CN212322114U - Environment sensing and road environment crack detection system for automatic driving vehicle - Google Patents
Environment sensing and road environment crack detection system for automatic driving vehicle Download PDFInfo
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- CN212322114U CN212322114U CN202021291715.4U CN202021291715U CN212322114U CN 212322114 U CN212322114 U CN 212322114U CN 202021291715 U CN202021291715 U CN 202021291715U CN 212322114 U CN212322114 U CN 212322114U
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Abstract
The utility model relates to an environment sensing and road environment crack detection system for an automatic driving vehicle, which comprises an environment sensing system arranged on the vehicle; the environment perception system comprises a plurality of laser radars, a plurality of ultrasonic radars, a plurality of millimeter wave radars, a plurality of cameras and two differential GPS antennas. The utility model discloses a laser radar, ultrasonic radar, the millimeter wave radar, the camera, the different functions's of multiple sensor such as difference GPS antenna characteristics and information fusion's mode, to the surrounding environment that is used for the unmanned car of specific environment operation, road environment's crack detection, dynamic and static barrier, vehicle position appearance and state etc. carry out real-time perception, various barriers of better discernment and potential dangerous road environment, keep away the barrier with the barrier of better realization autopilot vehicle, the validity data information that functions such as path planning and trajectory tracking control will realize, guarantee the security and the stability of unmanned vehicle environment of traveling.
Description
Technical Field
The utility model relates to an environmental perception and road environment crackle detecting system for automatic driving vehicle belongs to the unmanned vehicle field of low-speed.
Background
In recent years, the automatic driving technology is mature day by day, and the automatic driving technology can realize the automation of vehicles by utilizing the sensor technology so as to relieve traffic jam, reduce traffic accidents and ensure the driving safety. The existing automatic driving is influenced by the technology, so that complete intelligent driving cannot be realized, and therefore low-speed automatic driving vehicles mainly limited in specific scenes fall to the ground, such as unmanned vehicles applied to mining areas, unmanned logistics distribution vehicles, unmanned vehicles used in port area environments, unmanned vehicles used for specific mountain area operations and the like, and a new solution is provided for personnel in dangerous working environments.
The existing automatic driving vehicle technology has the following defects and shortcomings: the detection integrity of the environment sensing of the road is small, and effective sensing of crack detection of the environment such as the road, the bridge road, the tunnel wall, the mountain road and the like is not considered, so that the safety and the stability of the automatic driving vehicle in the environment areas such as path planning, safety and the like are poor.
SUMMERY OF THE UTILITY MODEL
The utility model discloses to the not enough of above-mentioned prior art, provide an environmental perception and road environment crackle detecting system for autopilot vehicle.
The utility model aims at realizing the system, which is used for automatically driving the environment perception of the vehicle and detecting the crack of the road environment, and is characterized by comprising an environment perception system arranged on the vehicle;
the environment sensing system comprises a plurality of laser radars, a plurality of ultrasonic radars, a plurality of millimeter wave radars, a plurality of cameras and two differential GPS antennas;
wherein the plurality of lidar is disposed at a front end and a roof of the vehicle; the plurality of ultrasonic radars are arranged at the front end of the vehicle and at the bottom of a vehicle chassis; the plurality of millimeter wave radars are respectively arranged at the front end, the rear end and the left side and the right side of the vehicle; the cameras are arranged at the front end and the rear end of the vehicle and at the bottom of the vehicle chassis; the two differential GPS antennas are arranged at the top of the vehicle.
The plurality of laser radars are arranged at the front end and the top of the vehicle; one part of the laser radar is used for sensing and detecting the dynamic barrier, the static barrier, the vehicle speed, the vehicle acceleration and the vehicle pose state environment in front of the vehicle; the other part of the laser radar is used for detecting cracks of roads and surrounding walls in the bridge, the sea-crossing bridge and the tunnel environment;
ultrasonic radars placed at the front end and the rear end of the vehicle are used for sensing and identifying moving obstacles and static obstacles of the vehicle; the ultrasonic radar placed at the bottom of the vehicle chassis is used for detecting cracks of a road;
the plurality of millimeter wave radars are respectively arranged at the front end, the rear end, the left side and the right side of the vehicle and are used for perceiving and identifying dynamic obstacles and static obstacles around the vehicle;
the cameras placed at the front end and the rear end of the vehicle are used for sensing and identifying moving and static obstacles of the vehicle; cameras placed on the left and right sides of the vehicle and at the bottom of the chassis are used for detecting cracks of roads and surrounding walls;
the two differential GPS antennas are arranged at the top of the vehicle and used for detecting pose information of the vehicle;
still be equipped with the controller, a plurality of laser radar, a plurality of ultrasonic radar, a plurality of millimeter wave radar, a plurality of cameras, two difference GPS antennas all are connected with the controller.
The laser radar is disposed in the center of a bumper of a vehicle.
And a laser radar is arranged in the center of the front end of the vehicle.
A plurality of ultrasonic radars are installed at the front end of the vehicle, and the distances from the ultrasonic radars to the ground are equal.
2 ultrasonic radar of vehicle chassis bottom installation, 2 ultrasonic radar of vehicle chassis bottom set up along the front and back central line symmetry of vehicle.
A plurality of millimeter wave radars are respectively installed at the front end, the rear end and the left side and the right side of the vehicle.
2 millimeter wave radars are installed at the front end of the vehicle, and the 2 millimeter wave radars at the front end of the vehicle are symmetrically arranged along the center line of the vehicle; 1 millimeter wave radar is arranged at the rear end of the vehicle, and the 1 millimeter wave radar at the rear end of the vehicle is placed in the center of the rear end; and 3 millimeter wave radars are respectively arranged on two sides of the vehicle, and the millimeter wave radars on the two sides of the vehicle are symmetrically arranged along the central line.
The front end of the vehicle is provided with 1 camera, and the 1 camera at the front end of the vehicle is placed on a windshield; the rear end of the vehicle is provided with 1 camera, and the 1 camera at the rear end of the vehicle is placed in the center of the rear end;
2 cameras are installed at the bottom of the vehicle chassis, and the 2 cameras at the bottom of the vehicle chassis are symmetrically arranged along the front center line and the rear center line of the vehicle.
The utility model has reasonable and scientific structure, provides an environment sensing and road environment crack detecting system for the automatic driving vehicle, by the characteristics of different functions of various sensors such as laser radar, ultrasonic radar, millimeter wave radar, camera, differential GPS antenna and the like and the information fusion mode thereof, the crack detection, the dynamic and static barriers, the vehicle pose and state and the like of the unmanned vehicle for specific environment operation are sensed in real time, thereby carrying out real-time monitoring on the omnibearing environment of the unmanned vehicle, better identifying various obstacles and potential dangerous road environments, the method has the advantages that effective data information to be realized by the functions of obstacle avoidance, path planning, trajectory tracking control and the like of the automatic driving vehicle is better realized, and the safety and the stability of the driving environment of the unmanned vehicle are ensured.
The utility model provides a with the environmental perception of automatic calculation vehicle and road environment crack detecting system, including environmental perception system, environmental perception system includes a plurality of laser radar, a plurality of ultrasonic radar, a plurality of millimeter wave radar, a plurality of cameras, two difference GPS antennas; the plurality of laser radars are arranged at the front end and the top of the vehicle, and are used for detecting various obstacles in front of the vehicle and detecting cracks on the road and the wall of the surrounding environment; the ultrasonic radars are respectively arranged at the front end of the vehicle and the bottom of a vehicle chassis; detecting various obstacles in front of the vehicle, and detecting wall cracks of a road and the surrounding environment of the road; the plurality of millimeter wave radars are respectively arranged at the front end, the rear end and the left side and the right side of the vehicle; detecting obstacles in front, at the left side, the right side and at the rear of the vehicle; the cameras are respectively arranged at the front end and the rear end of the vehicle and at the bottom of the vehicle chassis; detecting the environments such as obstacles, lane lines and the like in front of and behind the vehicle, and detecting cracks of a road and a wall of the surrounding environment; the laser radar is arranged in the center of a bumper at the front end of the vehicle and the center of the top of the front end of the vehicle; a plurality of ultrasonic radars are respectively arranged at the front end and the rear end of the vehicle and at the bottom of a vehicle chassis; the distances between the ultrasonic radar arranged at the bottom of the vehicle chassis and the ground are equal; a plurality of millimeter wave radars are respectively arranged at the front end, the rear end and two sides of the vehicle; 2 millimeter wave radars are installed at the front end of the vehicle, and the two millimeter wave radars at the front end of the vehicle are symmetrically arranged along the center line of the vehicle; 1 millimeter wave radar is installed at the rear end of the vehicle, and the 1 millimeter wave radar at the rear end of the vehicle is placed in the center of the rear end; the millimeter wave radar is installed three respectively in the both sides of vehicle, the millimeter wave radar of vehicle both sides sets up along central line symmetry. The front end and the rear end of the vehicle and the bottom of a vehicle chassis are respectively provided with a plurality of cameras; the front end of the vehicle is provided with 1 camera, and the 1 camera at the front end of the vehicle is placed on a windshield; the rear end of the vehicle is provided with 1 camera, and the 1 camera at the rear end of the vehicle is placed in the center of the rear end; the two differential GPS antennas are mounted on the top of the vehicle.
The embodiment of the utility model provides an integrality perception that is used for environmental perception and road environment crackle detecting system of autopilot vehicle is applied to low-speed unmanned car, especially is in the unmanned car of specific regional environment operation, through the use of multiple sensor different functions such as laser radar, ultrasonic radar, millimeter wave radar, camera, difference GPS antenna and the mode that fuses, realizes low-speed unmanned car self and surrounding road environment.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is another schematic structural diagram of the present invention;
FIG. 3 is another schematic structural diagram of the present invention;
in the figure: 1 laser radar, 2 ultrasonic radar, 3 millimeter wave radar, 4 cameras, 5 difference GPS antenna.
Detailed Description
The computing scheme of the present invention is further described in detail below with reference to the accompanying drawings and examples.
Fig. 1-3 are schematic diagrams of an environment sensing and road environment crack detection system for an autonomous vehicle according to the present embodiment, shown in fig. 1-3, where the environment sensing system includes a laser radar 1, a plurality of ultrasonic radars 2, a plurality of millimeter wave radars 3, a plurality of cameras 4, and two differential GPS antennas 5.
The laser radar 1 may be disposed at a front bumper position of the vehicle and a front top center of the vehicle;
the ultrasonic radars 2 are respectively arranged at the front end of the vehicle and the bottom of the vehicle chassis; the ultrasonic radars 2 are respectively arranged at the center of the front end of the vehicle at 1, and the ultrasonic radars are respectively arranged at the bottom of the chassis of the vehicle at 2.
The plurality of millimeter wave radars 3 are respectively disposed at the front end, the rear end, and both sides of the vehicle to expand the sensing range.
Specifically, 2 millimeter wave radars 3 are mounted at the front end of the vehicle, and two millimeter wave radars 3 at the front end of the vehicle are symmetrically arranged along the center line of the vehicle; the rear end of the vehicle is provided with 1 millimeter wave radar 3, and the 1 millimeter wave radar at the rear end of the vehicle is placed in the center of the rear end; the both sides of vehicle install 3 millimeter wave radars respectively, and the millimeter wave radar of vehicle both sides sets up along the central line symmetry.
The cameras 3 are respectively arranged at the front end and the rear end of the vehicle and at the bottom of the vehicle chassis and are respectively arranged at the central positions of the front end and the rear end of the vehicle, and the cameras at the bottom of the vehicle chassis are arranged at the central positions of the front axle and the rear axle so as to better detect the road environment. 2 GPS antennas all set up in the top of vehicle.
In the driving process of the unmanned vehicle, the laser radar 1, the ultrasonic radars 2, the millimeter wave radars 3, the cameras 4 and the differential GPS antennas 5 sense the crack degrees around the vehicle and the road environment in an integrity manner, wherein the laser radar 1 not only provides obstacle information in a large range for the decision, trajectory planning and tracking control of the unmanned vehicle, but also can detect the road crack degree of a specific area environment, the wall crack degree around the road and the like in real time, and makes a safety reaction for planning a path and the like in advance for the vehicle; the ultrasonic radars 2 can not only detect the obstacle information of the road environment around the vehicle, but also detect the crack degree of the environmental road in a specific area in real time, so that the safety and the stability of the vehicle in running are improved better; the plurality of millimeter wave radars 3 can sense various obstacles in the environment area around the vehicle, so that the integral sensing of automatic driving is realized, and blind areas are further reduced; the multiple cameras 4 can sense obstacles of lane lines and road environments for the surrounding environments of the front end and the rear end of the vehicle, can also detect the road crack degree of the specific area environment of the vehicle in real time, and provide powerful guarantee for the safety and the stability of the vehicle in running; the differential GPS antenna provides accurate positioning information and vehicle attitude information for the vehicle. In the running process of the vehicle, the sensors send detected information to a controller of the vehicle in real time, the controller judges the degree of cracks around the detected road environment, walls and the like at first, then sends the information to a control sequence generated by environment perception of the automatic driving vehicle, and executes operations such as obstacle perception, obstacle avoidance, path planning and the like on the controller, and the practical and information fusion arrangement of different functions of the sensors jointly provides integrity information of the road environment with high safety and stability for the unmanned driving vehicle, so that the running safety and stability of the vehicle are further improved.
The utility model discloses the implementation provides an environmental perception and road environment crack detecting system for autopilot vehicle, through laser radar, a plurality of ultrasonic radar, a plurality of millimeter wave radar, a plurality of cameras, the mode that multiple sensor such as two difference GPS antennas fused, carry out the omnidirectional environmental perception to the unmanned car that is in specific area environment operation, for the accuracy of unmanned vehicle's decision-making, planning and control provides the powerful guarantee, further ensured the security and the stability of going of vehicle.
The above-mentioned embodiments further explain in detail the objects, technical solutions and advantages of the present invention, and it should be understood that the above-mentioned is only the detailed implementation of the present invention, and is not used to limit the scope of the present invention, any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included within the scope of the present invention.
Claims (10)
1. An environment perception and road environment crack detection system for an automatic driving vehicle is characterized by comprising an environment perception system arranged on the vehicle;
the environment sensing system comprises a plurality of laser radars (1), a plurality of ultrasonic radars (2), a plurality of millimeter wave radars (3), a plurality of cameras (4) and two differential GPS antennas (5);
wherein the plurality of lidar (1) are arranged at the front end and the top of the vehicle; the plurality of ultrasonic radars (2) are arranged at the front end of the vehicle and at the bottom of a vehicle chassis; the millimeter wave radars (3) are respectively arranged at the front end, the rear end, the left side and the right side of the vehicle; the cameras (4) are arranged at the front end and the rear end of the vehicle and at the bottom of the vehicle chassis; the two differential GPS antennas (5) are arranged on the top of the vehicle.
2. The environmental awareness and road environmental crack detection system for autonomous vehicles according to claim 1, characterized in that a plurality of lidar (1) are arranged at the front and top of the vehicle; one part of the laser radar (1) is used for sensing and detecting the dynamic barrier, the static barrier, the vehicle speed, the vehicle acceleration and the vehicle pose state environment in front of the vehicle; the other part of the laser radar is used for detecting cracks of roads and surrounding walls in the bridge, the sea-crossing bridge and the tunnel environment;
the ultrasonic radar (2) placed at the front end and the rear end of the vehicle is used for sensing and identifying the moving obstacles and the static obstacles of the vehicle; the ultrasonic radar (2) placed at the bottom of the vehicle chassis is used for detecting cracks of a road;
the millimeter wave radars (3) are respectively arranged at the front end, the rear end, the left side and the right side of the vehicle and are used for perceiving and identifying dynamic obstacles and static obstacles around the vehicle;
the cameras (4) arranged at the front end and the rear end of the vehicle body are used for sensing and identifying moving and static obstacles of the vehicle; the cameras (4) arranged at the left side and the right side of the vehicle and at the bottom of the chassis are used for detecting cracks of roads and surrounding walls;
the two differential GPS antennas (5) are arranged on the top of the vehicle and used for detecting pose information of the vehicle;
the ultrasonic radar system is characterized by further comprising a controller, wherein the laser radars (1), the ultrasonic radars (2), the millimeter wave radars (3), the cameras (4) and the two differential GPS antennas (5) are all connected with the controller.
3. The system for environmental awareness and crack detection in road environments for autonomous vehicles according to claim 1, characterized in that the lidar (1) is arranged in the center of the bumper of the vehicle.
4. The system according to claim 1, wherein a lidar (1) is mounted centrally at the front end of the vehicle.
5. The environmental awareness and crack detection system for automatic driving vehicle according to claim 1, wherein the front end of the vehicle is installed with a plurality of ultrasonic radars (2), and the distances from the plurality of ultrasonic radars (2) on the bottom of the chassis of the vehicle to the ground are all equal.
6. The environmental awareness and crack detection system for automatic driving vehicle according to claim 1, wherein the bottom of the vehicle chassis is installed with 2 ultrasonic radars (2), and the 2 ultrasonic radars (2) of the bottom of the vehicle chassis are symmetrically arranged along the front-back center line of the vehicle.
7. The environmental awareness and road environmental crack detection system for autonomous vehicles according to claim 1, wherein a plurality of millimeter wave radars (3) are installed at the front end, the rear end, and the left and right sides of the vehicle body, respectively.
8. The environmental awareness and road environmental crack detection system for the automatic driving vehicle as claimed in claim 1, wherein 2 millimeter wave radars (3) are installed at the front end of the vehicle, and the 2 millimeter wave radars (3) at the front end of the vehicle are symmetrically arranged along the center line of the vehicle; 1 millimeter wave radar (3) is arranged at the rear end of the vehicle, and the 1 millimeter wave radar (3) at the rear end of the vehicle body is placed in the center of the rear end; the two sides of the vehicle are respectively provided with 3 millimeter wave radars (3), and the millimeter wave radars (3) on the two sides of the vehicle are symmetrically arranged along the central line.
9. The environmental awareness and crack detection system for road environment of automatic driving vehicle as claimed in claim 1, wherein the front end of the vehicle is installed with 1 camera, and the 1 camera of the front end of the vehicle is placed on the windshield; the vehicle rear end installs 1 camera, 1 camera of vehicle rear end is placed in rear end central authorities.
10. The environmental awareness and crack detection system for road environment of automatic driving vehicle as claimed in claim 1, wherein the bottom of the vehicle chassis is mounted with 2 cameras (4), and the 2 cameras (4) are symmetrically arranged along the front and back center line of the vehicle.
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| CN202021291715.4U CN212322114U (en) | 2020-07-06 | 2020-07-06 | Environment sensing and road environment crack detection system for automatic driving vehicle |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113665500A (en) * | 2021-09-03 | 2021-11-19 | 南昌智能新能源汽车研究院 | All-weather-operation environment sensing system and method for unmanned transport vehicle |
| CN113687349A (en) * | 2021-09-23 | 2021-11-23 | 上海大学 | Unmanned ship sea surface target tracking method and device based on multi-sensor fusion |
| CN113963327A (en) * | 2021-09-06 | 2022-01-21 | 阿波罗智能技术(北京)有限公司 | Obstacle detection method, obstacle detection apparatus, autonomous vehicle, device, and storage medium |
-
2020
- 2020-07-06 CN CN202021291715.4U patent/CN212322114U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113665500A (en) * | 2021-09-03 | 2021-11-19 | 南昌智能新能源汽车研究院 | All-weather-operation environment sensing system and method for unmanned transport vehicle |
| CN113665500B (en) * | 2021-09-03 | 2022-07-19 | 南昌智能新能源汽车研究院 | All-weather-operation environment sensing system and method for unmanned transport vehicle |
| CN113963327A (en) * | 2021-09-06 | 2022-01-21 | 阿波罗智能技术(北京)有限公司 | Obstacle detection method, obstacle detection apparatus, autonomous vehicle, device, and storage medium |
| CN113963327B (en) * | 2021-09-06 | 2023-09-08 | 阿波罗智能技术(北京)有限公司 | Obstacle detection method, obstacle detection device, autonomous vehicle, apparatus, and storage medium |
| CN113687349A (en) * | 2021-09-23 | 2021-11-23 | 上海大学 | Unmanned ship sea surface target tracking method and device based on multi-sensor fusion |
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