CN211844341U - Automatic driving passenger car - Google Patents
Automatic driving passenger car Download PDFInfo
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- CN211844341U CN211844341U CN202020231603.3U CN202020231603U CN211844341U CN 211844341 U CN211844341 U CN 211844341U CN 202020231603 U CN202020231603 U CN 202020231603U CN 211844341 U CN211844341 U CN 211844341U
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Abstract
The utility model discloses an automatic driving passenger car, which comprises a car body and a detecting device arranged on the car body and used for detecting obstacles outside the car body; the detection device includes: the sixteen-line laser radar detection mechanism is arranged on the automobile body and used for detecting a first area within a range of 360 degrees beside the automobile body; the single-line laser radar detection mechanism is arranged on the middle upper part and the lower part of the front end of the vehicle body so as to detect a second area including the height of the front side of the vehicle body; and a millimeter wave radar detection mechanism including a first millimeter wave radar sensor disposed at a front end of the vehicle body to detect a third region on a front side of the vehicle body. The utility model discloses each detection mechanism mutually supports, can eliminate the field of vision blind area, ensures driving safety, and can survey the perception through using first millimeter wave radar sensor when single line laser radar receives the influence, improves because of the adverse effect that single line laser radar received natural light and heat radiation and brings.
Description
Technical Field
The utility model relates to the technical field of vehicles, especially an automatic drive passenger train.
Background
Vehicles carrying automatic driving all use sensors to sense the surrounding environment, and along with the development of technologies, people are increasingly demanding on detection, including: 1) the system can monitor the surrounding environment in real time at 360 degrees in a far and near distance, and prevent suddenly appearing obstacles; 2) the front obstacle can be identified, and the type of the obstacle can be distinguished; 3) The position of the vehicle is detected in real time, and the safety of the driving position of the vehicle can be ensured.
The typical arrangement method of the existing sensor of the automatic driving passenger car is that 5 laser radars for measuring the periphery, 2 GPS antennae for detecting the position of the car and a camera for detecting a road marking line are arranged on the car body; there is also a scheme of arranging a camera at the front part of a vehicle head, two GPS antennas at the upper part of a vehicle body and a plurality of radar sensors at the periphery of the vehicle body, but the scheme is mainly applied to an automatic driving car, and if the scheme is applied to a passenger car with a longer and wider vehicle body, the following problems are faced: 1) the traffic participants far away from the traveling direction cannot be detected, and the risk factors in other directions cannot be estimated in advance; 2) the condition that two sensors are arranged on the periphery of a bus body to detect simultaneously cannot be met on the bus body, and a visual blind area exists; 3) the whole arrangement scheme has high cost and high requirement on the controller, and is not beneficial to the development of the automatic driving technology in the field of passenger cars.
SUMMERY OF THE UTILITY MODEL
The utility model discloses aim at overcomes prior art's is not enough, provides an automatic drive passenger train, the utility model discloses each detection mechanism mutually supports, can eliminate the field of vision blind area, ensures driving safety, and can use first millimeter wave radar to survey the perception when single line lidar receives the shadow, improves because single line lidar receives the adverse effect that natural light and heat radiation brought.
In order to achieve the above object, a first aspect of the present invention provides an automatic driving passenger car, including a car body and a detecting device disposed on the car body for detecting an obstacle outside the car body; the detection device includes:
the sixteen-line laser radar detection mechanism is arranged on the automobile body and used for detecting a first area within a range of 360 degrees beside the automobile body;
the single-line laser radar detection mechanism is arranged on the middle upper part and the lower part of the front end of the vehicle body so as to detect a second area including the height of the front side of the vehicle body; and
the millimeter wave radar detection mechanism comprises a first millimeter wave radar sensor arranged at the front end of the vehicle body so as to detect a third area on the front side of the vehicle body.
Preferably, the millimeter wave radar detection mechanism further includes a first millimeter wave radar sensor disposed at the rear end of the vehicle body to detect a fourth region at the rear side of the vehicle body; the first millimeter wave radar sensor is a long-distance millimeter wave radar sensor.
Preferably, the detection device further comprises an ultrasonic radar detection mechanism, wherein the ultrasonic radar detection mechanism comprises first ultrasonic radar components respectively arranged on two sides of the vehicle body so as to detect fifth areas on two sides of the vehicle body; a second ultrasonic radar component arranged on the front side of the vehicle body to detect a seventh area on the front side of the vehicle body; and a third ultrasonic radar component configured on the rear side of the vehicle body so as to detect an eighth area on the rear side of the vehicle body.
Preferably, the millimeter wave radar detection mechanism further includes a second millimeter wave radar sensor disposed at a left rear end corner and a right rear end corner of the vehicle body to detect a detection blind area sandwiched between the fourth area and the fifth area; and the second millimeter wave radar sensor is a middle-distance millimeter wave radar sensor.
Preferably, the first ultrasonic radar component comprises at least four ultrasonic radar sensors respectively arranged near the front end and the rear end of the vehicle body; the second ultrasonic radar component comprises at least two ultrasonic radar sensors respectively arranged at the front end of the vehicle body; the two ultrasonic radar sensors are respectively positioned on two sides of the first millimeter wave radar sensor and on the inner side of the second millimeter wave radar sensor; the third ultrasonic radar component comprises at least two ultrasonic radar sensors respectively arranged at the rear end of the vehicle body; the two ultrasonic radar sensors are respectively positioned on the inner sides of the first millimeter wave radar sensor and the second millimeter wave radar sensor.
Preferably, the sixteen-line lidar detection mechanism includes sixteen-line lidar sensors respectively disposed at left and right front ends of the vehicle body.
Preferably, the vehicle body further comprises a high-definition camera arranged in a windscreen wiper area right in front of the vehicle body, so that various obstacles and road markings in a road can be identified, and a warning signal function and control signals of a high beam light and a low beam light in the driving process are provided.
Preferably, the vehicle further comprises two differential GPS antennas arranged on the roof of the vehicle body, the two differential GPS antennas are longitudinally arranged along the vehicle body direction, and the distance between the two differential GPS antennas is greater than or equal to 3 meters, and the two differential GPS antennas are used for determining the position of the vehicle body and detecting the travel route of the passenger vehicle.
Realize the utility model discloses, following beneficial effect has:
the utility model provides an automatic drive passenger train, through dispose sixteen line laser radar detection mechanism who is used for surveying the 360 degrees within ranges of automobile body side on the automobile body, dispose on the middle lower part single line laser radar detection mechanism and including disposing in the first millimeter wave radar sensor of automobile body front end of being close to of automobile body front end, each detection mechanism rationally distributed, mutually support, can eliminate the field of vision blind area, ensure driving safety, and the automobile body front side adopts single laser radar detection mechanism and first millimeter wave radar sensor stack field of vision, can use first millimeter wave radar to survey the perception when single line laser radar receives the shadow, improve because heat radiation single line laser radar receives the adverse effect that natural light and heat brought.
Drawings
Fig. 1 is a schematic top view of an automatic passenger car according to an embodiment of the present invention;
fig. 2 is a schematic front view of an automatic passenger car according to an embodiment of the present invention;
fig. 3 is a schematic view of a detection range of each sensor according to an embodiment of the present invention.
Reference numerals: 1-a vehicle body, 2-a differential GPS antenna, 3 a-sixteen-line laser radar sensors, 3 b-a single-line laser radar sensor, 3C-a first millimeter wave radar sensor, 3D-a second millimeter wave radar sensor, 3E-an ultrasonic radar sensor, A-a first area, C-a third area, D-a fourth area, E-a fifth area, an F-detection blind area and H-a sixth area; i-a seventh region; j-eighth region.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the drawings of the embodiments of the present invention are combined to clearly and completely describe the technical solutions of the embodiments of the present invention, and obviously, the described embodiments are some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention. Thus, the following detailed description of the embodiments of the present invention, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
The utility model discloses a first embodiment:
with reference to fig. 1 to 3, the present invention provides an automatic driving passenger car, which includes a car body 1 and a detecting device disposed on the car body 1 for detecting an obstacle outside the car body 1; the detection device includes:
the sixteen-line laser radar detection mechanism is arranged on the vehicle body 1 and used for detecting a first area A within 360-degree range of the vehicle body side;
a single line laser radar detection mechanism disposed on the middle upper portion and lower portion of the front end of the vehicle body 1 to detect a second region (not shown) including a low front side of the vehicle body; and
the millimeter wave radar detection mechanism includes a first millimeter wave radar sensor 3C disposed at the front end of the vehicle body 1 to detect a third region C on the front side of the vehicle body.
In this embodiment, the sixteen-line lidar detection mechanism includes sixteen-line lidar sensors 3a respectively disposed at the left front end and the right front end of the vehicle body, and can reduce blind areas in the front of the vehicle body by disposing on the left and right end sides, and can extend and detect the spaces on the left and right sides of the vehicle body, so as to avoid the problems of large blind areas and high performance requirements if the vehicle roof is disposed along with the overall ship-type features different from that of a car. The effective range of the sixteen-line laser radar sensor 3a is a 100 m-radius area, data can be received and transmitted in real time, 360-degree full coverage, 3D distance measurement, a 30-degree vertical field angle and calibration reflection measurement are achieved, the sensor is placed on the left side and the right side, the detection range of the left side and the right side can be considered while the forward detection range is included.
In this embodiment, the single line lidar detection mechanism includes a single line lidar sensor 3b, the single line lidar sensor 3b is sensitive to detection of short obstacles such as a water horse, a triangular warning board and the like, and can effectively cover an area close to a chassis, but because the single line lidar sensor 3b is expensive and is easily influenced by natural light and heat radiation, a first millimeter wave radar sensor 3c of 77GHz is arranged on a side of the single line lidar sensor 3b to form two sensor detections with the first millimeter wave radar sensor 3c at a longer distance, wherein the first millimeter wave radar sensor 3c is a long-distance millimeter wave radar sensor, the distance detection range is 0.5-160m, and the angle measurement range is 90 degrees; the single-line laser radar sensor 3b is 50m in distance detection range and 360 degrees in angle measurement range.
In this embodiment, the detection apparatus further includes an ultrasonic radar detection mechanism, where the ultrasonic radar detection mechanism includes first ultrasonic radar components respectively disposed on two sides of the vehicle body to detect fifth areas E on two sides of the vehicle body; a second ultrasonic radar component arranged on the front side of the vehicle body so as to detect a seventh area I on the front side of the vehicle body; and a third ultrasonic radar component arranged at the rear side of the vehicle body to detect an eighth area J at the rear side of the vehicle body, wherein the ultrasonic radar component comprises ultrasonic radar sensors 3E respectively arranged near the front end and the rear end of the vehicle body, the detection range of the ultrasonic radar is 3m, and the angle measurement range is as shown in a fifth area E in fig. 3.
The millimeter wave radar detection mechanism further comprises a first millimeter wave radar sensor 3c configured at the rear end of the vehicle body, and the specification, position and action of the first millimeter wave radar sensor 3c are the same as those of the first millimeter wave radar sensor 3c at the front end of the vehicle body 1, so as to detect a fourth area D at the rear side of the vehicle body; the second millimeter wave radar sensor is arranged at the left rear end angle and the right rear end angle of the vehicle body, so as to detect a detection blind area F between the fourth area D and the fifth area E; the second millimeter wave radar sensor 3d is a 24GHz middle-range millimeter wave radar sensor, the range of detection of the middle-range millimeter wave radar sensor 3d is 0.5-70m, the range of angle measurement is 150 degrees, and the included angle between the detection center direction and the vehicle length direction is 30 degrees.
Wherein, preferably, the first ultrasonic radar component comprises at least four ultrasonic radar sensors 3e respectively configured near the front end and the rear end of the vehicle body; the second ultrasonic radar component comprises at least two ultrasonic radar sensors 3e respectively arranged at the front end of the vehicle body; the two ultrasonic radar sensors are respectively positioned on two sides of the first millimeter wave radar sensor 3c and on the inner side of the second millimeter wave radar sensor 3 d; the third ultrasonic radar component comprises at least two ultrasonic radar sensors 3e respectively arranged at the rear end of the vehicle body; the two ultrasonic radar sensors 3e are respectively located on the inner sides 3d of the first millimeter wave radar sensor 3c and the second millimeter wave radar sensor.
In the embodiment, the vehicle further comprises a high-definition camera 4 disposed in a windscreen wiper region right in front of the vehicle body for identifying various obstacles and road markings in a road and providing a warning signal function and control signals of high-beam and low-beam lights in the driving process. The high-definition camera is used for detecting information in a sixth area H of the automobile body, the detection range of the high-definition camera is 100m, the horizontal visual angle is 52 degrees, and the vertical visual angle is 43 degrees.
In this embodiment, the two differential GPS antennas 2 are disposed on the roof of the vehicle body, the two differential GPS antennas 2 are longitudinally arranged along the vehicle body direction, the separation distance is greater than or equal to 3 meters, and the two differential GPS antennas 2 are used for determining the vehicle body position and detecting the travel route of the passenger vehicle, and the two differential GPS antennas 2 are longitudinally arranged for more than 3 meters, so that not only can the mutual interference between the two differential GPS antennas be prevented, but also the GPS data obtained by combining, navigating and verifying the two differential GPS antennas 2 can be facilitated, the accidental error can be reduced, and the travel direction of the passenger vehicle, especially a plurality of passenger vehicles.
In this embodiment, sixteen-line laser radar sensor 3a and single line laser radar sensor 3b pass through the net twine and are connected with the automobile body controller electricity, first millimeter wave radar sensor 3c, second millimeter wave radar sensor, ultrasonic radar sensor 3e and high definition digtal camera 4 are connected with the automobile body controller electricity through can the line, difference GPS antenna 2 passes through the serial ports and is connected with the automobile body controller electricity.
Wherein, sixteen lines laser radar sensor 3a models are RS-Lidar-16, single line laser radar sensor 3b model is N30105A, first millimeter wave radar sensor 3c model is the Delphi ESR, second millimeter wave radar sensor 3d model is Na thunder CAR70, high definition digtal 4 models are Mobiley Q2, ultrasonic radar sensor 3e model is you Da Si SA602, of course, it is required to explain, sixteen lines laser radar sensor 3a, single line laser radar sensor 3b, first millimeter wave radar sensor 3c, second millimeter wave radar sensor 3d, high definition digtal camera 4 and ultrasonic radar sensor 3e are repeated and can be selected according to actual conditions, here, the utility model discloses it is not at.
In summary, the arbitrary angle of the car body of the utility model is positioned in the irradiation visual field of at least two radar sensors, more than 2 radar sensors are arranged in the peripheral area of the car body for detection, thus preventing the adverse effect caused by the sudden failure of individual radar sensors and ensuring that the arbitrary angle of the car body is positioned in the irradiation visual field of at least two radar sensors; meanwhile, the single-line laser radar sensor 3b and the first millimeter wave radar sensor 3c are used for superposing the visual field right in front of the vehicle head, and the first millimeter wave radar sensor 3c can be used for detecting and sensing when the single-line laser radar sensor 3b is affected by shadow, so that the adverse effect of natural light and heat radiation on the single-line laser radar sensor 3b can be improved; the arrangement structure can ensure 360-degree blind-corner-free omnibearing coverage, and the sensors are reasonably arranged and matched with each other, so that a visual field blind area can be eliminated, and the driving safety is ensured; and the automatic driving system can play a certain redundant backup role, and can temporarily replace the detection function of the failed sensor by using other sensors even if the individual sensor fails, so that the automatic driving vehicle is prevented from generating a large detection blind area due to the failure of the individual sensor to cause dangerous hidden dangers, and the safety and the stability of automatic driving are greatly improved.
The present invention is not limited to the above-mentioned preferred embodiments, and those skilled in the art can derive various other products without departing from the scope of the present invention, and the technical solutions of the present invention are the same or similar to the present invention, regardless of the changes in the shape or structure.
Claims (8)
1. An automatic driving passenger car comprises a car body and a detection device arranged on the car body and used for detecting obstacles outside the car body; characterized in that the detection device comprises:
the sixteen-line laser radar detection mechanism is arranged on the automobile body and used for detecting a first area within a range of 360 degrees beside the automobile body;
the single-line laser radar detection mechanism is arranged on the middle upper part and the lower part of the front end of the vehicle body so as to detect a second area including the height of the front side of the vehicle body; and
the millimeter wave radar detection mechanism comprises a first millimeter wave radar sensor arranged at the front end of the vehicle body so as to detect a third area on the front side of the vehicle body.
2. The autonomous-capable passenger vehicle of claim 1, wherein the millimeter wave radar detection mechanism further comprises a first millimeter wave radar sensor disposed at a rear end of the vehicle body to detect a fourth region at a rear side of the vehicle body; the first millimeter wave radar sensor is a long-distance millimeter wave radar sensor.
3. The autonomous-capable passenger car of claim 2, wherein the detection device further comprises an ultrasonic radar detection mechanism including first ultrasonic radar components respectively disposed at both sides of the car body to detect fifth areas at both sides of the car body; a second ultrasonic radar component arranged on the front side of the vehicle body to detect a seventh area on the front side of the vehicle body; and a third ultrasonic radar component configured on the rear side of the vehicle body so as to detect an eighth area on the rear side of the vehicle body.
4. The autonomous-capable passenger car of claim 3, wherein the millimeter wave radar detection mechanism further comprises a second millimeter wave radar sensor disposed at a left rear end corner and a right rear end corner of the car body to detect a detection blind zone interposed between the fourth region and the fifth region; and the second millimeter wave radar sensor is a middle-distance millimeter wave radar sensor.
5. The autonomous-capable passenger vehicle of claim 4, wherein the first ultrasonic radar assembly includes at least four ultrasonic radar sensors disposed proximate a front end and a rear end of the vehicle body, respectively; the second ultrasonic radar component comprises at least two ultrasonic radar sensors respectively arranged at the front end of the vehicle body; the two ultrasonic radar sensors are respectively positioned on two sides of the first millimeter wave radar sensor and on the inner side of the second millimeter wave radar sensor; the third ultrasonic radar component comprises at least two ultrasonic radar sensors respectively arranged at the rear end of the vehicle body; the two ultrasonic radar sensors are respectively positioned on the inner sides of the first millimeter wave radar sensor and the second millimeter wave radar sensor.
6. The autonomous-capable passenger car of any one of claims 1 to 5, wherein the sixteen-line lidar detection mechanisms include sixteen-line lidar sensors disposed at left and right front ends of the car body, respectively.
7. The automated guided vehicle of claim 6, further comprising a high-definition camera disposed in a windscreen wiper region directly in front of the vehicle body for recognizing various obstacles and road markings in the road, and providing a warning signal function and control signals for the high beam and low beam lights during driving.
8. The autonomous-capable passenger car of claim 7, further comprising two differential GPS antennas disposed on the roof of the car body, wherein the two differential GPS antennas are arranged longitudinally along the direction of the car body, and are spaced apart by a distance greater than or equal to 3 meters for determining the position of the car body and detecting the travel route of the passenger car.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020231603.3U CN211844341U (en) | 2020-02-28 | 2020-02-28 | Automatic driving passenger car |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020231603.3U CN211844341U (en) | 2020-02-28 | 2020-02-28 | Automatic driving passenger car |
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| CN211844341U true CN211844341U (en) | 2020-11-03 |
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| CN202020231603.3U Active CN211844341U (en) | 2020-02-28 | 2020-02-28 | Automatic driving passenger car |
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| CN (1) | CN211844341U (en) |
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- 2020-02-28 CN CN202020231603.3U patent/CN211844341U/en active Active
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