CN212738053U

CN212738053U - Automatic driving system for entrance and exit of parking lot

Info

Publication number: CN212738053U
Application number: CN202020740921.2U
Authority: CN
Inventors: 夏晴; 蒋如意; 田钧; 于萌萌; 马光林
Original assignee: Shanghai Zhuoshi Technology Co ltd
Current assignee: Shanghai Zhuoshi Technology Co ltd
Priority date: 2020-05-08
Filing date: 2020-05-08
Publication date: 2021-03-19
Anticipated expiration: 2030-05-08

Abstract

An automatic driving system for an entrance and an exit of a parking lot in the technical field of automatic driving comprises a long-distance ultrasonic radar, a look-around camera device, a binocular camera, a single-line laser device and a controller; the long-range ultrasonic radars are respectively arranged at the head end and the tail end of the vehicle, and six long-range ultrasonic radars are respectively arranged at each end; the all-round camera devices are respectively arranged at the head of the vehicle, the tail end of the vehicle and two side ends of the vehicle body; the binocular cameras are respectively arranged at the rearview mirrors of the vehicle body; the single-line laser devices are respectively arranged at the head end, the tail end and the two side ends of the vehicle body. The utility model discloses in, single line laser installs four positions all around at the automobile body for detect the barrier and fix a position through matching with the map. Through a plurality of sensors, the error can be continuously corrected, and therefore the automatic cruise control under the scene that the vehicle goes up and down the slope at the entrance and the exit is realized. The utility model relates to a rationally, be applicable to parking area access & exit autopilot system's optimal design.

Description

Automatic driving system for entrance and exit of parking lot

Technical Field

The utility model relates to an automatic drive technical field's autonomous control system, especially a parking area access & exit autopilot system that solves parking area access & exit and cross layer access & exit vehicle and independently cruise.

Background

The autonomous parking system is used for solving the problem of automatic driving of the vehicle from an entrance of a parking lot to a parking space, and is a defined scene completely unmanned system with level 4. The system realizes full-automatic functions of sensing environment, path obstacle avoidance, parking space search, parking space parking and the like through the vehicle-mounted operation unit and the vehicle-mounted sensor. Meanwhile, in order to realize autonomous cruising within a parking lot range, an autonomous parking system needs a set of high-precision map of the parking lot and a corresponding real-time positioning system.

The current autonomous parking system can well solve the autopilot in the flat land area generally based on-vehicle sensor, but to parking area access & exit, or the ubiquitous access & exit of striding the layer of large-scale parking area, then there is obvious bottleneck, and the leading reason is as follows: 1) the non-planar nature of the doorway results in the vehicle-mounted sensor not being able to obtain accurate obstacle distance information. For example, the camera generally obtains the relative positional relationship between the surrounding obstacle and the own vehicle on the assumption that the vehicle is on a flat ground. In the case of the entrance slope, especially when the slope of the slope is unknown, the distance between obstacles cannot be accurately sensed, so that a safe decision cannot be made. 2) The doorway generally lacks an effective high-precision map, and therefore accurate high-precision positioning cannot be performed. 3) The access opening may also be narrow, requiring a high level of accuracy for the system as a whole. Due to the reasons, a closed loop cannot be formed during application of the autonomous parking, and the autonomous parking can be performed only after a driver drives a vehicle to a garage, so that the use value of the autonomous parking system is greatly reduced.

Disclosure of Invention

The utility model discloses to prior art's not enough, provide a parking area access & exit autopilot system, not only can realize the perception and the location of parking area access & exit uphill and downhill path scene, can also accomplish autopilot.

The utility model is realized by the following technical proposal, the utility model comprises a long-distance ultrasonic radar, a panoramic camera, a binocular camera, a single line laser device and a controller; twelve long-distance ultrasonic radars, four panoramic camera devices, two binocular cameras, four single-line laser devices and one controller; the long-range ultrasonic radars are respectively arranged at the head end and the tail end of the vehicle, and six long-range ultrasonic radars are respectively arranged at each end; the all-round camera devices are respectively arranged at the head of the vehicle, the tail end of the vehicle and two side ends of the vehicle body; the binocular cameras are respectively arranged at the rearview mirrors of the vehicle body; the single-line laser devices are respectively arranged at the head end, the tail end and the two side ends of the vehicle body; the controller is arranged in the vehicle body, the long-distance ultrasonic radar is connected with the controller through a CAN (controller area network) line, the all-round-looking camera device and the binocular camera are connected with the controller through LVDS (Low Voltage differential Signaling) lines, and the single-wire laser device is connected with the controller through an Ethernet line; the mounting height of the all-round camera device is more than 70cm, and the all-round camera devices arranged on the two sides of the vehicle body are vertically mounted with the vehicle body; a binocular camera arranged at the rear view mirror is mounted head-up forward.

Further, the utility model discloses in, long-range ultrasonic radar, look around camera device, two mesh cameras, single line laser device all follow automobile body central line symmetrical arrangement, and camera device, single line laser device equipartition are put at the intermediate position of locomotive rear of a vehicle end to the look around of locomotive rear of a vehicle end, and the single line laser device who arranges at locomotive rear of a vehicle end all is located locomotive rear of a vehicle look around camera device's top.

Further, the utility model discloses in, look around camera device's outstanding volume is greater than 1 mm.

Further, in the present invention, the video input mode of the controller is LVDS, and the video output mode is LVDS.

Compared with the prior art, the utility model discloses have following beneficial effect and do: the utility model relates to a rationally, can realize going up the downhill path or striding the effective perception under this kind of extreme scene of downhill path to parking area access & exit, can realize going up the downhill path or striding the layer to the parking area access & exit simultaneously and go up the safe autopilot under this kind of extreme scene of downhill path.

Drawings

Fig. 1 is a schematic structural diagram of an embodiment of the present invention;

fig. 2 is a flow chart of a sensing scheme in an embodiment of the present invention;

fig. 3 is a diagram illustrating a sensing diagram of an entrance and an exit of a parking lot according to an embodiment of the present invention;

wherein: 1. the system comprises a vehicle body, 2, a long-distance ultrasonic radar, 3, a surround-view camera device, 4, a binocular camera, 5, a single-wire laser device, 6, a controller, 7, a CAN wire, 8, an LVDS wire, 9, an Ethernet wire, 10 and a rearview mirror.

Detailed Description

The embodiments of the present invention will be described in detail with reference to the accompanying drawings, and the embodiments of the present invention are based on the technical solution of the present invention and provide detailed embodiments and specific operation processes, but the scope of the present invention is not limited to the following embodiments.

Examples

As shown in fig. 1, the present invention includes a vehicle body 1, a long-range ultrasonic radar 2, a panoramic camera 3, two-eye cameras 4, a single-line laser device 5, a controller 6, a CAN line 7, an LVDS line 8, an ethernet line 9, and a rearview mirror 10, where the number of the long-range ultrasonic radar 2 is twelve, the number of the panoramic camera 3 is four, the number of the two-eye cameras 4 is two, the number of the single-line laser device 5 is four, and the number of the controller 6 is one; the long-distance ultrasonic radar 2 is respectively arranged at the head end and the tail end of the vehicle, and six long-distance ultrasonic radars are respectively arranged at each end; the all-round camera device 3 is respectively arranged at the head end, the tail end and the two side ends of the vehicle body; the binocular cameras 4 are respectively arranged at the rearview mirrors 10 of the vehicle body; the single-line laser devices 5 are respectively arranged at the head end, the tail end and the two side ends of the vehicle body; the controller 6 is arranged in the vehicle body, the long-distance ultrasonic radar 2 is connected with the controller 6 through a CAN (controller area network) line 7, the all-round-looking camera device 3 and the binocular camera 4 are connected with the controller 6 through LVDS (low voltage differential signaling) lines 8, and the single-wire laser device 5 is connected with the controller 6 through an Ethernet line 9; the mounting height of the all-round camera device 3 is more than 70cm, and the all-round camera devices 3 arranged on the two sides of the vehicle body are vertically mounted with the vehicle body 1; the binocular camera 4 arranged at the rear view mirror 10 is mounted head-up to the front; the long-range ultrasonic radar 2, the all-round looking camera device 3, the binocular camera 4 and the single line laser device 5 are symmetrically arranged along the central line of the vehicle body 1, the all-round looking camera device 3 and the single line laser device 5 at the vehicle head and tail ends are arranged at the middle positions of the vehicle head and tail ends, and the single line laser device 5 arranged at the vehicle head and tail ends are all positioned above the all-round looking camera device 3; the projection amount of the panoramic imaging device 3 is larger than 1 mm.

An automatic driving system basically comprises four basic modules, namely a perception module, a planning module, a decision-making module and a control module, and the bottleneck mainly comes from the perception and planning module aiming at the up-down slope scene of an entrance. The purpose of the sensing module includes confirming the condition of obstacles around the vehicle body and confirming the position of the sensing module. The sensor configuration that perception module generally has certain relevance with the car certainly, the utility model provides a perception scheme is a general design, and is not restricted to certain sensor configuration. Of course, there may be differences in the actual implementation of a specific sensor system, but the core concept is described as shown in fig. 2, and the following description is provided:

1) left and right wall detection and detection of boundary line at wall root

The module detects the position of the left wall and the right wall through a vehicle-mounted sensor, such as a look-around camera, an ultrasonic control head, a millimeter wave radar or a laser radar, and the like, wherein the position can be under a vehicle body coordinate system or under an image coordinate (if the camera is adopted for detection, the camera cannot obtain accurate distance information due to the slope). Meanwhile, the boundary line at the wall root is further extracted based on the detected left and right walls. Meanwhile, the boundary line may be in a vehicle body coordinate system or an image coordinate system.

2) Detection of intermediate isolation line/cone/nail

Considering that the entrance and exit of the parking lot may be separated into two entrance and exit lanes, the sensing module also needs to detect the possible existence of a middle separation line (using a camera) or a physical partition, such as a common cone, a road stud and the like.

3) Position detection of a host vehicle in image space

Based on the results of the object detection in 1) and 2), if the detected results are the wall and the isolation strip under the coordinate system of the vehicle detected by other sensors, the detected results are projected to the image space of the camera again, and the current position relationship between the vehicle and the wall or the isolation strip under the image space is obtained.

4) Angle detection of own vehicle in image space

E.g. 3), the synchronization can detect the angle relation between the self-vehicle and the left and right walls or the isolation belts in the image space.

According to the sensing result obtained in the steps, the planning module can plan the position and the angle of the next step through the current position and the angle and projects the position and the angle to the coordinate system of the vehicle again, so that the error can be continuously corrected, and the automatic cruise control of the vehicle on the scene of going up and down the slope at the entrance is realized.

The automatic driving up-down slope of a certain underground parking lot based on a panoramic all-round system and ultrasound is shown in fig. 3, a sensing system installed on an automatic driving vehicle comprises a panoramic all-round view and twelve long-distance ultrasonic radars 2 consisting of four all-round view camera devices 3 and two binocular cameras 4, and based on the map of fig. 2, the boundary line of the ground and the wall can be obtained by utilizing semantic segmentation from the panoramic all-round view system; the distance between the left wall and the right wall of the car heel can be obtained according to the ultrasonic sensor; the entrance and exit has no intermediate isolation line, so that detection is not needed; based on the utility model provides a scheme, the vehicle can realize safe by the ground through the access & exit to the underground garage, also can be by the underground garage cruise to ground.

The foregoing description of the specific embodiments of the invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes and modifications may be made by those skilled in the art within the scope of the appended claims without departing from the spirit of the invention.

Claims

1. An automatic driving system for an entrance and an exit of a parking lot is characterized by comprising a long-distance ultrasonic radar, a panoramic camera device, a binocular camera, a single-line laser device and a controller;

twelve long-distance ultrasonic radars, four panoramic camera devices, two binocular cameras, four single-line laser devices and one controller;

the long-range ultrasonic radars are respectively arranged at the head end and the tail end of the vehicle, and six long-range ultrasonic radars are respectively arranged at each end;

the all-round looking camera devices are respectively arranged at the head of the vehicle, the tail end of the vehicle and two side ends of the vehicle body;

the binocular cameras are respectively arranged at the rearview mirrors of the vehicle body;

the single-line laser devices are respectively arranged at the head end, the tail end and the two side ends of the vehicle body;

the controller is arranged in the vehicle body, the long-distance ultrasonic radar is connected with the controller through a CAN (controller area network) line, the all-round-looking camera device and the binocular camera are connected with the controller through LVDS (Low Voltage differential Signaling) lines, and the single-wire laser device is connected with the controller through an Ethernet line;

the mounting height of the all-round camera device is more than 70cm, and the all-round camera devices arranged on the two sides of the vehicle body are vertically mounted with the vehicle body; a binocular camera arranged at the rear view mirror is mounted head-up forward.

2. The automatic driving system of the parking lot entrance and exit according to claim 1, wherein the long-distance ultrasonic radar, the all-round camera device, the binocular camera and the single line laser device are symmetrically arranged along the center line of the vehicle body, the all-round camera device and the single line laser device at the tail end of the vehicle head are arranged in the middle of the tail end of the vehicle head, and the single line laser device arranged at the tail end of the vehicle head is arranged above the all-round camera device at the tail end of the vehicle head.

3. The parking lot gateway automatic driving system according to claim 2, wherein a projecting amount of the all-round camera is larger than 1 mm.

4. The system according to claim 1, wherein the video input mode of the controller is LVDS and the video output mode is LVDS.