CN210626653U - Sensor system and autonomous vehicle - Google Patents
Sensor system and autonomous vehicle Download PDFInfo
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- CN210626653U CN210626653U CN201921340678.9U CN201921340678U CN210626653U CN 210626653 U CN210626653 U CN 210626653U CN 201921340678 U CN201921340678 U CN 201921340678U CN 210626653 U CN210626653 U CN 210626653U
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Abstract
The utility model relates to an automatic driving vehicle and sensor system, the automatic driving vehicle includes the automobile body and arranges the sensor system on the automobile body, the sensor system includes the first camera module group, the first camera module group includes four first cameras, correspond respectively and install on each side of the automobile body, the stadia of each first camera all is greater than the length of the automobile body; the optical axis of the first camera positioned on the side in front of the vehicle body faces to the rear side of the vehicle body, the optical axis of the first camera positioned on the side behind the vehicle body faces to the front side of the vehicle body, the optical axes of the two first cameras positioned on the same side face of the vehicle body are intersected, and the visual angle of the first camera is intersected with the side face of the vehicle body. Through the arrangement mode of two first cameras on the same side of automobile body, the region near single side all is in the field of vision scope of two first cameras for the automobile body side has enough big field of vision region, avoids the automobile body side to have the field of vision blind area.
Description
Technical Field
The utility model relates to an automatic drive technical field, in particular to sensor system and automatic drive vehicle of automatic drive vehicle.
Background
The automatic driving of the automobile can reduce the occurrence of traffic accidents, reduce the labor cost and the like, and is a popular research field all over the world at present. And with the reduction of the cost of various sensors and the development of technologies, the automatic driving technology is gradually approaching to the commercial field. Compared with the scene of an open complex urban road, the automatic driving technology is easier to land in a closed or semi-closed application scene, such as an automatic dock, an airport, a closed industrial park and the like. However, in this application scenario, unlike a common car, the vehicle to be automatically driven is usually a large truck with a large volume and a long length. Because the length of the two sides of the large truck is longer, compared with the common car, the two sides of the large truck need longer visual fields, so that how to reasonably arrange the detection sensors on the large truck makes the two sides of the large truck have longer visual fields, and the problem that the visual field blind areas on the two sides of the truck body need to be solved is solved.
SUMMERY OF THE UTILITY MODEL
The utility model provides an automatic sensor system of driving vehicle, there is the field of vision blind area in the side of its purpose avoiding the automobile body.
In order to solve the technical problem, the utility model adopts the following technical scheme:
the sensor system of the automatic driving vehicle is used for being installed on a vehicle body of the vehicle, the vehicle body is provided with a front face, a rear face and two side faces, the two side faces of the vehicle body are symmetrical relative to a first central plane, four side edges are formed at the connecting positions of the two side faces of the vehicle body and the front face and the rear face of the vehicle body, and the sensor system comprises a radar module and a first camera module.
The radar modules are arranged on the periphery of the vehicle body and used for detecting obstacle information on the periphery of the vehicle body; the first camera module is arranged on four side edges of the vehicle body and used for collecting image information on two sides of the vehicle body, the first camera module comprises four first cameras which are respectively and correspondingly arranged on the side edges of the vehicle body, and the visual distance of each first camera is greater than the length of the vehicle body; the optical axis of a first camera positioned on the side edge in front of the vehicle body faces to the rear side of the vehicle body, the optical axis of a first camera positioned on the side edge behind the vehicle body faces to the front side of the vehicle body, the optical axes of two first cameras positioned on the same side face of the vehicle body are intersected, and the visual angle of each first camera is intersected with the side face of the vehicle body.
Optionally, the edge of the viewing angle of each first camera is attached to the side of the vehicle body.
Optionally, the four first cameras are installed at the same height, and the installation height of each first camera is 1.8 meters.
Optionally, the optical axis of each first camera is horizontally arranged.
Optionally, the sensor system still includes the second module of making a video recording that is used for gathering the image information in the dead ahead of automobile body, the second module of making a video recording comprises the different camera of a plurality of stadia, the second is made a video recording a plurality of the module the camera all installs in the front of automobile body, and all is located first central plane.
Optionally, the second camera module includes second camera, third camera and fourth camera, the stadia of second camera is greater than the stadia of third camera, the stadia of third camera is greater than the stadia of fourth camera, the optical axis level setting of second camera, third camera and fourth camera, the visual angle of second camera, third camera and fourth camera is crossing.
Optionally, the installation heights of the second camera and the third camera are both 1.8 meters.
Optionally, the fourth camera is a fisheye camera, and the installation height of the fourth camera is less than or equal to the visual distance of the fourth camera.
Optionally, the installation height of the fourth camera is 1.5 meters.
Optionally, the sensor system further comprises a third camera module for collecting image information behind the vehicle body, the third camera module comprises a plurality of cameras with different visual distances, a plurality of cameras in the third camera module are the same as the plurality of cameras in the second camera module in model, the plurality of cameras in the third camera module are installed at the back of the vehicle body and are located on the first central plane, and the installation heights of the cameras of the same model in the third camera module and the second camera module are the same.
Optionally, the radar module includes laser radar and millimeter wave radar, laser radar and the millimeter wave radar all sets up to a plurality ofly, a plurality of laser radar and a plurality of the millimeter wave radar is equallyd divide and is distributed around the automobile body.
Optionally, each of the laser radars is disposed on each side edge of the vehicle body, the optical axis of the laser radar on the side edge in front of the vehicle body faces to the rear side of the vehicle body, the optical axis of the laser radar on the side edge behind the vehicle body faces to the front side of the vehicle body, the optical axes of the two laser radars on the same side face of the vehicle body intersect, and the angle of view of the laser radar intersects with the side face of the vehicle body.
Optionally, an edge of the field angle of each of the laser radars is attached to a side surface of the vehicle body.
Optionally, the optical axis of each of the lidar is arranged horizontally.
Optionally, the installation height of each of the plurality of laser radars is 1 meter.
Optionally, the laser radars are respectively arranged in front of and behind the vehicle body, the laser radar in front of the vehicle body is used for detecting obstacle information right in front of the vehicle body, the optical axes of the laser radars in front of and behind the vehicle body are both located on a first central plane, the laser radars in front of the vehicle body and behind the vehicle body are symmetrically arranged about a vertical plane, and the planes of symmetry of the laser radars in front of the vehicle body and behind the vehicle body are parallel to the width direction of the vehicle body.
Alternatively, the millimeter wave radars are provided one on each of the four sides of the vehicle body for detecting obstacle information in front of and behind the vehicle body, the optical axis of the millimeter wave radar on the side in front of the vehicle body is directed to the side front of the vehicle body, the optical axis of the millimeter wave radar on the side behind the vehicle body is directed to the side rear of the vehicle body, the field angles of view of the millimeter wave radars on the two sides in front of or behind the vehicle body intersect, and the millimeter wave radars on the two sides of the vehicle body are symmetrically provided about the first center plane.
Optionally, the millimeter wave radars are respectively arranged in front of and behind the vehicle body, the millimeter wave radar in front of the vehicle body is used for detecting obstacle information right in front of the vehicle body, the millimeter wave radar behind the vehicle body is used for detecting obstacle information behind the vehicle body, and the optical axes of the millimeter wave radars in front of and behind the vehicle body are both located on the first central plane.
Optionally, the installation height of the millimeter wave radar is 0.8 meter.
An autonomous vehicle includes a body with a sensor system disposed thereon.
According to the above technical scheme, the utility model discloses following beneficial effect has at least:
the utility model discloses an among the sensor system, through installing the setting towards the side rear of the first camera on the side in front of the automobile body, avoid the subregion of automobile body side to be located the back light zone of first camera, avoid the side of automobile body can be in the field of vision blind area of first camera. The visual angle of the first camera is intersected with the side face of the vehicle body, so that the side face of the vehicle body is ensured to be within the visual angle range of the first camera, and the visual field blind area in the area approaching the side face of the vehicle body is avoided. Meanwhile, the backward arrangement of the first camera ensures that the first camera has a sufficiently large visual field length along the length direction of the side face of the vehicle body. Because the visual distance of each first camera is larger than the length of the vehicle body, the area close to the side face of the vehicle body is in the visual field range of the first camera in the length direction. The optical axis of the first camera on the side in front of the vehicle body faces to the rear side of the vehicle body, the optical axis of the first camera on the side behind the vehicle body faces to the front side of the vehicle body, and the optical axes of the two cameras on the same side face of the vehicle body are intersected, namely the visual fields of the two first cameras on the same side face of the vehicle body are intersected. The side of the side body is in the visual angle range of the first camera, and the first camera is installed on the side edge of the side face, so that the installation position of each camera is in the visual angle range of the other camera, and the problem that the visual field width is small in the installation position of a single camera can be effectively avoided. The setting of two first cameras for there is not the field of vision blind area in the side of automobile body. Meanwhile, the length of vehicles for transportation or transfer in the in-field environment such as an automated terminal, an airport, and a closed industrial park is generally long. The arrangement mode of the four first cameras on the side edge of the middle vehicle body of the sensor system can ensure that the side surface of the vehicle body is in the visual field range of the first cameras, and ensure that the side surface of the vehicle body has an enough visual field. That is, through the arrangement of two first cameras on the same side of the automobile body in this application, the area near single side all is in the field of vision range of two first cameras for the automobile body side has enough big field of vision area, avoids the automobile body side to have the field of vision blind area, and the arrangement of two cameras of single side makes the side of automobile body have enough big field of vision length, and the arrangement of this sensor is particularly useful for the vehicle that automobile body length is longer.
Drawings
Fig. 1 is a schematic view of installation positions of an embodiment of the first camera, the second camera module, and the third camera module of the present invention;
FIG. 2 is a schematic view of the detection fields of view of the first camera, the second camera module, and the third camera module of FIG. 1;
fig. 3 is a schematic view of an installation position of an embodiment of the lidar of the present invention;
fig. 4 is a schematic view of an installation position of an embodiment of the millimeter wave radar of the present invention;
FIG. 5 is a schematic view of the detection field of view of the lidar depicted in FIG. 3;
fig. 6 is a view schematically showing a detection field of view of the millimeter wave radar shown in fig. 4.
The reference numerals are explained below: a. a vehicle body; b. a first central plane; 1. a first camera; 2. a second camera module; 3. a third camera module; 4. a laser radar; 5. millimeter wave radar.
Detailed Description
Exemplary embodiments that embody features and advantages of the present invention will be described in detail in the following description. It is to be understood that the invention is capable of other and different embodiments and its several details are capable of modification without departing from the scope of the invention, and that the description and drawings are to be regarded as illustrative in nature and not as restrictive.
For further explanation of the principles and construction of the present invention, reference will now be made in detail to the preferred embodiments of the present invention, which are illustrated in the accompanying drawings.
An automatic driving vehicle comprises a vehicle body a, wherein a sensor is arranged on the vehicle body a.
Referring to fig. 1, the present embodiment provides a sensor system for an autonomous vehicle, which is mounted on a vehicle body a of the vehicle, the vehicle body a having a front surface, a rear surface, and two side surfaces, the two side surfaces of the vehicle body a being symmetrical with respect to a first center plane b, four side edges being formed at junctions of the two side surfaces of the vehicle body a and the front and rear surfaces of the vehicle body a, and the sensor system including a radar module and a first camera module.
First module of making a video recording is installed on four sides of automobile body a for gather the image information of automobile body a both sides, first module of making a video recording includes four first cameras 1, corresponds respectively and installs on each side of automobile body a, and every first camera 1's stadia all is greater than the length of automobile body a.
The optical axis of the first camera 1 on the side in front of the vehicle body a faces the lateral rear of the vehicle body a, the optical axis of the first camera 1 on the side behind the vehicle body a faces the lateral front of the vehicle body a, the optical axes of the first cameras 1 on the same side of the vehicle body a intersect, and the viewing angle of each first camera 1 intersects with the side of the vehicle body a.
Referring to fig. 2, the detection viewing angles of the four first cameras 1 in the embodiment are four different fan-shaped areas formed by enclosing C1-D1-E1, C2-D2-E2, C3-D3-E3, and C4-D4-E4, respectively.
Taking C1-D1-E1 and C2-D2-E2 as examples, the edges C1-D1 and C2-D2 of the angle of view of the first camera 1 are attached to the side face of the vehicle body a, and the union of C1-D1-E1 and C2-D2-E2 is the visual field range of two cameras on the same side of the vehicle body a.
Through the arrangement of the first camera 1 which is arranged on the front side edge of the vehicle body a and faces to the rear side, the partial area of the side surface of the vehicle body a is prevented from being positioned in the backlight area of the first camera 1, and the side surface of the vehicle body a is prevented from being positioned in the visual field blind area of the first camera 1; the visual angle of the first camera 1 is intersected with the side face of the vehicle body a, so that the side face of the vehicle body a is ensured to be within the visual angle range of the first camera 1, and a visual field blind area is prevented from being arranged in an area approaching the side face of the vehicle body a. Meanwhile, the rearward disposition of the first camera 1 ensures that the first camera 1 has a sufficiently large visual field length in the length direction of the side face of the vehicle body a. Since the visual distance of each first camera 1 is greater than the length of the vehicle body a, the region approaching the side of the vehicle body a is within the visual field of the first camera 1 in the length direction. The optical axis of the first camera 1 on the side in front of the vehicle body a is directed to the lateral rear of the vehicle body a, the optical axis of the first camera 1 on the side behind the vehicle body a is directed to the lateral front of the vehicle body a, and the optical axes of the two cameras on the same side of the vehicle body a intersect, that is, the visual fields of the two first cameras 1 on the same side of the vehicle body a intersect. The side of the side body is in the visual angle range of first camera 1, on the side of first camera 1 installation and side for the mounted position of each camera all is in the visual angle range of another camera, can effectually avoid the mounted position of single camera to have the less problem of field of vision width. The arrangement of the two first cameras 1 enables the side face of the vehicle body a to have no view blind area. That is, in the present application, through the arrangement of the two first cameras 1 on the same side of the vehicle body a, the area near the single side is within the visual field range of the two first cameras 1, so that the side of the vehicle body a has a sufficiently large visual field area, and a blind visual field area on the side of the vehicle body a is avoided.
The length of the body of a vehicle for transport or transfer in an onsite environment, such as an automated terminal, an airport and a closed industrial park, is generally long. By means of the arrangement mode of the four first cameras 1 on the side edge of the middle vehicle body a of the sensor system, the side face of the vehicle body a can be guaranteed to be in the visual field range of the first cameras 1, and the side face of the vehicle body a is guaranteed to have a sufficient visual field.
In this embodiment, in order to detect a wider field of view on both sides of the vehicle body a, the edge of the viewing angle of each first camera 1 is attached to the side surface of the vehicle body a. The edge of the visual angle of the first camera 1 is attached to the side face of the vehicle body a, so that when the first camera 1 detects the visual field of the side face of the vehicle body a, the visual angle edge and the side face of one side, deviating from the side face, of the first camera 1 have larger angles, and the side face of the vehicle body a is ensured to have a large enough visual field width.
In this embodiment, the optical axis of each first camera 1 is horizontally disposed. The first camera 1 is horizontally arranged, so that a larger view field range in the horizontal direction on the first camera 1 is ensured; the horizontal setting of first camera 1 for the optical axis and the bottom surface of horizontally of first camera 1 are parallel, are convenient for calculate the height of barrier in the field of vision more.
It can be understood that when the optical axes of the first cameras 1 are all inclined downward, the first cameras 1 can detect more image information of the bottom surface.
Further, the first cameras 1 on the side edges of both side surfaces of the vehicle body a are symmetrically disposed about the first center plane b.
In the implementation, the first camera 1 is a camera with a focal length of 7 mm and a detection visual angle of 55 degrees, the optimal camera-shooting visual field length is 0-15m, and image information within 30 meters can be detected at a low omission factor. Taking a port container transfer trolley as an example, the length of the trolley is 15 meters, the width of the trolley is 3 meters, and the height of the trolley is 3 meters, when the first camera 1 is used for detecting the side surface of the container transfer trolley, the side surface of the container transfer trolley all falls into the visual field range of the first camera 1. In the actual work process, in order to avoid the more ground that falls in of the field of vision of camera, cause the field of vision of camera can not make full use of, the mounting height of first camera 1 is 1.8 meters, is greater than half of automobile body a height for first camera 1 can acquire more effectual image information.
Referring to fig. 1, in order to obtain the image information directly in front of the vehicle body a, the sensor system of the present embodiment further includes a second camera module 2 for acquiring the image information directly in front of the vehicle body a, the second camera module 2 is composed of a plurality of cameras with different visual distances, and the plurality of cameras of the second camera module 2 are all installed in front of the vehicle body a and are all located on the first center plane b. The second camera module 2 is used for collecting the distance between the front of the vehicle body a and the obstacle and the image information of the driving environment in front of the vehicle body a, and detecting a lane line, other vehicles, a road sign and a traffic signal lamp according to the image information. Because the camera all has the best detection distance of monocular range finding, utilize the camera of a plurality of different stadia to survey the barrier in the dead ahead of automobile body a in this embodiment, when two or more than two cameras detected same barrier, utilize the best detection distance of different cameras to synthesize the more accurate information of many barriers, avoid single camera to detect out great deviation.
The second camera module 2 in this embodiment includes second camera, third camera and fourth camera, and the stadia of second camera is greater than the stadia of third camera, and the stadia of third camera is greater than the stadia of fourth camera, and the optical axis level of second camera, third camera and fourth camera sets up, and the visual angle of second camera, third camera and fourth camera is crossing.
Referring to fig. 2, in the embodiment, the range of the viewing angle of the second camera in the second camera module 2 is H1-G1-H2, the range of the viewing angle of the third camera in the second camera module 2 is J1-G1-J2, and the range of the viewing angle of the fourth camera in the second camera module 2 is K1-G1-K2.
The second camera and the first camera 1 of this embodiment are cameras of the same model. The second camera is used for detecting far obstacle information. The third camera adopts a camera with the focal length of 2.6 mm and the visual angle of 120 degrees, and the optimal camera-shooting visual field length is 0-5m, so that the image information within 10 m can be detected at a low omission factor. The third camera is used for detecting the information of middle and long distance obstacles in front of the vehicle and detecting lane lines. The installation height of the second camera and the third camera is 1.8 meters.
The fourth camera is a fisheye camera, and the visual angle of the fisheye camera is 180 degrees, and the fisheye camera is used for detecting information of the stop line. The second camera and the third camera need to be mounted at a higher height than the fourth camera in order to avoid more wasted view. In this embodiment, the installation height of the fourth camera is less than or equal to the visual distance of the fourth camera.
In this embodiment, the focal length of the fourth camera is 1.8 mm, the optimal field of view length for shooting is 0-3m, and the installation height of the fourth camera is 1.5 m.
In order to detect the field of vision behind automobile body a, the sensor system of this embodiment still includes the third module of making a video recording 3 that is used for gathering the image information behind automobile body a, the third module of making a video recording 3 comprises the camera of a plurality of stadia differences, the model of a plurality of cameras in the third module of making a video recording 3 and the second module of making a video recording 2 is the same, a plurality of cameras in the third module of making a video recording 3 are installed in automobile body a's back, and all lie in first central plane b, the mounting height of the camera of the same model is the same in third module of making a video recording 3 and the second module of making a video recording 2. The third camera module 3 of this embodiment is the same as the second camera module 2 in the camera model, and the mode, angle and position of the installation of the camera in the third camera module 3 correspond to the mode, angle and position of the camera in the second camera module 2.
Referring to fig. 2, in the embodiment, the cameras in the third camera module 3 are also the second camera, the third camera and the fourth camera. The visual angle range of the second camera of the third camera module 3 is L1-P1-L2, the visual angle range of the third camera module 3 is M1-P1-M2, and the visual angle range of the fourth camera of the third camera module 3 is N1-P1-N2.
In a similar way, the third camera module 3 plays a role, and the achieved effect is the same as that of the second camera module 2.
Because, the camera is great in the during operation, receives the influence of illumination and weather, for example in the environment of dark, and is great to the work influence of camera, consequently, in this application, still be provided with radar module, radar module installs around automobile body an for survey the peripheral barrier information of automobile body an. When the device is used, firstly, the camera and the radar are calibrated to the same coordinate system, the information of the obstacle is detected through the radar module and the camera respectively, then the information of the obstacle is calculated and combined, and the most real distance and other data of the obstacle are calculated dynamically.
Referring to fig. 3 and 4, the radar module includes laser radar 4 and millimeter wave radar 5, and laser radar 4 and millimeter wave radar 5 all set up to a plurality ofly, and a plurality of laser radar 4 and a plurality of millimeter wave radar 5 are equally distributed around automobile body a. Different radars, it has different advantages, and laser radar 4 range finding is accurate, has the 3D point cloud data of high accuracy, can provide accurate location data, can carry out accurate location to the state of the object of developments, can be used for surveying characteristics such as position, the speed of coming the barrier. The millimeter wave radar 5 is not influenced by weather and night in the use process, has the capabilities of remote detection, night work, all-weather work, vehicle speed measurement and the like, has the advantages of high temperature stability and the like, is not influenced by weather, and can still normally work in severe environments such as rain, snow, smoke and the like. In this application, combine laser radar 4 and millimeter wave radar 5's advantage to realized all-round all-weather accurate measurement to the barrier. The sensor system is used by combining the laser radar 4 and the millimeter wave radar 5, so that the reliability and the stability of the sensor system are improved.
In this embodiment, set up a plurality of laser radar 4 and a plurality of millimeter wave radar 5 around automobile body a, realize the detection of many automobile body a obstacles all around, simultaneously, a plurality of laser radar 4 and a plurality of millimeter wave radar 5's setting for a plurality of laser radar 4 and a plurality of millimeter wave radar 5's detection area merge each other, can effectually avoid the existence of detection blind area.
Referring to fig. 3, in the present embodiment, one laser radar 4 is provided on each side of the vehicle body a, the optical axis of the laser radar 4 on the side in front of the vehicle body a faces the lateral rear of the vehicle body a, the optical axis of the laser radar 4 on the side behind the vehicle body a faces the lateral front of the vehicle body a, the optical axes of the two laser radars 4 on the same side of the vehicle body a intersect, and the angle of view of the laser radar 4 intersects with the side of the vehicle body a.
Referring to fig. 5, the view angle ranges of the lidar 4 on the side of the vehicle body a in the present embodiment are R1-O1-S1, R2-O2-S2, R3-O3-S3, and R4-O4-S4, respectively.
Through the arrangement of the laser radar 4 which is arranged on the side edge in front of the vehicle body a and faces to the side rear, the situation that a partial area of the side surface of the vehicle body a is located on the back of the laser radar 4 is avoided, and the side surface of the vehicle body a is located in a detection blind area of the laser radar 4 is avoided; the intersection of the field angle of the laser radar 4 and the side surface of the vehicle body a ensures that the side surface of the vehicle body a is in the field angle range of the laser radar 4, and avoids the existence of a blind field area in the area close to the side surface of the vehicle body a. The optical axis of the laser radar 4 on the side edge in front of the vehicle body a faces to the rear side of the vehicle body a, the optical axis of the laser radar 4 on the side edge behind the vehicle body a faces to the front side of the vehicle body a, and the optical axes of the two laser radars 4 on the same side face of the vehicle body a intersect; the detection distance of the radar is generally longer than the length of a car and a large truck which are frequently used in daily life, so that the field angles of the two laser radars 4 on the same side of the car body a are crossed. Because the field angle of each laser radar 4 is intersected with the side surface of the vehicle body a, and the field angles of the two laser radars 4 on the same side surface of the vehicle body a are intersected at the same time, namely, the area of the single side surface of the vehicle body a close to the side surface is within the coverage range of the field angles of the two laser radars 4, the side surface of the vehicle body a has no blind field area.
Similarly, the installation of the first camera 1, through the arrangement mode of two laser radars 4 on the same side of the vehicle body a on the vehicle body a in this application, the area near the single side is all in the field of view range of two laser radars 4, so that the side of the vehicle body a has a sufficiently large field of view area, the side of the vehicle body a is prevented from having a field of view blind area, and the arrangement mode of two laser radars 4 on the single side is provided so that the side of the vehicle body a has a sufficiently large field of view length.
In this embodiment, in order to detect a wider field of view range on both sides of the vehicle body a, the edge of the field of view angle of each laser radar 4 is attached to the side surface of the vehicle body a, so that when the laser radar 4 detects the field of view on the side surface of the vehicle body a, the edge of the field of view angle of the side surface of the laser radar 4 away from the side surface and the side surface have a larger angle, and thus it is ensured that the side surface of the vehicle body a has a sufficiently large field of view.
It can be understood that, when the angle of view of the laser radar 4 and the side surface of the vehicle body a have a larger intersection, that is, when the angle of view of the laser radar 4 is located inside the vehicle body a, the laser radar 4 can ensure detection of obstacle information near the side surface of the vehicle body a, and can also ensure that there is no blind area in the side surface of the vehicle body a.
In the present embodiment, the laser radars 4 on the side edges of both side surfaces of the vehicle body a are symmetrically disposed about the first center plane b.
In this embodiment, the edge of the angle of view of each laser radar 4 is attached to the side surface of the vehicle body a. When the detection angle of the laser radar 4 is greater than 90 degrees, the edge of the field angle of the laser radar 4 is attached to the side of the vehicle body a, the range of the laser radar 4 covers not only the area of the side of the vehicle body a, but also the front and rear partial areas of the vehicle body a (see fig. 4), so that the detection area of the laser radar 4 on the side of the vehicle body a can cover both sides of the vehicle body a and can also detect the front and rear areas of the vehicle body a, and the laser radar 4 on the side of the vehicle body a has a larger detection angle and reduces the blind area of the field to a greater extent. The laser radar 4 of the present embodiment is a solid-state laser radar 4, and the detection angle thereof is 110 degrees.
If laser radar 4 is installed too low, long-distance obstacles cannot be detected, if the installation is too high, the blind area at the lower part of the vehicle body a is large, and the installation height of laser radar 4 is 1 meter in the embodiment.
In order to detect the fields of view in front of and behind the vehicle body a by the laser radars 4, in the present embodiment, the laser radars 4 are provided in front of and behind the vehicle body a, respectively, the laser radars 4 in front of the vehicle body a are used for detecting obstacle information in front of the vehicle body a, the optical axes of the laser radars 4 in front of and behind the vehicle body a are both located on the first central plane b, the laser radars 4 in front of the vehicle body a and the laser radars 4 behind the vehicle body a are arranged symmetrically with respect to a plane in the vertical direction, and the planes of symmetry of the laser radars 4 in front of the vehicle body a and the laser radars 4 behind the vehicle. The optical axes of the laser radars 4 in front of the vehicle body a and behind the vehicle body a are both located on the first central plane b, so that the laser radars 4 in front of the vehicle body a and behind the vehicle body a are both located in the middle of the front of the vehicle body a and the surface of the vehicle body a, and the visual fields in the front of the vehicle body a and the rear of the vehicle body a are balanced when the front visual field and the rear visual field of the vehicle body a are detected, and the visual field in the side direction is closer to the middle of the vehicle and is more required in the driving process of the. In the same way, the camera is arranged on the first central plane b and can play the same role
Referring to fig. 5, the view angle range of the laser radar 4 located in front of the vehicle body a in the present embodiment is R5-O5-S5, and the view angle range of the laser radar 4 located in rear of the vehicle body a is R6-O6-S6.
In this embodiment, the optical axis of each laser radar 4 is horizontally arranged. The laser radar 4 is horizontally arranged, so that a larger detection range in the horizontal direction on the laser radar 4 is ensured; the horizontal setting of laser radar 4 for laser radar 4's optical axis and horizontal bottom surface are parallel, are convenient for calculate the height of barrier in the field of vision more.
Referring to fig. 4 and 6, in order to obtain as much information as possible on the front and rear of the vehicle body a during the running of the vehicle, which is important in order to ensure the safety of the vehicle formation, in the present embodiment, the millimeter wave radars 5 are provided one on each of the four sides of the vehicle body a for detecting the information on the obstacles in the front and rear of the vehicle body a, the optical axis of the millimeter wave radar 5 on the side of the front of the vehicle body a is directed toward the front side of the vehicle body a, the optical axis of the millimeter wave radar 5 on the side of the rear of the vehicle body a is directed toward the rear side of the vehicle body a, the field angles of the millimeter wave radars 5 on the two sides of the front or rear of the vehicle body a intersect, and the millimeter wave radars 5 on the two side of the two sides of the vehicle body.
Referring to fig. 6, in the embodiment, the detection view angles of the millimeter wave radar 5 on the side surface of the vehicle body a are respectively U1-V1-W1, U2-V2-W2, U3-V3-W3, and U4-V4-W4.
Since the optical axis of the millimeter wave radar 5 on the side of the front of the vehicle body a is directed to the lateral front of the vehicle body a and the optical axis of the millimeter wave radar 5 on the side of the rear of the vehicle body a is directed to the lateral rear of the vehicle body a, the use of the millimeter wave radar 5 on the side of the vehicle body a for detecting the field of view at the lateral position of the vehicle body a facilitates the steering of the vehicle. Meanwhile, the field angles of the millimeter wave radars 5 on the two side edges in front of or behind the vehicle body a intersect, and the millimeter wave radars 5 on the side edges on the two side surfaces of the vehicle body a are symmetrically arranged with respect to the first center plane b, it is inferred that the intersection regions where the field angles of the millimeter wave radars 5 on the two side edges in front of or behind the vehicle body a intersect are located directly in front of or directly behind the vehicle body a, so that the field of view directly in front of or behind the vehicle body a can also be detected by the millimeter wave radars 5 on the side edges of the vehicle body a.
In order to ensure that the millimeter wave radar 5 can detect both the field of view in the side direction and that the field angles of the two millimeter wave radars 5 in front of or behind the vehicle body a intersect, the detection angle of the millimeter wave radar 5 on the side of the vehicle body a of the present embodiment is 150 degrees.
In order to ensure that under relatively bad weather, the sensor system of the application can still detect the field of vision in front of and behind the vehicle body a. The millimeter wave radars 5 of the present embodiment are provided one in front of and behind the vehicle body a, respectively, the millimeter wave radar 5 in front of the vehicle body a is used to detect obstacle information right in front of the vehicle body a, and the optical axes of the millimeter wave radars 5 in front of and behind the vehicle body a are both located on the first center plane b. In this embodiment, the optical axes of the millimeter wave radars 5 in front of and behind the vehicle body a are horizontally arranged, which facilitates detection of further distances in front of and behind the vehicle body a.
Referring to fig. 6, in the present embodiment, the detection angle of view of the millimeter wave radar 5 in front of the vehicle body a is U5-V5-W5, and the detection angle of view of the millimeter wave radar 5 in rear of the vehicle body a is U6-V6-W6.
Since the intersection region where the angles of view of the millimeter wave radars 5 on the two side edges in front of or behind the vehicle body a intersect is located directly in front of or directly behind the vehicle body a, it is inferred that the angle of view of the upper millimeter wave radar 5 on the side edge in front of the vehicle body a intersects the angle of view of the millimeter wave radar 5 in front of the vehicle body a for detecting the field of view directly in front. When the obstacle in front of the vehicle body a is detected, the detection data of different cameras are combined and calculated, and more accurate data of the obstacle are obtained.
In the present embodiment, the millimeter wave radar 5 in front of the vehicle body a and the millimeter wave radar 5 behind the vehicle body a are disposed symmetrically with respect to the plane in the vertical direction, and the plane of symmetry of the millimeter wave radar 5 in front of the vehicle body a and the millimeter wave radar 5 behind the vehicle body a is parallel to the width direction of the vehicle body a.
Further, the millimeter wave radar 5 is shorter in detection distance than the laser radar 4. And thus serves to detect obstacles near the vehicle body a, and areas of view not covered by the lidar 4, particularly areas under the vehicle body a that the lidar 4 cannot cover, as compared to the lidar 4. Thus, the installation height of millimeter wave radar 5 is smaller than that of laser radar 4, and the installation height of millimeter wave radar 5 is 0.8 m in this embodiment.
While the present invention has been described with reference to several exemplary embodiments, it is understood that the terminology used is intended to be in the nature of words of description and illustration, rather than of limitation. As the present invention may be embodied in several forms without departing from the spirit or essential characteristics thereof, it should also be understood that the above-described embodiments are not limited by any of the details of the foregoing description, but rather should be construed broadly within its spirit and scope as defined in the appended claims, and therefore all changes and modifications that fall within the meets and bounds of the claims, or equivalences of such meets and bounds are therefore intended to be embraced by the appended claims.
Claims (20)
1. A sensor system for an autonomous vehicle for mounting to a body of the vehicle, the body having a front, a rear and two sides, the two sides of the body being symmetrical about a first central plane, the two sides of the body forming four sides at the junction with the front and rear of the body, the sensor system comprising:
the radar module is arranged on the periphery of the vehicle body and used for detecting obstacle information on the periphery of the vehicle body; and
the first camera module is arranged on four side edges of the vehicle body and used for collecting image information of two sides of the vehicle body, the first camera module comprises four first cameras which are respectively and correspondingly arranged on the side edges of the vehicle body, and the sight distance of each first camera is greater than the length of the vehicle body;
the optical axis of a first camera positioned on the side edge in front of the vehicle body faces to the rear side of the vehicle body, the optical axis of a first camera positioned on the side edge behind the vehicle body faces to the front side of the vehicle body, the optical axes of two first cameras positioned on the same side face of the vehicle body are intersected, and the visual angle of each first camera is intersected with the side face of the vehicle body.
2. The sensor system of claim 1, wherein the edge of the field of view of each of the first cameras is flush with the side of the vehicle body.
3. The sensor system of claim 1, wherein four of the first cameras are mounted at a common height, and wherein the mounting height of each of the first cameras is 1.8 meters.
4. The sensor system of claim 1, wherein the optical axis of each of the first cameras is horizontally disposed.
5. The sensor system of claim 1, further comprising a second camera module for capturing image information directly in front of the vehicle body, wherein the second camera module comprises a plurality of cameras with different visual distances, and the plurality of cameras of the second camera module are all mounted in front of the vehicle body and all located on the first central plane.
6. The sensor system of claim 5, wherein the second camera module comprises a second camera, a third camera, and a fourth camera, wherein a viewing distance of the second camera is greater than a viewing distance of the third camera, wherein a viewing distance of the third camera is greater than a viewing distance of the fourth camera, wherein optical axes of the second camera, the third camera, and the fourth camera are arranged horizontally, and wherein viewing angles of the second camera, the third camera, and the fourth camera intersect.
7. The sensor system of claim 6, wherein the second and third cameras are each mounted at a height of 1.8 meters.
8. The sensor system of claim 6, wherein the fourth camera is a fisheye camera, and wherein the fourth camera has a mounting height that is less than or equal to a line of sight of the fourth camera.
9. The sensor system of claim 8, wherein the fourth camera is mounted at a height of 1.5 meters.
10. The sensor system of claim 5, further comprising a third camera module for capturing image information behind the vehicle body, wherein the third camera module comprises a plurality of cameras with different visual distances, the plurality of cameras in the third camera module are the same as the plurality of cameras in the second camera module, the plurality of cameras in the third camera module are mounted behind the vehicle body and are located on the first central plane, and the cameras of the same type in the third camera module and the second camera module are mounted at the same height.
11. The sensor system according to claim 1, wherein the radar module includes a plurality of laser radars and a plurality of millimeter wave radars, and the plurality of laser radars and the plurality of millimeter wave radars are distributed around the vehicle body.
12. The sensor system according to claim 11, wherein the lidar is provided with one on each side of the vehicle body, the optical axis of the lidar on the side of the front of the vehicle body is directed to the lateral rear of the vehicle body, the optical axis of the lidar on the side of the rear of the vehicle body is directed to the lateral front of the vehicle body, the optical axes of the two lidars on the same side of the vehicle body intersect, and the angle of view of each lidar intersects the side of the vehicle body.
13. The sensor system of claim 11, wherein each of the lidar has an edge of field angle that is attached to a side of the vehicle body.
14. The sensor system of claim 12, wherein the optical axis of each of the lidar is horizontally disposed.
15. The sensor system of claim 11, wherein a plurality of the lidar are each mounted at a height of 1 meter.
16. The sensor system according to claim 11, wherein the lidar is provided in one each of a front side and a rear side of a vehicle body, the lidar in the front side of the vehicle body is used for detecting obstacle information right in front of the vehicle body, optical axes of the lidar in the front side of the vehicle body and the lidar in the rear side of the vehicle body are located on a first center plane, the lidar in the front side of the vehicle body and the lidar in the rear side of the vehicle body are symmetrically arranged with respect to a vertical plane, and a plane of symmetry of the lidar in the front side of the vehicle body and the lidar in the rear side of the vehicle body is parallel to a width direction.
17. The sensor system according to claim 11, wherein the millimeter wave radars are provided one on each of four sides of the vehicle body for detecting obstacle information in front and rear of the vehicle body, an optical axis of the millimeter wave radar on the side of the front of the vehicle body is directed to the front side of the vehicle body, an optical axis of the millimeter wave radar on the side of the rear of the vehicle body is directed to the rear side of the vehicle body, field angles of the millimeter wave radars on both sides of the front or rear of the vehicle body intersect, and the millimeter wave radars on both sides of the vehicle body are symmetrically provided about the first center plane.
18. The sensor system according to claim 11, wherein the millimeter wave radars are provided in one in front of and behind a vehicle body, respectively, the millimeter wave radar in front of the vehicle body is used for detecting obstacle information right in front of the vehicle body, the millimeter wave radar behind the vehicle body is used for detecting obstacle information behind the vehicle body, and optical axes of the millimeter wave radars in front of and behind the vehicle body are both located on the first center plane.
19. The sensor system of claim 11, wherein the millimeter wave radar has a mounting height of 0.8 meters.
20. An autonomous vehicle comprising a body, characterized in that the body is provided with a sensor system according to any of claims 1-19.
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| CN110412565A (en) * | 2019-08-14 | 2019-11-05 | 深圳中集专用车有限公司 | Sensing system and automatic driving vehicle |
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Effective date of registration: 20230116 Address after: 518000 No. 2 Harbour Road, Shekou, Guangdong, Shenzhen, Nanshan District Patentee after: Zhongji Vehicle (Group) Co.,Ltd. Address before: No.1, Jinlong Avenue, Pingshan New District, Shenzhen City, Guangdong Province Patentee before: SHENZHEN CIMC SPECIAL VEHICLES Co.,Ltd. |