CN210109637U - Autonomous vehicle - Google Patents

Abstract

The utility model relates to an automatic driving vehicle. The autonomous vehicle includes: a bracket provided at a front end of a roof of the autonomous vehicle and perpendicular to a traveling direction of the autonomous vehicle; the first laser radar and the second laser radar are respectively arranged at two ends of the bracket; and a third lidar arranged at the rear end of the roof.

Description

Autonomous vehicle

Technical Field

Embodiments of the present disclosure relate to autonomous vehicles.

Background

With the development of autonomous driving, the placement of sensors in vehicles becomes more and more important. The current sensor is arranged in a single mode, generally, the sensor is uniformly arranged aiming at various vehicles, and the characteristics of specific vehicle types are not considered. In particular, there is a need in the art to provide an autonomous vehicle for high speed passenger car applications.

SUMMERY OF THE UTILITY MODEL

Embodiments of the present disclosure may provide autonomous vehicles that at least partially address the above-described shortcomings in the prior art.

According to some embodiments, an autonomous vehicle comprises: a bracket provided at a front end of a roof of the autonomous vehicle and perpendicular to a traveling direction of the autonomous vehicle; the first laser radar and the second laser radar are respectively arranged at two ends of the bracket; and a third lidar arranged at the rear end of the roof.

In some embodiments, a central axis of the third lidar is angled relative to vertical such that the third lidar is angled rearwardly toward the autonomous vehicle.

In some embodiments, the angle is 5-15 degrees.

In some embodiments, the third lidar is centrally disposed at a rear end of the roof.

In some embodiments, the central axes of the first and second lidar are each beyond or flush with an outer edge of a respective side of the autonomous vehicle.

In some embodiments, the autonomous vehicle further comprises: a plurality of cameras disposed on the stand along a length direction of the stand.

In some embodiments, the plurality of cameras have different focal lengths from one another.

In some embodiments, the autonomous vehicle further comprises: a first millimeter wave radar provided on a bumper on a front side of the autonomous vehicle; and/or a second millimeter wave radar provided on a bumper on a rear side of the autonomous vehicle.

In some embodiments, the first to third lidar are each 40-line lidar.

In some embodiments, the autonomous vehicle is an L4 class autonomous vehicle.

Autonomous vehicles according to some embodiments of the present disclosure may be employed in high speed passenger car scenarios at lower cost relative to conventional autonomous vehicles. Additionally, in some embodiments, because different types of sensors are provided, perceived blind spots of the autonomous vehicle may be avoided to better enable L4 level autonomous driving.

Drawings

The above and other features, advantages and aspects of various embodiments of the present disclosure will become more apparent by referring to the following detailed description when taken in conjunction with the accompanying drawings. In the drawings, like or similar reference characters designate like or similar elements, and wherein:

FIG. 1 is a front view of an autonomous vehicle according to some embodiments of the present disclosure;

FIG. 2 is a side view of an autonomous vehicle according to some embodiments of the present disclosure; and

fig. 3 is a partial perspective view of an autonomous vehicle according to some embodiments of the present disclosure.

Detailed Description

The concepts of the present disclosure will now be described with reference to various exemplary embodiments shown in the drawings. It should be understood that these examples are described merely to enable those skilled in the art to better understand and further practice the present disclosure, and are not intended to limit the scope of the present disclosure in any way. It should be noted that where feasible, similar or identical reference numerals may be used in the figures and similar or identical reference numerals may denote similar or identical elements. It will be appreciated by those skilled in the art from the following description that alternative embodiments of the structures and/or methods illustrated herein may be employed without departing from the principles and concepts of the disclosure as described.

In the context of the present disclosure, the term "comprising" and its various variants can be understood as open-ended terms, which mean "including but not limited to"; the term "based on" may be understood as "based at least in part on"; the term "one embodiment" may be understood as "at least one embodiment"; the term "another embodiment" may be understood as "at least one other embodiment". Other terms that may be present but are not mentioned herein should not be construed or limited in a manner that would contradict the concept upon which the embodiments of the disclosure are based unless explicitly stated.

In describing the respective embodiments or examples in connection with the drawings, the directional terms referred to are intended to facilitate an understanding of the description of the embodiments of the disclosure, such as "upper", "lower", "vertical", "horizontal", "longitudinal", "top", "bottom", etc., based on either the orientation presented by the reader when viewing the view or the normal direction of use of the product itself, and do not impose undesirable limitations on the scope of the disclosure.

An autonomous vehicle 100 according to an embodiment of the disclosure is described in detail below in conjunction with fig. 1-3, where fig. 1 is a front view of the autonomous vehicle 100, fig. 2 is a side view of the autonomous vehicle 100, and fig. 3 is a partial perspective view of the autonomous vehicle 100. For example, the autonomous vehicle 100 may be an L4 class autonomous vehicle. It should be understood that the autonomous vehicle 100 is provided by way of example only, and that various modifications of the type, arrangement, number, etc. of sensors may be suitably made by those skilled in the art without departing from the scope of the present disclosure.

As shown in fig. 1 to 3, the autonomous vehicle 100 is provided with a bracket 108 at a front end of a roof thereof, and an extending direction of the bracket 108 is perpendicular to a traveling direction of the autonomous vehicle 100. First laser radar 102 and second laser radar 104 are respectively disposed at both ends of support 108. As shown in fig. 1, the central axes of first and second lidar 102, 104 are each beyond or flush with the outer edge of a respective side of autonomous vehicle 100. In this way, vehicles on both sides of the autonomous vehicle 100, particularly at the rear wheels, may be better detected. Because there is no blind zone for rear-end overtaking, the autonomous vehicle 100 is more suitable for high-speed overtaking scenes.

It will be appreciated that the external profiles of different vehicles vary greatly and are generally different from a standard cube. Thus, the term "outer edge" as used herein may refer to the innermost edge of the side portion. As shown in fig. 1, the central axes of first and second lidar 102, 104 are substantially flush with the uppermost outer edge of the side portion of autonomous vehicle 100. In this case, the fields of view of first lidar 102 and second lidar 104 may still cover the area near the rear wheels of autonomous vehicle 100, meeting the requirements of a high speed cut-in scenario.

Furthermore, the lidar is usually designed as a cylindrical structure, while the central axis denotes an axis passing through the center of the lidar, i.e. a geometrically rotating central axis.

As shown in fig. 2, third laser radar 106 is disposed at a rear end of the roof, e.g., centrally disposed at the rear end of the roof. Third laser radar 106 may also be arranged at the roof of the vehicle via a bracket. For example, a central axis of third lidar 106 may be angled with respect to the vertical such that third lidar 106 is tilted toward a rear side of autonomous vehicle 100. The vertical direction indicates a height direction of the vehicle, and is generally perpendicular to the ground. The central axis is offset from the vertical direction due to the central axis being at an angle relative to the vertical direction. For example, the angle may be 5-15 degrees. In this manner, the field of view of third lidar 106 behind autonomous vehicle 100 may be optimized.

In addition to detecting surrounding vehicles, first lidar 102-third lidar 106 may also be used to detect a surrounding static environment for positioning.

As shown in fig. 1, a first millimeter wave radar 114 may be provided on a bumper 112 on the front side of the autonomous vehicle 100 to acquire a microwave image in front of the autonomous vehicle 100. Similarly, a second millimeter wave radar (not shown) may be provided on a bumper (not shown) on the rear side of the autonomous vehicle 100 to acquire a microwave image behind the autonomous vehicle 100.

In some embodiments, first through third lidars 102-106 may each be a 40-line lidar.

As shown in fig. 3, a plurality of cameras 110 may also be provided on the stand 108 to obtain optical images of the front of the autonomous vehicle 100. The cameras 110 may be disposed along the length of the support 108 and may have different focal lengths from one another.

Autonomous vehicles according to some embodiments of the present disclosure may be employed in high speed passenger car scenarios at lower cost relative to conventional autonomous vehicles. Additionally, in some embodiments, because different types of sensors are provided, perceived blind spots of the autonomous vehicle may be avoided to better enable L4 level autonomous driving.

While some specific embodiments of the present disclosure have been shown in detail by way of example, it should be understood by those skilled in the art that the foregoing examples are intended to be illustrative only and are not limiting upon the scope of the disclosure. It will be appreciated by those skilled in the art that the above-described embodiments may be modified without departing from the scope and spirit of the disclosure. The scope of the present disclosure is defined by the appended claims.

The reference to any prior art in this specification is not, and should not be taken as, an acknowledgment or any form of suggestion that such prior art forms part of the common general knowledge.

Claims (10)

1. An autonomous vehicle (100), comprising:

a bracket (108) provided at a front end of a roof of the autonomous vehicle (100) and perpendicular to a traveling direction of the autonomous vehicle (100);

a first laser radar (102) and a second laser radar (104) which are respectively arranged at two ends of the bracket (108); and

a third lidar (106) disposed at a rear end of the roof.

2. The autonomous vehicle (100) of claim 1, characterized in that a central axis of the third lidar (106) is at an angle relative to vertical such that the third lidar (106) is inclined to a rear side of the autonomous vehicle (100).

3. The autonomous vehicle (100) of claim 2, characterized in that the angle is 5-15 degrees.

4. The autonomous vehicle (100) according to claim 1, characterized in that the third lidar (106) is arranged centrally at the rear end of the roof.

5. The autonomous vehicle (100) of claim 1, characterized in that the central axes of the first and second lidar (102, 104) respectively exceed or are flush with an outer edge of a respective side of the autonomous vehicle (100).

6. The autonomous vehicle (100) according to claim 1, further comprising:

a plurality of cameras (110) disposed on the cradle (108) along a length direction of the cradle (108).

7. The autonomous vehicle (100) of claim 6, characterized in that the plurality of cameras have different focal lengths from each other.

8. The autonomous vehicle (100) according to claim 1, further comprising:

a first millimeter wave radar (114) provided on a bumper (112) on a front side of the autonomous vehicle (100); and/or

A second millimeter wave radar provided on a bumper on a rear side of the autonomous vehicle (100).

9. The autonomous-capable vehicle (100) according to claim 1, characterized in that the first lidar (102) to the third lidar (106) are 40-line lidar.

10. The autonomous vehicle (100) of any of claims 1-9, characterized in that the autonomous vehicle (100) is an L4-grade autonomous vehicle.

Images