeter wave radar sensors is 2.
At this moment, can divide into 1 anterior millimeter wave radar sensor and 1 rear portion millimeter wave radar sensor 2 millimeter wave radar sensors, these two millimeter wave radar sensors are installed respectively on the axis of locomotive and rear of a vehicle, and this millimeter wave radar sensor's mounting height is between C% to the D% of automobile body height. Assuming that the height of the vehicle body is 1.5 m, the installation height of the millimeter wave radar sensor may be 0.4 m to 1 m. For example, a millimeter wave radar sensor can be optionally mounted on the central axis of the head and the central axis of the tail respectively. In this case, the effect diagram of the scanning range of the millimeter wave radar sensor mounted on the target vehicle is shown in fig. 5.
In addition to mounting the two millimeter wave radar sensors in the manner described above, in consideration of the highest degree of importance of the vehicle head position, it is possible to mount the 2 millimeter wave radar sensors on the vehicle head central axis in the case where the number of millimeter wave radar sensors is 2.
(2) And the number of the millimeter wave radar sensors is more than 2.
At this time, the plurality of millimeter wave radar sensors may be divided into a plurality of front millimeter wave radar sensors and at least one rear millimeter wave radar sensor, and the plurality of millimeter wave radar sensors are respectively installed on the central axes of the vehicle head and the vehicle tail, and/or installed at both ends of the vehicle head and/or both ends of the vehicle tail. And the installation height of the millimeter wave radar sensor is between C% and D% of the height of the vehicle body. Assuming that the height of the vehicle body is 1.5 m, the installation height of the millimeter wave radar sensor may be 0.4 m to 1 m.
Specifically, when the number of millimeter wave radar sensors is 3, one millimeter wave radar sensor (i.e., a plurality of front millimeter wave radar sensors) may be preferentially installed at each of the two end positions of the vehicle head, and then one millimeter wave radar sensor (i.e., one rear millimeter wave radar sensor) may be installed at the position of the central axis of the vehicle tail. In this case, the effect diagram of the scanning range of the millimeter wave radar sensor mounted on the target vehicle is shown in fig. 6.
Specifically, as shown in fig. 7, when the number of the millimeter wave radar sensors is 4, it is preferable to install one millimeter wave radar sensor (i.e., a plurality of front millimeter wave radar sensors) at both end positions of the vehicle head and at a position of the axis of the vehicle head, respectively, and then install one millimeter wave radar sensor (i.e., one rear millimeter wave radar sensor) at a position of the axis of the vehicle tail. Alternatively, as shown in fig. 8, one millimeter wave radar sensor (i.e., a plurality of front millimeter wave radar sensors and a plurality of rear millimeter wave radar sensors) may be installed at both ends of the vehicle head and at both ends of the vehicle tail, respectively.
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.
In the embodiment, the laser radar sensor is arranged at the first target position of the target vehicle, and the millimeter wave radar sensor is arranged at the second target position of the target vehicle, so that the scene information is detected in an all-directional mode, the reliability and the accuracy of the environmental information collected by the vehicle-mounted sensor are improved, and the safety of automatic driving of the vehicle is improved.
In an alternative embodiment, as shown in fig. 9, the vehicle-mounted sensor system further includes: at least one camera device 30, each camera device 30 being disposed on a body of the subject vehicle.
Each camera 30 is configured to capture second scene information within a lens capture range of the camera.
Here, the second context information may be understood as obstacle information within a context in which the target vehicle is located, and the obstacle information may include at least one of the following information, for example: distance of the obstacle to the target vehicle, direction information, moving speed of the obstacle to the target vehicle, and the like. Besides, the second scene information may also be related information of signal indicator lamps of a road on which the target vehicle travels, for example, information such as real-time timing information of the signal indicator lamps, display color of each signal indicator lamp, and the like.
The processor 20 is further configured to fuse the first scene information and the second scene information to obtain the environmental information of all directions around the target vehicle.
The camera device is used for collecting the second scene information within the shooting range of the lens, so that various types of scene information can be fused, and when the driving state of the target vehicle is controlled according to the comprehensive environmental information obtained after fusion, the control precision of the target vehicle can be improved, and the safety of people and pedestrians in the vehicle can be further ensured.
In the embodiment of the present disclosure, the number of the image capturing devices may be one or more, and the types of the image capturing devices may also be multiple. For example, the image pickup apparatus includes: RGB camera device, infrared camera device and degree of depth camera device.
In an alternative embodiment, at least one of the cameras is mounted at a third target location on the target vehicle, the third target location including at least one of: the position of the head of the vehicle, the position of the tail of the vehicle and the positions of the two sides of the vehicle body.
Under the condition that the third target position comprises the tail position and the positions on the two sides of the vehicle body, the installation height of the camera device can be selected to be between C% and D% of the height of the vehicle body, wherein A can be 25-28, and B can be 65-60. Assuming that the height of the body of the target vehicle is 1.5 m, the mounting height of the lidar sensor may be selected to be between 0.4 and 1 m. Under the condition that the third target position comprises the vehicle head position, the installation height of the camera device can be selected to be between M% and N% of the vehicle body height, wherein M can be 60-65, and N can be 85-93.
When the third target position is the vehicle head position, the camera device can be installed at the central axis position of the inner side of the front windshield of the vehicle, and the lens is arranged forwards.
In an embodiment of the present disclosure, the plurality of image capturing apparatuses include: a first image pickup device, a second image pickup device, and a third image pickup device.
The first camera device is installed on the head position of the target vehicle, and the lens direction of the first camera device is the same as the advancing direction of the target vehicle.
The number of the first camera devices can be multiple, or one, when the number of the first camera devices is multiple, the multiple first camera devices are installed at different positions of the central axis of the head of the target vehicle, and the scanning ranges of the multiple first camera devices are not completely the same.
In the embodiment of the disclosure, a plurality of first image pickup devices with different scanning ranges can be installed at the head position of the target vehicle. For example, as shown in fig. 10, in order to expand the scanning range of the image pickup apparatus, one or more first image pickup apparatuses having a scanning range of 120 degrees may be installed at the vehicle head position. Meanwhile, in order to ensure the driving safety of the target vehicle, a first camera device with a scanning range of 30 degrees is required to be installed, and the scanning distance can be increased through the first camera device with the scanning range of 30 degrees, so that different scene information can be acquired, and the safety of automatic driving is further improved.
The second camera device is installed at the tail position of the target vehicle, and the lens direction of the second camera device is opposite to the advancing direction of the target vehicle.
In the embodiment of the present disclosure, in consideration of cost, as shown in fig. 10, one second image pickup device having a scanning range of 60 degrees may be mounted at a rear end position of a vehicle having a low degree of importance.
The third camera device is installed on two sides of the body of the target vehicle, and the lens direction of the third camera device is the two sides of the advancing direction of the target vehicle.
The number of the third imaging devices may be plural or one. When the number of the third camera devices is plural, the plural third camera devices are installed at different positions on both sides of the vehicle body of the target vehicle, and the number of the third camera devices provided on both sides of the vehicle body is the same or different.
In the embodiment of the present disclosure, a plurality of third image capturing devices may be respectively disposed on each of two sides of the vehicle, and the scanning range of each third image capturing device may be the same or may be different. For the plurality of third image pickup devices provided on each side, it is required that the scanning ranges of the plurality of third image pickup devices can include respective orientations of the left side (or the right side) of the target vehicle. Here, the scanning range of the third image pickup device may be selected to be 100 degrees, and may also be selected to be 120 degrees, which is not particularly limited by the present disclosure.
For example, as shown in fig. 10, two third image pickup devices of the scanning range 100 may be provided on each of both sides of the vehicle body.
The following describes how to mount the radar sensor and the camera device in conjunction with the schematic view of the scanning range of each sensor in the vehicle-mounted sensor system shown in fig. 11, and the specific process is described as follows:
as shown in fig. 11, the vehicle-mounted sensor system includes: a front lidar sensor, a rear lidar sensor, two side lidar sensors. The scanning ranges of the 4 lidar sensors are shown as the ranges shown by the dashed sectors in fig. 10.
The front laser radar sensor is arranged on the central axis position of the head of the target vehicle, and the rear laser radar sensor is arranged on the central axis position of the tail of the target vehicle. The mounting height of the front and rear lidar sensors is 0.6 meters. The two laser radar sensors on the two sides are respectively arranged on the two sides of the body of the target vehicle, and the height of the two laser radar sensors is 0.6 m.
As shown in fig. 11, the vehicle-mounted sensor system further includes: the front millimeter wave radar sensor is arranged on the axis position in the head of the target vehicle, the installation height is 0.5 m, and the rear millimeter wave radar sensor is arranged on the axis position in the tail of the target vehicle, the installation height is 0.5 m.
As shown in fig. 11, the vehicle-mounted sensor system further includes: 2 first image pickup devices, one second image pickup device, and 4 third image pickup devices. The scanning ranges of the 6 image pickup devices are shown as solid line sectors in fig. 10.
The 2 first camera devices are arranged on the central axis of the inner side of the front windshield, the lens faces forwards, and the installation height is 1 m; the 4 third camera devices are arranged on two sides of the body of the target vehicle pairwise, and the installation height is 0.5 m; a second camera device is arranged at the central axis position of the tail of the passenger car, the lens faces backwards, and the installation height is 0.5 m.
As can be seen from the above description, in the embodiment of the present disclosure, the front and the rear of the vehicle are commonly sensed by the laser radar sensor, the camera device, and the millimeter wave radar sensor; and the two sides adopt the laser radar sensor and the camera device to sense together, so that the system is safe and reliable. The multi-sensor fusion technology improves the perception intensity of the target vehicle to the equal regions near the vehicle body, especially the rear near point region of the vehicle in front of the vehicle.
Referring to fig. 12, a flowchart of a driving data collecting method provided in the embodiment of the present disclosure is shown, where the method includes:
step S1201, acquiring first scene information acquired by a plurality of radar sensors in a vehicle-mounted sensor system; the radar sensors are respectively arranged on a plurality of target positions of a target vehicle, and when the radar sensors are arranged on the target positions, scene information around the target vehicle can be acquired in an all-around mode;
step S1202, the first scene information is fused to obtain the all-around environmental information around the target vehicle.
In the embodiment of the present disclosure, after the omni-directional environmental information around the target vehicle is obtained, the driving state of the target vehicle may be controlled according to the omni-directional environmental information generated by the in-vehicle sensor system.
It should be noted that, in the embodiment of the present disclosure, the processes described in the above steps S1202 to S1204 may be executed by a processor in the vehicle-mounted sensor system in the above-described embodiment.
In the embodiment of the disclosure, the radar sensor is arranged at the target position capable of collecting all-dimensional scene information around the target vehicle, so that the scanning range of the vehicle-mounted sensor system can be enlarged, the scene information can be detected in all directions, a detection blind area is avoided, the reliability and accuracy of the environmental information collected by the vehicle-mounted sensor are improved, and the safety of automatic driving of the vehicle is 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 embodiment of the present disclosure further provides a computer program product, where the computer program product carries a program code, and instructions included in the program code may be used to execute the steps of the driving data acquisition method in the foregoing method embodiment, which may be referred to specifically in the foregoing method embodiment, and are not described herein again.
The computer program product may be implemented by 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 (14)

1. An in-vehicle sensor system, comprising: the system comprises a plurality of radar sensors and a processor, wherein the radar sensors are respectively arranged on a plurality of target positions of a target vehicle, and when the radar sensors are arranged on the target positions, the radar sensors can carry out omnibearing acquisition on scene information around the target vehicle;
each radar sensor is configured to acquire scene information in a corresponding scanning range to obtain first scene information;
the processor is configured to fuse the first scene information to obtain environmental information of an omni-bearing environment around the target vehicle.
2. The vehicle-mounted sensor system according to claim 1, wherein the radar sensor includes: laser radar sensors and millimeter wave radar sensors;
the lidar sensor is mounted at a first target location of the target vehicle, the first target location comprising at least one of: the vehicle comprises a vehicle head position, a vehicle tail position and two side positions of a vehicle body;
the millimeter wave radar sensor is mounted at a second target location of the target vehicle, the second target location including at least one of: the position of the head of the vehicle and the position of the tail of the vehicle;
the lidar sensor configured to acquire point cloud data within a corresponding first scanning range;
the millimeter wave radar sensor is configured to acquire scene information corresponding to the second scanning range.
3. The vehicle-mounted sensor system according to claim 2, wherein in a case where the first target position includes a head position and/or a tail position, the first target position is a position on a central axis of the head and/or tail of the target vehicle.
4. The vehicle-mounted sensor system according to claim 2 or 3, wherein the second target position is a position on a central axis of a head and/or a tail of the target vehicle, and/or positions at two ends of the head and/or the two ends of the tail of the target vehicle.
5. The on-vehicle sensor system according to any one of claims 2 to 4, characterized in that the millimeter wave radar sensor includes: the radar system comprises at least one front millimeter wave radar sensor and at least one rear millimeter wave radar sensor, wherein the at least one front millimeter wave radar sensor is installed at the head position of the target vehicle, and the at least one rear millimeter wave radar sensor is installed at the tail position of the target vehicle.
6. The on-board sensor system according to any one of claims 2 to 5, characterized in that the lidar sensor includes: the system comprises a front laser radar sensor, a rear laser radar sensor and two side laser radar sensors; the front laser radar sensor is installed on the head position of the target vehicle, the rear laser radar sensor is installed on the tail position of the target vehicle, and the laser radar sensors on the two sides are installed on the positions of the two sides of the body of the target vehicle.
7. The vehicle-mounted sensor system according to any one of claims 1 to 6, further comprising: at least one camera device, each camera device being arranged on a body of the target vehicle;
each camera device is configured to acquire second scene information within a lens shooting range of the camera device;
the processor is further configured to fuse the first scene information and the second scene information to obtain the all-directional environmental information around the target vehicle.
8. The in-vehicle sensor system of claim 7, wherein at least one of the camera devices is mounted at a third target location of the target vehicle, the third target location comprising at least one of: the position of the head of the vehicle, the position of the tail of the vehicle and the positions of the two sides of the vehicle body.
9. The in-vehicle sensor system according to claim 8, wherein at least one of the image pickup devices includes: a first camera device, a second camera device and a third camera device;
the first camera device is installed at the head position of the target vehicle, and the lens direction of the first camera device is the same as the advancing direction of the target vehicle;
the second camera device is installed at the tail position of the target vehicle, and the lens direction of the second camera device is opposite to the advancing direction of the target vehicle;
the third camera device is installed on two sides of the body of the target vehicle, and the lens direction of the third camera device is the two sides of the advancing direction of the target vehicle.
10. The vehicle-mounted sensor system of claim 9, wherein the number of the first camera devices is multiple, wherein the multiple first camera devices are installed at different positions of a central axis of a head of the target vehicle, and scanning ranges of the multiple first camera devices are not completely the same.
11. The in-vehicle sensor system according to claim 9 or 10, characterized in that the number of the third imaging devices is plural, wherein plural third imaging devices are installed at different positions on both sides of a vehicle body of the subject vehicle, and the number of the third imaging devices provided on both sides of the vehicle body is the same or different.
12. A driving data acquisition method is characterized by comprising the following steps:
acquiring first scene information acquired by a plurality of radar sensors in a vehicle-mounted sensor system; the radar sensors are respectively arranged on a plurality of target positions of a target vehicle, and when the radar sensors are arranged on the target positions, scene information around the target vehicle can be acquired in an all-around mode;
and fusing the first scene information to obtain the all-around environment information around the target vehicle.
13. The method of claim 12, further comprising, after obtaining the omni-directional environmental information around the target vehicle:
and controlling the driving state of the target vehicle according to the omnibearing environmental information generated by the vehicle-mounted sensor system.
14. A vehicle characterized by comprising a vehicle body and the vehicle-mounted sensor system of any one of claims 1 to 11 above; the vehicle-mounted sensor system is mounted on the vehicle body.
CN202110768961.7A 2021-07-07 2021-07-07 Vehicle, vehicle-mounted sensor system thereof and driving data acquisition method Pending CN113484863A (en)

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