CN115476846A - 用于物体分类和操作自动化车辆的系统和自动化车辆 - Google Patents

用于物体分类和操作自动化车辆的系统和自动化车辆 Download PDF

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CN115476846A
CN115476846A CN202211021470.7A CN202211021470A CN115476846A CN 115476846 A CN115476846 A CN 115476846A CN 202211021470 A CN202211021470 A CN 202211021470A CN 115476846 A CN115476846 A CN 115476846A
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CN115476846B (zh
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韦峻青
许闻达
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Motional AD LLC
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Abstract

本申请提供了用于物体分类和操作自动化车辆的系统和自动化车辆。物体分类系统包括物体检测器(20)和控制器(28)。所述物体检测器(20)可以是相机、雷达、激光雷达或其组合。所述物体检测器(20)检测靠近主车辆(12)的物体(18)。所述控制器(28)与物体检测器(20)通信。所述控制器(28)被配置为基于由靠近物体(18)的空气运动(34)引起的物体(18)的运动特性(32)来确定物体(18)的密度(30)，并对主车辆(12)进行操作，以在物体(18)的密度(30)被分类为致密时避免该物体(18)与主车辆(12)撞击。

Description

用于物体分类和操作自动化车辆的系统和自动化车辆
本申请是申请日为2018年4月4日、申请号为201810298912.X，发明名称为“用于自动化车辆的基于运动特性的物体分类”的发明专利申请的分案申请。
技术领域
本公开总体上涉及用于自动化车辆的物体分类系统，并且更具体而言涉及对主车辆进行操作以在物体的密度被分类为致密时避免物体与主车辆撞击的系统。
背景技术
自动化车辆一般被编程为避免轧过或者撞击任何检测到的物体。然而，在所检测到的物体是空塑料袋或者小的风滚草时则没有必要采取突然的避让操纵。
发明内容
根据一个实施例，提供了一种用于自动化车辆的物体分类系统。所述系统包括物体检测器和控制器。物体检测器检测接近主车辆的物体。控制器与物体检测器通信。控制器被配置为基于靠近物体的空气运动所引起的物体的运动特性来确定物体的密度，并对主车辆进行操作，以在该物体的密度被分类为致密时避免该物体与主车辆撞击。
其它特征和优点在阅读了优选实施例的以下具体实施方式之后将变得更加清楚，优选实施例的具体实施方式仅通过非限制性示例的方式并参考附图给出。
附图说明
现在将参考附图通过示例的方式描述本发明，在附图中：
图1是根据一个实施例的物体分类系统的示图；以及
图2是根据一个实施例的图1的系统所遇到的情形。
具体实施方式
图1示出了物体分类系统10(下文称为系统10)的非限制性示例。一般而言，系统10适于由例如主车辆12的自动化车辆使用。如文中使用的，术语“自动化车辆”可以应用于主车辆12按照自动化模式14(即，完全自主模式)进行操作时的实例，在自动化模式14中主车辆12的人类操作员(未示出)可以仅仅指定目的地就能操作主车辆12。然而完全自动化并不是要求。可以设想，文中呈现的教导在主车辆12以人工模式16进行操作时是有用的，在人工模式16中自动化的程度或水平可以局限于短暂地取得对主车辆12的转向的控制，以避免与(例如)物体18的碰撞。
系统10包括检测靠近主车辆12(例如，在主车辆12的两百米(200m)内)的物体的物体检测器20。物体检测器20可以包括诸如相机、雷达、激光雷达或其任何组合的装置，或者可以由其组成。形成物体检测器20的一个或多个装置优选地安装在主车辆12上，但并非必须如此。如果使用多个装置，那么它们可以如图1所表明的那样被共同放置，但是这并非是要求。多个装置可以分布在主车辆12的不同位置上。还可以设想，装置中的全部或者一些可以作为交通监控基础设施的部分而被放置在远离主车辆12处。
图2示出了主车辆12可能遇到的情形22的非限制性示例。图2示出了物体检测器20(图2中未示出)的示例性视场，其包括处于主车辆12(图2中未示出)前方的道路24。图示了物体18的各种非限制性示例，包括从木材采运卡车(未示出)上掉落的木头18A和空塑料袋18B。如下文将更详细解释的，文中描述的系统10相较于自动化车辆的现有系统存在优势，因为系统10能够将木头18A与空塑料袋18B区分开。系统10将木头18A分类为是主车辆12不应轧过的东西，即，主车辆12应当避开的东西。相比之下，如果避开空塑料袋18B可能引起主车辆12做出不希望出现的行为，例如突然转向进入正在接近的车辆26的行驶路径，那么空塑料袋18B(例如，杂货店常用的类型的塑料袋)则是主车辆12可以轧过的东西。
重新来看图1，系统10包括与物体检测器20通信的控制器28。控制器28可以包括诸如微处理器的处理器(未具体示出)或者诸如模拟和/或数字控制电路的其它控制电路，所述其它控制电路包括用于处理数据的专用集成电路(ASIC)，这对于本领域技术人员应当是明显的。控制器28可以包括存储器(未具体示出)，其包括非易失性存储器，例如用于存储一个或多个例程、阈值和采集的数据的电可擦可编程只读存储器(EEPROM)。一个或多个例程可以由处理器运行，以执行如文中所述的用于基于控制器28从物体检测器20接收到的信号对主车辆12进行控制的步骤。
控制器28被配置为或者被编程为基于由靠近物体18(即，足够接近以至于影响物体的运动)的空气运动34所引起的物体18的运动特性32来确定物体18(例如，木头18A、空塑料袋18B)的密度30。下文描述用于确定空气运动34的存在或者用于检测空气运动34的各种技术。物体18的特定实例响应于空气运动34而移动的量或程度指示运动特性，并且用于确定物体18的密度30。例如，空气运动34的几乎任何实例都将引起空塑料袋18B在道路24上或者跨越道路24移动。然而，只有空气运动34的非常强的实例才能使木头18A移动。也就是说，密度30是基于运动特性32确定的，即，基于针对空气运动34的给定实例物体18移动了多少而确定的。
由此得出，空塑料袋18B将被表征为具有低密度，因而系统10或者更具体而言控制器28可以不做出任何避免轧过空塑料袋18B的努力。然而，木头18A会被表征或者分类为致密，因而控制器28可以对主车辆12进行操作，以在物体的密度30被分类为致密时避免该物体18与主车辆12撞击。对于空气运动34的给定实例或量或数量或值或幅度/方向而言，可以将物体18表征为正在移动或者无运动。如果物体18被表征为正在移动，那么空气运动34的量用于将物体18分类为致密或者低密度，或者可用于估算/确定主车辆12是否可能因撞击物体18(即，轧过物体18)而受到损伤的一些其它指标。现在将参考图1和图2描述可以如何确定或者估算空气运动34的非限制性示例。
在系统10的一个实施例中，可以基于使主车辆12保持在道路24的中央所需的转向校正36来确定靠近物体18的空气运动34。本领域技术人员将认识到，侧风38(例如，图2中的由箭头指示的空气运动34)和/或道路角度40(即，道路24从中心线到路肩的倾斜程度)可能使主车辆12的转向系统必须施加恒定转向力矩(即，转向校正36)才能使主车辆12保持在道路24中央。安装在主车辆12上的物体检测器20的相机(如果可用的话)和/或角度传感器(未示出)可以用于检测道路角度40，因而可以将由侧风38造成的影响或作用从转向校正36中分离出来。
在系统10的另一实施例中，可以基于靠近道路24的另一物体42(例如，风滚草42A和/或高的草丛42B和/或树42C)的运动来确定靠近物体18的空气运动34。风滚草42A的线性运动、高草42B的起伏运动和/或树42C的振荡运动全都可以用作空气运动34的指标。对来自相机的信号的图像处理或者对来自雷达和/或激光雷达的信号的噪声分析全都可以用于确定空气运动34，这是本领域技术人员将认识到的。
在系统10的另一实施例中，可以基于在物体18附近(例如，在五米(5m)内)经过的另一车辆46的空气位移模型44来确定靠近物体18的空气运动34。图2示出了空塑料袋18B的首先被吹离另一车辆46的行驶路径，而后又被拉回到另一车辆46的后面的运动特性32。在该实例中，空气运动34是由另一车辆46的运动引起的而未必只是由于风的原因。由另一车辆46的经过引起的空塑料袋18B的四处移动的量取决于另一车辆46的大小、速度和/或另一车辆46与物体18之间的距离。也就是说，与另一车辆46相关联的或者分配给另一车辆46的空气位移模型44是通过另一车辆46的大小、另一车辆46的速度和/或另一车辆46与物体18之间的距离表征的。可以通过经验检验、计算机建模或其组合来建立空气位移模型44。
相应地，提供了一种物体分类系统(系统10)、用于系统10的控制器28以及操作系统10的方法。如果物体18致密而且足够大，例如木头18A，那么控制器28优选地使主车辆12转向绕开或者远离木头18A。如果物体18是明显致密的石头(未示出)，但是有可能小到足以使主车辆12跨过(即，越过并且在主车辆12的车轮之间)而不会撞击，那么控制器28可以对主车辆12进行操作以跨过该物体。如果物体18具有低密度(例如，空塑料袋18B或者风滚草42A)，那么即使其大到无法在不撞击的情况下跨过去，控制器28也可以允许主车辆12轧过物体18。
尽管已经根据本发明的优选实施例描述了本发明，但是其并非旨在使本发明受到这样的限制。

Claims (7)

1.一种适于对物体进行分类并操作自动化车辆的系统(10)，所述系统(10)包括：
检测靠近主车辆(12)的物体(18)的物体检测器(20)；以及
与所述物体检测器(20)通信的控制器(28)，其特征在于，所述控制器(28)被配置为确定靠近所述物体(18)的空气运动(34)，基于所确定的靠近所述物体(18)的空气运动(34)所引起的所述物体(18)的运动特性(32)来确定所述物体(18)的密度(30)，并且操作所述主车辆(12)以在所述物体(18)的密度(30)被分类为致密的情况下，避免所述物体(18)与所述主车辆(12)撞击，其中，所述物体(18)响应于所述空气运动(34)而移动的量或程度指示所述运动特性(32)并用于确定所述物体(18)的密度(30)。
2.根据权利要求1所述的系统(10)，其中，靠近所述物体(18)的所述空气运动(34)是基于使所述主车辆(12)保持在道路(24)的中央所需的转向校正(36)而确定的，
侧风(38)和道路角度(40)使得所述主车辆(12)的转向系统需要施加所述转向校正(36)，
所述物体检测器(20)被配置为检测所述道路角度(40)，以及
所述控制器(28)被配置为将由所述侧风(38)造成的影响或作用从所述转向校正(36)中分离出来。
3.根据权利要求1所述的系统(10)，其中，靠近所述物体(18)的所述空气运动(34)是基于靠近道路(24)的另一物体(42)的运动而确定的。
4.根据权利要求3所述的系统(10)，其中，所述空气运动(34)的指标包括风滚草(42A)的线性运动、高草(42B)的起伏运动和/或树(42C)的振荡运动中的一个或多个，其中，所述风滚草(42A)、高草(42B)和树(42C)各自靠近所述道路(24)。
5.根据权利要求1所述的系统(10)，其中，靠近所述物体(18)的所述空气运动(34)是基于经过所述物体(18)附近的另一车辆(46)的空气位移模型(44)而确定的。
6.根据权利要求5所述的系统(10)，其中，所述另一车辆(46)的所述空气位移模型(44)是由所述另一车辆(46)的大小、所述另一车辆(46)的速度以及所述另一车辆(46)与所述物体(18)之间的距离来表征的。
7.一种自动化车辆(12)，其包括根据权利要求1至6中任一项所述的系统(10)，其中，所述自动化车辆(12)被配置为以自动化模式(14)或人工模式(16)操作。
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