CN208360051U - Seven road integrated form visual perception systems of one kind and vehicle - Google Patents
Seven road integrated form visual perception systems of one kind and vehicle Download PDFInfo
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- CN208360051U CN208360051U CN201820544710.4U CN201820544710U CN208360051U CN 208360051 U CN208360051 U CN 208360051U CN 201820544710 U CN201820544710 U CN 201820544710U CN 208360051 U CN208360051 U CN 208360051U
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Abstract
The utility model relates to vehicle environmentals to perceive field, especially a kind of seven road integrated form visual perception systems and vehicle, the system include controller and be respectively used to obtain vehicle before to, backward, front left side, left rear side, the photographic device of the image information of forward right side and right lateral side, the input terminal of controller connects each photographic device, realize the perception to ambient enviroment, reach to the vehicle's surroundings centainly infomation detection of remote object and tracking, it solves the problems, such as that acquisition of information is imperfect to be especially affected to the driving safety of automatic driving vehicle to vehicle driving, and vehicle is at crossing turning, the preceding information acquired to photographic device is indicated the smoothed curve of this lane and turning roadway by controller by deep learning algorithm, guide vehicle safe driving, and it is based on forward direction monocular vision image detection, realize simultaneous localization and mapping Function, error can satisfy automated driving system location requirement, solve orientation problem of the car under GPS signal strength field relatively low scape.
Description
Technical field
The utility model relates to vehicle environmentals to perceive field, especially a kind of seven road integrated form visual perception systems and vehicle
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Background technique
With the development of intelligent network connection technology, automatic Pilot technology can the gradually application on car.Automatic Pilot skill
The exploitation key point of art is perception of the vehicle to ambient enviroment, at present vehicle be largely by sensor, such as radar and
Photographic device obtains ambient enviroment, and the environment especially by photographic device to 360 ° around vehicle body obtains, and has
The patent document that Chinese patent notification number is CN104512328B discloses a kind of automobile and looks around image generating method and automobile ring
Viewing system, the system include image capture module, control module and image display, and wherein image capture module includes installation
Forward sight camera, rearview camera, left front view camera, left rearview camera, right forward sight camera and right backsight on vehicle body
Camera acquires the image of vehicle vehicle front, rear, left front, left back, right front and right back, control module respectively
Image, but the automatic Pilot in order to realize vehicle are looked around for being spliced to obtain according to acquired image, in addition to obtaining vehicle
Image obstacle information around also carries out completely, accurately to before vehicle to certain barrier at a distance or object
Detection and tracking, such as pedestrian, vehicle, traffic sign etc., therefore the prior art is unable to satisfy automatic driving vehicle to ring around
The perception in border cannot achieve detection, tracking and analysis to vehicle front side centainly remote information, lead to vehicle driving safety
It reduces.
Utility model content
The purpose of the utility model is to provide a kind of seven road integrated form visual perception systems and vehicles, to solve existing view
Feeling in sensory perceptual system can not detect to preceding to certain information at a distance, cause to obtain the imperfect influence vehicle safety of information
The problem of traveling.
While in order to realize to 360 ° of environment sensings of vehicle, realize to the inspection before vehicle to certain object at a distance
It surveys, solves the problems, such as that acquisition of information is imperfect and be especially affected to the driving safety of automatic driving vehicle to vehicle driving, this
Utility model provides a kind of seven road integrated form visual perception systems, including controller and being respectively used to obtain vehicle forward, backward,
Forward direction photographic device, backward photographic device, the front left side photographic device, left rear side of front left side, left rear side, forward right side and right lateral side
Photographic device, forward right side photographic device and right lateral side photographic device, the controller input terminal connection before to photographic device, after
To photographic device, front left side photographic device, left rear side photographic device, forward right side photographic device and right lateral side photographic device, also wrap
To focal length photographic device before including, the input terminal of the controller connects the forward direction focal length photographic device, and the forward direction focal length is taken the photograph
As device is used to obtain the real-time image information in front of vehicle driving.
In order to complete the monitoring to vehicle-periphery, the forward or backward image of vehicle is completed by a camera and is obtained
It takes, reduces unidirectional image mosaic to the greatest extent, further, the first wide-angle monocular camera lens is provided in the forward direction photographic device,
The second wide-angle monocular camera lens is provided in the backward photographic device.On this basis, the preferably described first wide-angle monocular camera lens
It is horizontal field of view angle not less than 180 ° with the second wide-angle monocular camera lens and vertical field of view angle is not less than 120 ° of wide-angle list
Ocular head.
In order to realize the zero dead angle monitoring to vehicle side, lateral image is solved by Image Acquisition distance and car length
Limitation, further, the front left side photographic device, left rear side photographic device, forward right side photographic device and right lateral side camera shooting
Monocular camera lens is provided in device.On this basis, preferably described each monocular camera lens be horizontal field of view angle not less than 120 °,
And vertical field of view angle is not less than 100 ° of monocular camera lens.
In order to realize to vehicle front centainly remote Image Acquisition while obtain more information as far as possible, into
One step, at least one telephoto lens is provided in the forward direction focal length photographic device.On this basis, preferably described each focal length
Camera lens is horizontal field of view angle not less than 52 ° and vertical field of view angle is not less than 38 ° of telephoto lens.
While in order to realize to 360 ° of environment sensings of vehicle, realize to the inspection before vehicle to certain object at a distance
It surveys, solves the problems, such as that acquisition of information is imperfect and be especially affected to the driving safety of automatic driving vehicle to vehicle driving, this
Utility model also provides following vehicle scheme, which includes seven road integrated form visual perception systems, and the sensory perceptual system includes
Controller and being respectively used to obtain vehicle forward, backward, front left side, left rear side, forward right side and right lateral side forward direction photographic device,
Backward photographic device, front left side photographic device, left rear side photographic device, forward right side photographic device and right lateral side photographic device, institute
State controller input terminal connection before to photographic device, backward photographic device, front left side photographic device, left rear side photographic device,
Forward right side photographic device and right lateral side photographic device, the sensory perceptual system further include preceding to focal length photographic device, the controller
Input terminal connect the forward direction focal length photographic device, the forward direction focal length photographic device is used to obtain the reality in front of vehicle driving
When image information.
In order to improve to positional relationship between photographic device and vehicle, the vehicle further includes vehicle body, described left front
Side photographic device is set to vehicle body front left side, and the visual field of front left side photographic device is towards left back；The left rear side camera shooting dress
It installs and is placed in vehicle body left rear side, and the visual field of left rear side photographic device is towards left front.On this basis, the forward right side camera shooting
Device is set to vehicle body forward right side, and the visual field of forward right side photographic device is towards right back；The right lateral side photographic device setting
In vehicle body right lateral side, and the visual field of right lateral side photographic device is towards right front.
On the basis of above-mentioned each scheme, in order to complete the monitoring to vehicle-periphery, completed by a camera
The forward or backward image of vehicle obtains, and reduces unidirectional image mosaic to the greatest extent, further, sets in the forward direction photographic device
It is equipped with the first wide-angle monocular camera lens, the second wide-angle monocular camera lens is provided in the backward photographic device.On this basis, preferably
The first wide-angle monocular camera lens and the second wide-angle monocular camera lens are horizontal field of view angle not less than 180 ° and vertical field of view
Angle is not less than 120 ° of wide-angle monocular camera lens.
On the basis of above-mentioned each vehicle, in order to realize to the monitoring of zero dead angle of vehicle side, solve lateral image by
The limitation of Image Acquisition distance and car length, further, before the front left side photographic device, left rear side photographic device, the right side
Monocular camera lens is provided in side photographic device and right lateral side photographic device.On this basis, preferably described each monocular camera lens is equal
It is not less than 120 ° and monocular camera lens of the vertical field of view angle not less than 100 ° for horizontal field of view angle.
On the basis of above-mentioned each vehicle, in order to realize to vehicle front centainly remote Image Acquisition while to the greatest extent may be used
The information that the acquisition of energy is more is further provided at least one telephoto lens in the forward direction focal length photographic device.Herein
On the basis of, preferably described each telephoto lens is horizontal field of view angle not less than 52 ° and vertical field of view angle is not less than 38 ° of focal length
Camera lens.
Detailed description of the invention
Fig. 1 is scheme of installation of the seven road integrated form visual perception systems of one kind on vehicle；
Fig. 2 is a kind of road junction roadway line guidance schematic diagram of seven road integrated form visual perception systems.
Specific embodiment
The utility model is described in more detail with reference to the accompanying drawing.
The utility model provides a kind of vehicle, which includes seven road integrated form visual perception systems of vehicle body and one kind,
In the sensory perceptual system include controller, which is preferably the image processor of a seven tunnel visions, as shown in Figure 1, the sense
Know system further include before being set to automobile body to forward direction photographic device and forward direction focal length photographic device, to obtain vehicle front
Barrier or object information, i.e. target area 1 and target area 2；It is set to the backward backward photographic device of vehicle, to obtain
Take the barrier or object information of rear of vehicle, i.e. target area 3；It is set to the front left side photographic device of vehicle front left side,
To obtain the barrier or object information of vehicle left back, i.e. target area 7；It is set to the left rear side camera shooting of vehicle left rear side
Device, to obtain the barrier or object information that vehicle does front, i.e. target area 6；Before being set to the right side of vehicle forward right side
Side photographic device, to obtain the barrier or object information of vehicle right back, i.e. target area 5；After being set to the vehicle right side
The right lateral side photographic device of side, to obtain the barrier or object information of vehicle right front, i.e. target area 4.
To photographic device, backward photographic device, front left side photographic device, left rear side before the input terminal connection of above controller
Photographic device, forward right side photographic device, right lateral side photographic device and forward direction focal length photographic device, this is preceding to focal length photographic device use
Real-time image information in front of acquisition vehicle driving.
It is provided with a wide-angle monocular camera lens in forward direction photographic device and backward photographic device, but does not limit and only only has
One wide-angle monocular camera lens, the horizontal field of view angle of the wide-angle monocular camera lens not less than 180 °, vertical field of view angle not less than 120 ° and
Detecting distance needs at least 3 meters, if a wide-angle monocular camera lens is only arranged, the incident center line of the camera lens is preferably arranged at vehicle
Vertical central plane on.
After lateral Image Acquisition uses front left side photographic device, left rear side photographic device, forward right side photographic device and the right side
Side photographic device, wherein each photographic device includes monocular camera lens, the horizontal field of view angle of the monocular camera lens is not less than 120 °, hangs down
Direct-view rink corner is not less than 100 ° and horizontal detecting distance is preferably not less than 6 meters, preferably not less than 10 meters of vertical detection distance.It is above-mentioned
The monocular camera lens of front left side photographic device is to see from front to back, and the monocular camera lens of left rear side photographic device is to see from back to front；It is right
The monocular camera lens of front side photographic device is to see from front to back, and the monocular camera lens of right lateral side photographic device is to see from back to front.
At least one telephoto lens is set in above-mentioned forward direction focal length photographic device, wherein the horizontal field of view of each telephoto lens
Angle is not less than 38 ° not less than 52 °, vertical field of view angle and detecting distance requirement is directed to pedestrian and is preferably not less than 50 meters, for vehicle
Preferably not less than 100 meters；The telephoto lens increases the range of field angle in the case where meeting detecting distance as far as possible, to
Can be realized more functions, such as vision SLAM, realize the SLAM function of view-based access control model target analyte detection, i.e., positioning simultaneously with
Map structuring solves orientation problem of the automatic Pilot car under GPS signal strength field relatively low scape；Pass through forward sight focal length and wide-angle
Camera acquires and analyzes road environmental data, in conjunction with the working line high-precision map made in advance, using deep learning etc.
Algorithm calculates the current location for identifying vehicle；The positioning accuracy of vision SLAM can be positioned and laser thunder by differential GPS
The point cloud data reached is compared and corrects.
It can also realize that road junction roadway line guides by above-mentioned 360 ° of sensory perceptual systems looked around, as shown in Fig. 2, vehicle 8 exists
When the turning of crossing, according to collected terrain vehicle diatom information, analysis fits the smoothed curve of this lane and turning roadway
To control the driving trace of vehicle；Ambient enviroment pedestrian, vehicle, vehicle are completed inside same controller by multichannel visual pattern
The detection and dynamically track of the objects such as diatom, traffic sign, and export related perceptual image and realize vehicle to ambient enviroment
Perception, so that perception information is more complete, especially in the case where not needing driver's execution physics driver behavior, control system
Guidance and decision can be carried out to vehicle driving task according to perception information, and replacing driver to manipulate behavior makes vehicle complete peace
The function of travelling entirely.
Be presented above the utility model relates to specific embodiment, but the utility model is not limited to described reality
Apply mode.It is to be arranged in forward direction in the basic ideas of the utility model and is able to detect certain remote photographic device, realizes
Acquisition to vehicle periphery more information increases information integrity, realizes the guidance of road junction roadway line and vision SLAM function, improves
Vehicle driving safety does not do definitive requirement for specific control strategy, is not departing from the principles of the present invention and essence
The change, modification, replacement and modification carried out in the case where mind to embodiment are still fallen in the protection scope of the utility model.
Claims (16)
1. a kind of seven road integrated form visual perception systems, including controller and being respectively used to obtains vehicle forward, backward, left front
Side, left rear side, forward right side and the forward direction photographic device of right lateral side, backward photographic device, front left side photographic device, left rear side camera shooting
Device, forward right side photographic device and right lateral side photographic device are taken the photograph before the input terminal connection of the controller to photographic device, backward
As device, front left side photographic device, left rear side photographic device, forward right side photographic device and right lateral side photographic device, feature exist
In to focal length photographic device before further including, the input terminal of the controller connects the forward direction focal length photographic device, the forward direction
Focal length photographic device is used to obtain the real-time image information in front of vehicle driving.
2. integrated form visual perception system in seven roads according to claim 1, which is characterized in that in the forward direction photographic device
It is provided with the first wide-angle monocular camera lens, the second wide-angle monocular camera lens is provided in the backward photographic device.
3. integrated form visual perception system in seven roads according to claim 2, which is characterized in that the first wide-angle monocular instrumnent
Head and the second wide-angle monocular camera lens are horizontal field of view angle not less than 180 ° and vertical field of view angle is not less than 120 ° of wide-angle
Monocular camera lens.
4. integrated form visual perception system in seven roads according to claim 1, which is characterized in that the front left side camera shooting dress
It sets, be provided with monocular camera lens in left rear side photographic device, forward right side photographic device and right lateral side photographic device.
5. integrated form visual perception system in seven roads according to claim 4, which is characterized in that each monocular camera lens is
Horizontal field of view angle is not less than 120 ° and vertical field of view angle is not less than 100 ° of monocular camera lens.
6. integrated form visual perception system in seven roads according to claim 1, which is characterized in that the forward direction focal length camera shooting dress
At least one telephoto lens is centered.
7. integrated form visual perception system in seven roads according to claim 6, which is characterized in that each telephoto lens is
Horizontal field of view angle is not less than 52 ° and vertical field of view angle is not less than 38 ° of telephoto lens.
8. a kind of vehicle, including seven road integrated form visual perception systems, the sensory perceptual system includes controller and is respectively used to obtain
It picks up the car a forward, backward, front left side, left rear side, the forward direction photographic device of forward right side and right lateral side, backward photographic device, left front
The input terminal of side photographic device, left rear side photographic device, forward right side photographic device and right lateral side photographic device, the controller connects
To photographic device, backward photographic device, front left side photographic device, left rear side photographic device, forward right side photographic device and the right side before connecing
Rear side photographic device, which is characterized in that the sensory perceptual system further includes preceding to focal length photographic device, the input terminal of the controller
The forward direction focal length photographic device is connected, the forward direction focal length photographic device is used to obtain the realtime graphic letter in front of vehicle driving
Breath.
9. vehicle according to claim 8, which is characterized in that the vehicle further includes vehicle body, the front left side camera shooting dress
It installs and is placed in vehicle body front left side, and the visual field of front left side photographic device is towards left back；The left rear side photographic device is set to
Vehicle body left rear side, and the visual field of left rear side photographic device is towards left front.
10. vehicle according to claim 9, which is characterized in that the forward right side photographic device is set to vehicle body forward right side,
And the visual field of forward right side photographic device is towards right back；The right lateral side photographic device is set to vehicle body right lateral side, and right lateral side
The visual field of photographic device is towards right front.
11. according to vehicle described in claim 8,9 or 10, which is characterized in that be provided with first in the forward direction photographic device
Wide-angle monocular camera lens is provided with the second wide-angle monocular camera lens in the backward photographic device.
12. vehicle according to claim 11, which is characterized in that the first wide-angle monocular camera lens and second wide-angle
Monocular camera lens is horizontal field of view angle not less than 180 ° and vertical field of view angle is not less than 120 ° of wide-angle monocular camera lens.
13. according to vehicle described in claim 8,9 or 10, which is characterized in that the front left side photographic device, left rear side camera shooting
Monocular camera lens is provided in device, forward right side photographic device and right lateral side photographic device.
14. vehicle according to claim 13, which is characterized in that each monocular camera lens is that horizontal field of view angle is not less than
120 ° and monocular camera lens of the vertical field of view angle not less than 100 °.
15. according to vehicle described in claim 8,9 or 10, which is characterized in that be provided in the forward direction focal length photographic device
At least one telephoto lens.
16. vehicle according to claim 15, which is characterized in that each telephoto lens is that horizontal field of view angle is not less than
52 ° and telephoto lens of the vertical field of view angle not less than 38 °.
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| CN201820544710.4U CN208360051U (en) | 2018-04-17 | 2018-04-17 | Seven road integrated form visual perception systems of one kind and vehicle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111010535A (en) * | 2019-11-28 | 2020-04-14 | 天津津航技术物理研究所 | Panorama observation system of unmanned vehicle |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111010535A (en) * | 2019-11-28 | 2020-04-14 | 天津津航技术物理研究所 | Panorama observation system of unmanned vehicle |
| CN111010535B (en) * | 2019-11-28 | 2021-08-06 | 天津津航技术物理研究所 | Panorama observation system of unmanned vehicle |
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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. |