CN208238805U - A kind of automatic Pilot car context aware systems and automatic Pilot car - Google Patents
A kind of automatic Pilot car context aware systems and automatic Pilot car Download PDFInfo
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- CN208238805U CN208238805U CN201820446193.7U CN201820446193U CN208238805U CN 208238805 U CN208238805 U CN 208238805U CN 201820446193 U CN201820446193 U CN 201820446193U CN 208238805 U CN208238805 U CN 208238805U
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Abstract
The utility model relates to a kind of automatic Pilot car context aware systems and automatic Pilot cars, including the front millimetre-wave radar, front laser radar and front image acquisition device for front part of vehicle to be arranged in, for the side millimetre-wave radar of side portion of vehicle intermediate region, and rear portion ultrasonic radar and rear portion millimetre-wave radar for vehicle rear to be arranged in be arranged in.The utility model is directed to car feature, and the perception properties different according to onboard sensor realize comprehensive perception by efficient combination.Car blind area is effectively reduced, real-time detection vehicle-periphery information determines vehicle location and vehicle attitude, provides input information and judgment basis for automatic Pilot Decision Control.
Description
Technical field
The utility model relates to a kind of automatic Pilot car context aware systems and automatic Pilot cars, and it is automatic to belong to vehicle
Driving field.
Background technique
Bus industry, is related to public transport, and public transport is the national preferential travel modal for encouraging development.Automatically it drives
Car is sailed by carrying the devices such as advanced onboard sensor, controller, actuator, and merges modern communications and network technology,
It realizes that vehicle exchanges with X (vehicle, road, people, cloud etc.) intelligent information, is shared, has complex environment perception, intelligent decision, Collaborative Control
Etc. functions, it can be achieved that it is " safe and efficient, comfortable, energy saving " traveling, reduce traffic accidents, promoted traffic trip efficiency and
Improve city environmental pollution etc. all to play a crucial role.And the environment sensing system currently used for Vehicular automatic driving
Spininess unite to passenger car, opposite passenger car, car figure is larger, blind area is more, related patents or paper are less, there is car use
Surrounding installs the scheme of laser radar additional, but laser radar needs prominent car body, and visitor will be reduced under conditions of meeting vehicle limit for width
Vehicle inner space, while laser radar is in the adverse circumstances poor reliability such as fugitive dust.
Utility model content
The purpose of the utility model is to provide a kind of automatic Pilot car context aware systems and automatic Pilot car, to
Solve the problems, such as that existing car context aware systems occupy interior space using multiple laser radars and reliability is poor.
To achieve the above object, the embodiment of the utility model includes:
A kind of automatic Pilot car context aware systems of the utility model, including the front for front part of vehicle to be arranged in
Millimetre-wave radar and front laser radar for the side millimetre-wave radar of side portion of vehicle intermediate region to be arranged in, and are used for
The rear portion ultrasonic radar and rear portion millimetre-wave radar of vehicle rear are set；The front millimetre-wave radar includes for being arranged
In the forward direction millimetre-wave radar of front part of vehicle intermediate region and two companies to connect for being set to front part of vehicle with vehicular sideview
The anterior angle at place is connect to millimetre-wave radar；The rear portion millimetre-wave radar includes connecting for being set to vehicle rear with vehicular sideview
Two junctions relief angle to millimetre-wave radar.
The utility model is directed to car feature, and the perception properties different according to onboard sensor are realized by efficient combination
Comprehensive perception.Car blind area is effectively reduced, real-time detection vehicle-periphery information determines vehicle location and posture, for certainly
Dynamic Driving Decision-making control provides input information and judgment basis.
By preceding to information such as the long position and speeds for detecting front obstacle away from millimetre-wave radar.By anterior angle to setting
In away from millimetre-wave radar detection vehicle side in front of obstacle information, by relief angle into setting away from millimetre-wave radar detect
Obstacle information in vehicle side rear or blind area, for assisting vehicle lane change.
Further, further include front image acquisition device for front part of vehicle to be arranged in and for being arranged after vehicle
The posterior images acquisition device in portion.
Image collecting device can be used for being fitted the information such as roadmarking.
Further, described image acquisition device is monocular camera.
The information such as obstacle identity and the position of front or behind are detected by monocular camera, while can be used for detection vehicle
The information such as diatom curb.
Further, further include fisheye camera for front part of vehicle, rear portion and two sides to be arranged in.
Fisheye camera is arranged in four direction, fits 360 degree of overall view monitoring visual aids observations of vehicle.
Further, further include ultrasonic radar for front part of vehicle and two sides to be arranged in.
Ultrasonic radar, the detection for vehicle periphery short distance barrier is arranged in four-way.
It further, further include navigation positional device, the navigation positional device includes that satellite navigation system and inertia are surveyed
Measure unit.
A kind of automatic Pilot car of the utility model, including car body, the Vehicular body front are provided with front millimeter wave thunder
It reaches and front laser radar, the side body intermediate region is provided with side millimetre-wave radar, the rear vehicle is provided with
Rear portion ultrasonic radar and rear portion millimetre-wave radar；The front millimetre-wave radar includes being set to the Vehicular body front middle area
The forward direction millimetre-wave radar in domain and the anterior angles of two junctions that the Vehicular body front connects with side is set to millimeter wave thunder
It reaches；The rear portion millimetre-wave radar includes being set to the relief angles of two junctions that the rear vehicle connects with side to millimeter
Wave radar.
Further, the Vehicular body front is provided with front image acquisition device, and the rear vehicle is provided with rear portion figure
As acquisition device.
Further, described image acquisition device is monocular camera.
Further, the Vehicular body front, rear portion and two sides are respectively arranged with fisheye camera.
Further, the Vehicular body front and two sides are provided with ultrasonic radar.
Further, navigation positional device is additionally provided on the car body, the navigation positional device includes satellite navigation
System and Inertial Measurement Unit.
Detailed description of the invention
Fig. 1 is the automatic Pilot car front schematic diagram of embodiment 1；
Fig. 2 is the automatic Pilot car side schematic view of embodiment 1；
Fig. 3 is the automatic Pilot car context aware systems schematic diagram of embodiment 2.
Specific embodiment
The utility model is described in more detail with reference to the accompanying drawing.
A kind of context aware systems for automatic Pilot car, the utility model proposes one kind to be used for car automatic Pilot
Context aware systems, Comprehensive Radar, vision, positioning and the communication technology pass through according to the different perception properties of onboard sensor
Efficient combination realizes comprehensive perception, and real-time detection vehicle-periphery information determines vehicle location and posture, after data fitting
Input information and judgment basis are provided for automatic Pilot Decision Control.
Embodiment 1
Vehicular body front is as shown in Figure 1, include the monocular camera 1 as image collecting device, laser radar 2, length away from millimeter
In away from millimetre-wave radar 4 before wave radar 3 and side.In passenger car body front central region, monocular camera 1, laser radar 2 are set
With long away from millimetre-wave radar 3；The length is used to detect the information such as the position and speed of front obstacle away from millimetre-wave radar 3, described
Laser radar 2 acquires vehicle image information in front for detecting front obstacle profile and location information, the monocular camera, and
For infomation detections such as front obstacle type, positions, while also identifying the information such as lane line, curb.In front part of vehicle to two
The Liang Ge corner of a side is respectively arranged before a side in away from millimetre-wave radar 4, for detecting the obstacle in side front and side
The information such as object location and speed, while a supplement is done to the detection in front.
Vehicle body side as shown in Fig. 2, include before side in away from millimetre-wave radar 4, it is lateral in away from millimetre-wave radar 5 and side after
In away from millimetre-wave radar 6, before side in away from millimetre-wave radar 4, it is lateral in away from behind millimetre-wave radar 5 and side in away from millimeter wave
Radar 6 is provided commonly for the detection of Obstacle Position and velocity information to side.
One group of ultrasonic radar is set on the rear bumper of rear vehicle, and particular number is determined as the case may be, is used for
Detection to rear of vehicle short distance barrier, while away from millimetre-wave radar 6, simultaneously also opposite side is backward and rear in behind side
Obstacle Position and velocity information are detected.
Embodiment 2
A kind of automatic Pilot car context aware systems schematic diagram as shown in Figure 3, the vertical view including a passenger car body
Figure, specifically includes: it is 1 long away from millimetre-wave radar, 6 away from millimetre-wave radar, 1 laser radar, 2 monocular cameras, 4 groups it is super
Sound radar, 4 fisheye cameras, 1 set of integrated navigation and location device.Wherein:
1) 1 long to be located in front of car away from millimetre-wave radar, the information such as position, speed for detecting front obstacle；
2) car surrounding is located at angularly away from millimetre-wave radar in 6 and two sides are central, for detecting two sides barrier
The information such as position, speed；
3) 1 laser radar is located in front of car, the information such as profile size, position for detecting front obstacle；
4) 1 monocular camera is located in front of car, the information such as type, position for detecting front obstacle and lane
The information such as line, curb matched curve；
5) 4 groups of ultrasonic radars are located at car front, rear, left and right four direction, for detecting surrounding short distance obstacle
The number of the location information of object, every group of ultrasonic radar probe is set according to actual needs, in the present embodiment, every group of front and back
4 probes, 8 probes in every group of left and right；
6) 4 fisheye cameras are located at car front, rear, left and right four direction, believe for monitoring video around car
Breath, fitting are spliced into 360 degree of overall view monitoring view auxiliary observations.
7) 1 set of integrated navigation and location device includes host, antenna etc., and host is located at electrical appliance kit in passenger car, and antenna is located at
Above roof, Centimeter Level is realized based on global navigation satellite system GNSS, Inertial Measurement Unit IMU and Beidou ground strengthening system
Integrated navigation and location.
The utility model is directed to car feature, and the perception properties different according to onboard sensor are realized by efficient combination
Comprehensive perception.Car blind area is effectively reduced, real-time detection vehicle-periphery information determines vehicle location and posture, for certainly
Dynamic Driving Decision-making control provides input information and judgment basis.
Claims (12)
1. a kind of automatic Pilot car context aware systems, which is characterized in that including the front milli for front part of vehicle to be arranged in
Metre wave radar and front laser radar, for the side millimetre-wave radar of side portion of vehicle intermediate region to be arranged in, and for setting
Set the rear portion ultrasonic radar and rear portion millimetre-wave radar in vehicle rear；The front millimetre-wave radar includes for being set to
The forward direction millimetre-wave radar of front part of vehicle intermediate region and for be set to front part of vehicle with vehicular sideview connects two connect
The anterior angle at place is to millimetre-wave radar；The rear portion millimetre-wave radar includes connecting for being set to vehicle rear with vehicular sideview
The relief angle of two junctions is to millimetre-wave radar.
2. a kind of automatic Pilot car context aware systems according to claim 1, which is characterized in that further include for setting
It sets in the front image acquisition device of front part of vehicle and the posterior images acquisition device for vehicle rear to be arranged in.
3. a kind of automatic Pilot car context aware systems according to claim 2, which is characterized in that described image acquisition
Device is monocular camera.
4. a kind of automatic Pilot car context aware systems according to claim 1,2 or 3, which is characterized in that further include
For the fisheye camera of front part of vehicle, rear portion and two sides to be arranged in.
5. a kind of automatic Pilot car context aware systems according to claim 4, which is characterized in that further include for setting
Set the ultrasonic radar in front part of vehicle and two sides.
6. a kind of automatic Pilot car context aware systems according to claim 5, which is characterized in that further include that navigation is fixed
Position device, the navigation positional device includes satellite navigation system and Inertial Measurement Unit.
7. a kind of automatic Pilot car, which is characterized in that including car body, the Vehicular body front be provided with front millimetre-wave radar and
Front laser radar, the side body intermediate region are provided with side millimetre-wave radar, and the rear vehicle is provided with rear portion
Ultrasonic radar and rear portion millimetre-wave radar；The front millimetre-wave radar includes being set to the Vehicular body front intermediate region
Forward direction millimetre-wave radar and the anterior angles of two junctions that the Vehicular body front connects with side is set to millimetre-wave radar；Institute
Stating rear portion millimetre-wave radar includes being set to the relief angles of two junctions that the rear vehicle connects with side to millimeter wave thunder
It reaches.
8. a kind of automatic Pilot car according to claim 7, which is characterized in that the Vehicular body front is provided with front figure
As acquisition device, the rear vehicle is provided with posterior images acquisition device.
9. a kind of automatic Pilot car according to claim 8, which is characterized in that described image acquisition device is monocular phase
Machine.
10. a kind of automatic Pilot car according to claim 7,8 or 9, which is characterized in that the Vehicular body front, rear portion
And two sides are respectively arranged with fisheye camera.
11. a kind of automatic Pilot car according to claim 10, which is characterized in that the Vehicular body front and two sides
It is provided with ultrasonic radar.
12. a kind of automatic Pilot car according to claim 11, which is characterized in that be additionally provided with navigation on the car body
Positioning device, the navigation positional device include satellite navigation system and Inertial Measurement Unit.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201820446193.7U CN208238805U (en) | 2018-03-30 | 2018-03-30 | A kind of automatic Pilot car context aware systems and automatic Pilot car |
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| CN201820446193.7U CN208238805U (en) | 2018-03-30 | 2018-03-30 | A kind of automatic Pilot car context aware systems and automatic Pilot car |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110456788A (en) * | 2019-07-22 | 2019-11-15 | 中兴智能汽车有限公司 | A kind of automatic Pilot bus controlling system and automatic Pilot car |
| CN110641367A (en) * | 2019-10-31 | 2020-01-03 | 东风汽车股份有限公司 | Environment sensing system arrangement structure for automatic driving |
| CN111026118A (en) * | 2019-12-18 | 2020-04-17 | 三一重工股份有限公司 | Mining wide-body vehicle and automatic driving system thereof |
| CN111024150A (en) * | 2019-11-15 | 2020-04-17 | 北京理工大学 | Perception system of unmanned platform |
| WO2021027401A1 (en) * | 2019-08-15 | 2021-02-18 | 北京百度网讯科技有限公司 | Autonomous vehicle |
| CN113971846A (en) * | 2020-07-22 | 2022-01-25 | 郑州宇通客车股份有限公司 | Positioning failure detection method and device for automatic driving vehicle |
| CN114719867A (en) * | 2022-05-24 | 2022-07-08 | 北京捷升通达信息技术有限公司 | Vehicle navigation method and system based on sensor |
| CN115082901A (en) * | 2022-07-21 | 2022-09-20 | 天津所托瑞安汽车科技有限公司 | Vehicle import detection method, device and equipment based on algorithm fusion |
| CN115135554A (en) * | 2019-12-30 | 2022-09-30 | 伟摩有限责任公司 | Perimeter sensor housing |
| WO2022217819A1 (en) * | 2021-04-12 | 2022-10-20 | 武汉智行者科技有限公司 | Target speed estimation method and apparatus, and storage medium |
| CN117111058A (en) * | 2023-10-24 | 2023-11-24 | 青岛慧拓智能机器有限公司 | Unmanned perception system and method for mining truck |
| US11887378B2 (en) | 2019-12-30 | 2024-01-30 | Waymo Llc | Close-in sensing camera system |
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2018
- 2018-03-30 CN CN201820446193.7U patent/CN208238805U/en active Active
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110456788A (en) * | 2019-07-22 | 2019-11-15 | 中兴智能汽车有限公司 | A kind of automatic Pilot bus controlling system and automatic Pilot car |
| WO2021027401A1 (en) * | 2019-08-15 | 2021-02-18 | 北京百度网讯科技有限公司 | Autonomous vehicle |
| CN110641367A (en) * | 2019-10-31 | 2020-01-03 | 东风汽车股份有限公司 | Environment sensing system arrangement structure for automatic driving |
| CN111024150A (en) * | 2019-11-15 | 2020-04-17 | 北京理工大学 | Perception system of unmanned platform |
| CN111026118A (en) * | 2019-12-18 | 2020-04-17 | 三一重工股份有限公司 | Mining wide-body vehicle and automatic driving system thereof |
| US11880200B2 (en) | 2019-12-30 | 2024-01-23 | Waymo Llc | Perimeter sensor housings |
| CN115135554B (en) * | 2019-12-30 | 2024-03-29 | 伟摩有限责任公司 | Perimeter sensor housing |
| US11887378B2 (en) | 2019-12-30 | 2024-01-30 | Waymo Llc | Close-in sensing camera system |
| CN115135554A (en) * | 2019-12-30 | 2022-09-30 | 伟摩有限责任公司 | Perimeter sensor housing |
| CN113971846A (en) * | 2020-07-22 | 2022-01-25 | 郑州宇通客车股份有限公司 | Positioning failure detection method and device for automatic driving vehicle |
| WO2022217819A1 (en) * | 2021-04-12 | 2022-10-20 | 武汉智行者科技有限公司 | Target speed estimation method and apparatus, and storage medium |
| CN114719867A (en) * | 2022-05-24 | 2022-07-08 | 北京捷升通达信息技术有限公司 | Vehicle navigation method and system based on sensor |
| CN115082901B (en) * | 2022-07-21 | 2023-01-17 | 天津所托瑞安汽车科技有限公司 | Vehicle import detection method, device and equipment based on algorithm fusion |
| CN115082901A (en) * | 2022-07-21 | 2022-09-20 | 天津所托瑞安汽车科技有限公司 | Vehicle import detection method, device and equipment based on algorithm fusion |
| CN117111058A (en) * | 2023-10-24 | 2023-11-24 | 青岛慧拓智能机器有限公司 | Unmanned perception system and method for mining truck |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address |
Address after: 450061 Yudao Road, Guancheng District, Zhengzhou City, Henan Province Patentee after: Yutong Bus Co.,Ltd. Address before: 450016 Yutong Road, Guancheng District, Zhengzhou City, Henan Province Patentee before: ZHENGZHOU YUTONG BUS Co.,Ltd. |
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| CP03 | Change of name, title or address |