CN209534963U - A kind of multisensor platform towards low speed automatic Pilot - Google Patents
A kind of multisensor platform towards low speed automatic Pilot Download PDFInfo
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- CN209534963U CN209534963U CN201920180793.8U CN201920180793U CN209534963U CN 209534963 U CN209534963 U CN 209534963U CN 201920180793 U CN201920180793 U CN 201920180793U CN 209534963 U CN209534963 U CN 209534963U
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Abstract
A kind of multisensor platform towards low speed automatic Pilot, including industrial personal computer, integrated navigation system, laser radar sensor, visual sensor, encoder, embedded control system and peripheral frame, the industrial personal computer connects laser radar sensor, visual sensor, embedded control system and integrated navigation system, the industrial personal computer and integrated navigation system host are directly anchored among peripheral frame, integrated navigation system antenna, laser radar sensor and visual sensor are fixed by the bracket in peripheral frame, peripheral frame is directly connected firmly with vehicle chassis, among vehicle chassis, carry embedded control system, encoder, battery and power supply system.The utility model provides a kind of highly compatible and the high-precision multisensor platform towards low speed automatic Pilot, which not only has higher integrated level, but also has open interface.
Description
Technical field
The utility model relates to integrated navigation system, laser radar sensor and visual sensors, especially a kind of to be applicable in
In the low speed automatic driving vehicle platform for carrying multisensor, by the data fusion and processing of plurality of devices, then cooperate other
Component (such as encoder, vehicle embedded system) realizes stable and robust low speed automatic Pilot.
Background technique
Automatic Pilot be future automobile development inexorable trend, and explore automatic Pilot technology then need one it is reliable and stable
Vehicle platform research and develop this multisensor platform towards low speed automatic Pilot to more further investigate automatic Pilot technology,
It can according to need adjustment number of sensors, or even change sensor.The good compatibility of whole multisensor, can be improved
Service efficiency.
Summary of the invention
In order to intuitively study automatic Pilot technology, the purpose of the utility model is to provide a kind of highly compatibles and high-precision
Multisensor platform towards low speed automatic Pilot, the platform not only have higher integrated level, but also have open interface.
The technical scheme adopted by the utility model to solve the technical problem is as follows:
A kind of multisensor platform towards low speed automatic Pilot, including industrial personal computer, integrated navigation system, laser radar pass
Sensor, visual sensor, encoder, embedded control system and peripheral frame, the industrial personal computer connection laser radar sensor,
Visual sensor, embedded control system and integrated navigation system, the industrial personal computer and integrated navigation system host are directly solid
It is scheduled among peripheral frame, integrated navigation system antenna, laser radar sensor and visual sensor are fixed by the bracket outside
On peripheral frame frame, peripheral frame is directly connected firmly with vehicle chassis, among vehicle chassis, carries embedded control system, coding
Device, battery and power supply system.
Further, longitude and latitude position and course information of the integrated navigation system for return vehicle in real time, described group
Closing navigation system includes host module, major-minor Anneta module and 4G Anneta module, and host module placement position is with vehicle direction
For referential peripheral frame at the rear center, towards keeping parallelism, primary antenna is rack-mount for Y direction and vehicle
The left side of ring flange, the right side of auxiliary antenna then rack-mount ring flange, 4G antenna are mounted on vehicle chassis, primary antenna
The Y-axis positive direction of host module should be directed toward to auxiliary antenna vector direction, thus needed under above-mentioned antenna mounting means into
Row angle compensation and lever arm compensation.
Further, laser radar sensor is assemblied in the top of support of peripheral frame, keeps higher height, and swash
The adjustable angle of pallet under optical radar sensor, laser radar sensor return to information of road surface and surrounding enviroment outer profile number
According to industrial personal computer will be handled these data.
Further, the pavement image in visual sensor acquisition visual zone, a total of six visual sensor are pacified respectively
It sets on the ring flange on bracket and is uniformly distributed.Pavement image, which is used to detection vehicle, can exercise region.
Peripheral frame should connect firmly on vehicle chassis, and bracket is fixed on the center crossbeam of peripheral frame, peripheral frame
In the space that should can occupy slightly larger than above equipment of space.
The industrial personal computer is ubuntu16.04 system, controls or receive all sensings using serial ports and network interface communication
Device, integrated navigation system and embedded control system.When vehicle carries out low speed automatic Pilot, integrated navigation system exports vehicle
Longitude and latitude position and course information, industrial personal computer combine scheduled latitude and longitude coordinates by these information processings at speed and steering angle
It is output to vehicle embedded control system, vehicle embedded control system will be direct after receiving speed and steering angle information
Vehicular electric machine running is controlled, for visual sensor acquired image, industrial personal computer passes through deep learning and Road Detection Algorithm
Come obtain information of road surface and obtain can travel region.The point cloud information that laser radar sensor returns is used to judge vehicle low speed certainly
In dynamic driving procedure the case where barrier, when there is barrier to appear on vehicle front running track, industrial personal computer is just to vehicle
Embedded control system exports braking commands.
The beneficial effects of the utility model are mainly manifested in: equipment load with higher and compatibility, with more use
It is worth and is more advantageous to automatic Pilot research and development.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the utility model.Wherein: 1. laser radar sensors, 2. integrated navigation system days
Line, 3. visual sensors, 4. industrial personal computers, 5. embedded control systems, 6. integrated navigation systems, 7. encoders, 8. external surrounding frames
Frame.
Fig. 2 is the top view of the utility model.
Specific embodiment
The utility model is further described with reference to the accompanying drawing.
Referring to Figures 1 and 2, a kind of multisensor platform towards low speed automatic Pilot, including industrial personal computer 4, integrated navigation
System 6, laser radar sensor 1, visual sensor 3, encoder 7, embedded control system 5 and peripheral frame 8, the industry control
Machine connects laser radar sensor, visual sensor, embedded control system and integrated navigation system, the industrial personal computer and group
It closes navigation system host to be directly anchored among peripheral frame, integrated navigation system antenna, laser radar sensor and vision pass
Sensor is fixed by the bracket in peripheral frame, and peripheral frame is directly connected firmly with vehicle chassis, among vehicle chassis, is carried
Embedded control system, encoder, battery and power supply system.
Further, longitude and latitude position and course information of the integrated navigation system for return vehicle in real time, described group
Closing navigation system includes host module, major-minor Anneta module and 4G Anneta module, and host module placement position is with vehicle direction
For referential peripheral frame at the rear center, towards keeping parallelism, primary antenna is rack-mount for Y direction and vehicle
The left side of ring flange, the right side of auxiliary antenna then rack-mount ring flange, 4G antenna are mounted on vehicle chassis, primary antenna
The Y-axis positive direction of host module should be directed toward to auxiliary antenna vector direction, thus needed under above-mentioned antenna mounting means into
Row angle compensation and lever arm compensation.
Further, laser radar sensor is assemblied in the top of support of peripheral frame, keeps higher height, and swash
The adjustable angle of pallet under optical radar sensor, laser radar sensor return to information of road surface and surrounding enviroment outer profile number
According to industrial personal computer will be handled these data.
Further, the pavement image in visual sensor acquisition visual zone, a total of six visual sensor are pacified respectively
It sets on the ring flange on bracket and is uniformly distributed.Pavement image, which is used to detection vehicle, can exercise region.
Peripheral frame should connect firmly on vehicle chassis, and bracket is fixed on the center crossbeam of peripheral frame, peripheral frame
In the space that should can occupy slightly larger than above equipment of space.
The industrial personal computer is ubuntu16.04 system, controls or receive all sensings using serial ports and network interface communication
Device, integrated navigation system and embedded control system.When vehicle carries out low speed automatic Pilot, integrated navigation system exports vehicle
Longitude and latitude position and course information, industrial personal computer combine scheduled latitude and longitude coordinates by these information processings at speed and steering angle
It is output to vehicle embedded control system, vehicle embedded control system will be direct after receiving speed and steering angle information
Vehicular electric machine running is controlled, for visual sensor acquired image, industrial personal computer passes through deep learning and Road Detection Algorithm
Come obtain information of road surface and obtain can travel region.The point cloud information that laser radar sensor returns is used to judge vehicle low speed certainly
In dynamic driving procedure the case where barrier, when there is barrier to appear on vehicle front running track, industrial personal computer is just to vehicle
Embedded control system exports braking commands.
As shown in Figure 1, industrial personal computer 4 connects laser radar sensor 1,3. embedded control system 5 of visual sensor simultaneously
With 6 host of integrated navigation system.The completion of 6 host of integrated navigation system is waited to be initialized into accurate positioning state.In industrial personal computer 4
The middle scheduled latitude and longitude coordinates track of load, the real-time positioning information which exports with 6 host of integrated navigation system is counted
Calculation processing, the control information of output will be transferred to embedded control system 5 by serial ports and handled, then by 5. embedded control systems
Control vehicular electric machine achievees the purpose that vehicle take-offs.
In low speed automatic Pilot of the vehicle along desired trajectory, laser radar sensor 1 is always in layback vehicle
Periphery three-dimensional information, which can recognize general barrier by the processing of industrial personal computer 4, as long as barrier appears in vehicle
On the running track of front, industrial personal computer 4 just exports braking commands to embedded control system 5.Visual sensor 3 acquires figure always
As being transferred to industrial personal computer 4, industrial personal computer 4 obtains the pratical and feasible safety zone made by deep learning and Road Detection Algorithm.It compiles
The information of code device 7 is output to embedded control system 5, for calculating mileage or tire steering angle.Vehicle can reach finally
It stops after one latitude and longitude coordinates, and keeps sensor operating state.
The foregoing is merely the preferable implementation examples of the utility model, are not intended to limit the utility model, all in this reality
With made any modifications, equivalent replacements, and improvements within novel spirit and principle etc., the utility model should be included in
Within protection scope.
Claims (6)
1. a kind of multisensor platform towards low speed automatic Pilot, which is characterized in that the platform includes industrial personal computer, combines and lead
Boat system, laser radar sensor, visual sensor, encoder, embedded control system and peripheral frame, the industrial personal computer connect
Connect laser radar sensor, visual sensor, embedded control system and integrated navigation system, the industrial personal computer is led with combining
Boat system host is directly anchored among peripheral frame, integrated navigation system antenna, laser radar sensor and visual sensor
It is fixed by the bracket in peripheral frame, peripheral frame is directly connected firmly with vehicle chassis, among vehicle chassis, carries insertion
Formula control system, encoder, battery and power supply system.
2. as described in claim 1 towards the multisensor platform of low speed automatic Pilot, which is characterized in that the integrated navigation
For system for returning to the longitude and latitude position and course information of vehicle in real time, the integrated navigation system includes host module, major-minor
Anneta module and 4G Anneta module, host module placement position be oriented with vehicle referential peripheral frame by rear center
Place, Y direction and vehicle are then mounted on towards keeping parallelism, the left side of the rack-mount ring flange of primary antenna, auxiliary antenna
The right side of bracket upper flange plate, 4G antenna are mounted on vehicle chassis, and primary antenna to auxiliary antenna vector direction is directed toward host mould
The Y-axis positive direction of block.
3. as claimed in claim 1 or 2 towards the multisensor platform of low speed automatic Pilot, which is characterized in that laser radar
Sensor is assemblied in the top of support of peripheral frame, and the pallet under laser radar sensor is for adjusting angle.
4. as claimed in claim 1 or 2 towards the multisensor platform of low speed automatic Pilot, which is characterized in that the vision
There are six sensors, is respectively disposed on the ring flange on bracket and is uniformly distributed.
5. as claimed in claim 1 or 2 towards the multisensor platform of low speed automatic Pilot, it is characterised in that peripheral frame is answered
It connects firmly on vehicle chassis, bracket is fixed on the center crossbeam of peripheral frame.
6. as claimed in claim 1 or 2 towards the multisensor platform of low speed automatic Pilot, it is characterised in that the industrial personal computer
For ubuntu16.04 system, all sensors, integrated navigation system and embedding are controlled or received using serial ports and network interface communication
Enter formula control system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920180793.8U CN209534963U (en) | 2019-02-01 | 2019-02-01 | A kind of multisensor platform towards low speed automatic Pilot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920180793.8U CN209534963U (en) | 2019-02-01 | 2019-02-01 | A kind of multisensor platform towards low speed automatic Pilot |
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| CN209534963U true CN209534963U (en) | 2019-10-25 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111169390A (en) * | 2020-01-20 | 2020-05-19 | 中汽数据(天津)有限公司 | Multi-sensor fusion intelligent integrated vehicle |
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2019
- 2019-02-01 CN CN201920180793.8U patent/CN209534963U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111169390A (en) * | 2020-01-20 | 2020-05-19 | 中汽数据(天津)有限公司 | Multi-sensor fusion intelligent integrated vehicle |
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| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20210414 Address after: 310004 room 218, building 7, No.5, Genshan Branch Road 3, Jianggan District, Hangzhou City, Zhejiang Province Patentee after: Zhejiang Bocheng Robot Technology Co.,Ltd. Address before: 310053 room b1049, North building, Haichuang base, Puyan street, Binjiang District, Hangzhou City, Zhejiang Province Patentee before: HANGZHOU SHISHANG TECHNOLOGY Co.,Ltd. |