CN214122468U

CN214122468U - Vehicle and environment sensing device

Info

Publication number: CN214122468U
Application number: CN202021746261.5U
Authority: CN
Inventors: 黄祎伦; 黄永结; 张永生; 李红山
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd
Priority date: 2020-08-18
Filing date: 2020-08-18
Publication date: 2021-09-03
Anticipated expiration: 2030-08-18
Also published as: WO2022036934A1; CN114556156A

Abstract

The utility model discloses a vehicle and environmental perception device. The environment sensing device comprises a laser detection component and a control component which are integrated in the environment sensing device; the lidar assembly includes a first lidar and a second lidar configured to acquire probe data of a surrounding environment, wherein the first lidar has a first field angle and a first probe distance, and the second lidar has a second field angle and a second probe distance, wherein the first field angle is greater than the second field angle, and the first probe distance is less than the second probe distance; the control component is connected with the laser detection component and configured to receive detection data of the surrounding environment so as to obtain environment perception information. The environment sensing device has compact structure, small volume and convenient carrying, disassembly and assembly; no complex system adaptation of the autonomous vehicle is required.

Description

Vehicle and environment sensing device

Technical Field

The utility model relates to a vehicle technical field generally, more specifically relates to a vehicle and environmental perception device.

Background

The automatic driving automobile can realize sensing of surrounding environment in a large range or even 360 degrees through an environment sensing device (a plurality of sensors, such as a camera, a laser radar, a millimeter wave radar and the like), and autonomous control and navigation are carried out, so that passengers are led to reach the destination.

However, in the conventional technology, the detection distance of the automatic driving laser radar is short, generally within 200m, and the detection field angle and the detection distance are difficult to be considered; the laser radar is expensive and becomes a key bottleneck for the application of the laser radar to the automatic driving vehicle; most of automatic driving positioning sensing schemes based on laser radar sensors are complex, parts are multiple, efficient function test verification in the early stage is difficult to achieve, and maintenance is difficult.

SUMMERY OF THE UTILITY MODEL

The present invention has been made to solve at least one of the above problems. Specifically, the utility model provides an environment sensing device, which comprises a laser detection component and a control component integrated in the environment sensing device;

the lidar assembly includes a first lidar and a second lidar configured to acquire probe data of a surrounding environment, wherein the first lidar has a first field angle and a first probe distance, and the second lidar has a second field angle and a second probe distance, wherein the first field angle is greater than the second field angle, and the first probe distance is less than the second probe distance;

the control component is electrically connected with the laser detection component and is configured to receive detection data of the surrounding environment so as to obtain environment perception information.

Optionally, the detection orientations of the first and second lidar are at an angle of no more than 30 °.

Optionally, the control assembly comprises an arithmetic unit and a communication unit which are connected with each other;

the communication unit is connected with the laser detection assembly and is configured to transmit the detection data of the surrounding environment acquired by the laser detection assembly to the arithmetic unit;

the arithmetic unit is configured to receive the detection data of the surrounding environment, and obtain the environment perception information by calculating the detection data of the surrounding environment.

Optionally, the control assembly includes a first connection port, a first end of the first connection port is connected to the first laser radar, a second end of the first connection port is connected to the communication unit through a first adapter plate, the first adapter plate is provided with an external communication port, and the external communication port is connected to an external communication device.

Optionally, the control component includes a second connector, a first end of the second connector is connected to the second lidar, and a second end of the second connector is connected to an external power supply through a second adapter plate.

Optionally, the communication unit includes a router and a router fixing plate for fixing the router.

Optionally, the first laser radar and the second laser radar are arranged in parallel, and the control assembly is fixedly arranged in a space above the tops of the first laser radar and the second laser radar.

Optionally, the control assembly comprises a base, a housing and a top cover to form a space to accommodate the arithmetic unit and the communication unit.

Optionally, a fixing hole is formed in the top of the first laser radar and/or the second laser radar, a through hole which vertically corresponds to the fixing hole is formed in the base, and the control assembly and the laser detection assembly are fixedly connected through a screw or a rivet which penetrates through the fixing hole and the through hole.

Optionally, a heat dissipation air duct is disposed on the housing and/or the top cover.

Optionally, the environment sensing apparatus further includes a fixed base plate, and the first laser radar and the second laser radar are disposed on the fixed base plate.

Optionally, the fixing bottom plate is provided with heat dissipation holes.

Optionally, the fixing bottom plate is provided with a mounting hole configured to mount and fix the environment sensing device.

Optionally, the first and second field of view angles partially overlap.

Another aspect of the present invention provides a vehicle, wherein the vehicle is provided with the environment sensing device.

The environment sensing device of the utility model integrates the first laser radar, the second laser radar and the control component into a whole, has compact structure, small volume and convenient carrying and dismounting; complex system adaptation of the autonomous vehicle is not required; due to the portability, the device can also be used for completing static display of different scenes; the cost is reduced and the efficiency is improved for the early-stage verification of adapting to the automatic driving vehicle; the environment sensing device comprises a first laser radar and a second laser radar which are different in field angle and detection distance, the requirements of wide field angle and long detection distance can be met, the overall sensing performance of the laser radar module is improved, and the cost is low.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive effort.

Fig. 1 is a schematic top view showing the overall structure of the environmental sensing apparatus according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of a fixing bottom plate of the environmental sensing apparatus according to an embodiment of the present invention;

fig. 3 is a schematic structural diagram of the first lidar, the second lidar and the fixed base plate in the environment sensing apparatus according to an embodiment of the present invention;

fig. 4 is a schematic structural diagram of the housing in the environmental sensing apparatus according to an embodiment of the present invention;

fig. 5 is a schematic structural diagram of the control module in the environment sensing device according to an embodiment of the present invention;

fig. 6 is a schematic diagram illustrating a frame structure of the environment sensing apparatus according to an embodiment of the present invention.

Reference symbols of the drawings

1. Fixed bottom plate

2. Second laser radar

3. First laser radar

4. Base seat

5. Outer casing

6. Adapter plate

7. Net twine extender

8. Arithmetic unit

9. Router fixing plate

10. Adapter plate fixing frame

11. Communication unit

12. Power supply interface

13. External communication interface

14. Top cover

15. Heat dissipation hole

16. Tripod

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, exemplary embodiments according to the present invention will be described in detail below with reference to the accompanying drawings. It is to be understood that the described embodiments are merely exemplary of the present invention and are not intended to limit the invention to the particular embodiments described herein. Based on the embodiments of the present invention described in the present application, all other embodiments obtained by those skilled in the art without creative efforts shall fall within the protection scope of the present invention.

In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art, that the present invention may be practiced without one or more of these specific details. In other instances, well-known features have not been described in order to avoid obscuring the present invention.

It is to be understood that the present invention may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. As used herein, the term "and/or" includes any and all combinations of the associated listed items.

In order to thoroughly understand the present invention, a detailed structure will be provided in the following description in order to explain the technical solution provided by the present invention. Alternative embodiments of the invention are described in detail below, however, other embodiments of the invention are possible in addition to these detailed descriptions.

The automatic driving automobile can realize sensing of surrounding environment in a large range or even 360 degrees through an environment sensing device (a plurality of sensors, such as a camera, a laser radar, a millimeter wave radar and the like), and autonomous control and navigation are carried out, so that passengers are led to reach the destination. Because the perception of the automatic driving automobile to the surrounding environment depends on a more complex algorithm, the traditional automobile processor can not run the algorithm, so that vehicle-mounted sensors such as a laser radar, a camera, a millimeter wave radar and the like acquire the surrounding environment information data of the automobile, and then the surrounding environment information data needs to be input into a special control assembly for unified fusion and processing.

At present, the detection distance of the automatic driving laser radar is short, generally within 200m, and the detection field angle and the detection distance are difficult to be considered; the laser radar is expensive and becomes a key bottleneck for the application of the laser radar to the automatic driving vehicle; most of automatic driving positioning sensing schemes based on laser radar sensors are complex, parts are multiple, efficient function test verification in the early stage is difficult to achieve, and maintenance is difficult.

In order to solve the above problems, the present invention provides an environment sensing device, which comprises a laser detection component and a control component integrated in the environment sensing device;

The utility model discloses an environment perception device mountable is in the vehicle to the vehicle compromises and surveys angle of vision and detection distance, is favorable to improving autopilot/driver assistance's security.

As shown in FIG. 1, the environment sensing device integrates a laser detection assembly (a first laser radar 3 and a second laser radar 2), an operation unit 8, a communication unit 11, a power module, a connecting wire and the like, and realizes a vehicle environment sensing solution based on the operation unit and the laser detection assembly.

The utility model discloses in, the environmental perception device can be used alone, for example can accomplish the debugging and the static show of the basic function except that motion estimation, can accomplish the basic function debugging of the whole set of vehicle environmental perception scheme based on two laser radar in the laboratory; when the system can be installed on an automatic driving vehicle, the motion attitude of the system can be estimated through fusion of information such as laser radar, IMU (inertial measurement Unit), wheel speed and the like, information such as vehicles, pedestrians, static obstacles, lane lines, the ground and the like can be detected, dynamic objects such as the vehicles, the pedestrians and the like can be tracked, and the perception information of the environment can assist the automatic driving system to make better decisions and the like.

The environment sensing apparatus of the present application will be described in detail with reference to fig. 1 to 6. The features of the following examples and embodiments may be combined with each other without conflict.

The embodiment of the utility model provides an in, the laser detection subassembly is as an environmental sensor, and it can fuse information cooperation arithmetic element such as the speed of a motor vehicle, IMU and realize one set of location and perception scheme based on laser radar.

As shown in fig. 1, the laser assembly integrates a first laser radar 3 and a second laser radar 2, is configured to acquire detection data of a surrounding environment, and has different field angles and detection distances.

The first laser radar 3 has a first angle of view and a first detection distance, the second laser radar 2 has a second angle of view and a second detection distance, wherein the first angle of view is larger than the second angle of view, and the first detection distance is smaller than the second detection distance, so as to meet the requirements of wide angle of view and long detection distance.

In the embodiment of the present invention, the horizontal field angle range of the first laser radar 3 is 60 ° -100 °, for example 80 °, the range of the first detection distance is 150m-260m, for example 200m, the horizontal field angle of the second laser radar 2 is 10 ° -20 °, for example 15 °, the second detection distance can reach 450m-650m, for example 500m, wherein the first field angle and the second field angle are partially overlapped, and by providing laser radars with different characteristics, the requirements of wide field angle and long detection distance can be simultaneously satisfied, so as to solve the contradiction that a single laser radar cannot simultaneously satisfy two kinds of performances, thereby improving the overall perception performance of the laser radar module and lowering the cost.

Wherein, first lidar with the second lidar sets up side by side, first lidar 3 with the detection orientation of second lidar 2 can be roughly the same, for example first lidar 3 with the detection orientation contained angle of second lidar 2 is not more than 30, through the setting can make first lidar 3 with second lidar 2 is surveyed same direction or same object, makes first lidar 3 with second lidar 2 complements each other, exerts respective advantage to satisfy wide angle of view and the demand that detection distance is far away, and then has promoted the holistic perception performance of lidar module.

In an embodiment of the present invention, the detection orientation angle between the first laser radar 3 and the second laser radar 2 is 10 °.

Optionally, as shown in fig. 3, the environment sensing apparatus further includes a fixed base plate 1 disposed at the bottommost portion of the environment sensing apparatus, and configured to dispose the first lidar and the second lidar on the fixed base plate.

The control assembly is electrically connected with the laser detection assembly to receive sensing information of the first laser radar 3, the second laser radar 2, the IMU, the wheel speed and the like to the environment, and further assist the automatic driving system to make better decisions and the like.

Alternatively, as shown in fig. 1, the control assembly comprises an arithmetic unit 8 and a communication unit 11 which are connected with each other; the communication unit 11 is connected to the laser detection assembly and configured to transmit the parameters of the surrounding environment acquired by the laser detection assembly to the arithmetic unit; the arithmetic unit 8 is configured to receive the parameters of the surrounding environment, and obtain the environmental perception information by calculating the parameters of the surrounding environment. Through setting up arithmetic unit 8 and communication unit 11 can with the information and the parameter that laser detection subassembly obtained in time transmit to arithmetic unit combines the information of other sensors through the operation to obtain more accurate environmental perception information, and then can assist automatic driving system to carry out better decision-making.

The module is divided into an upper layer and a lower layer, as shown in fig. 1, wherein the laser detection assembly is arranged on the lower layer of the module, and the control assembly is arranged on the upper layer of the module.

Optionally, the control component is disposed in a space above the first laser radar 3 and the second laser radar 2, and is integrally connected to the first laser radar 3 and the second laser radar 2. The laser detection assembly and the control assembly are integrated in one module, the whole structure is compact, the portability is strong, the testing and verification requirements of various scenes can be met, and the whole module can be quickly disassembled, assembled and maintained.

Further, as shown in fig. 5, the control module further includes a network extender 7, and the communication connection of the communication unit can be realized through an interface of the network extender 7.

Further, as shown in fig. 5, the communication unit 11 includes a router, which may be a gigabit router, and the control module further includes a plurality of network cables to connect the router and the operation unit 8 with each other.

The communication unit 11 comprises also a router fixing plate 9 for fixing the router. The router fixing plate 9 includes a base and a supporting plane located on the base, wherein the router is fixed on the supporting plane. The router can be fixed by arranging the router fixing plate 9, so that the stability and the reliability of the communication unit and the environment sensing device are improved.

In particular, in one embodiment, the control assembly has a housing inside which the arithmetic unit 8 and the communication unit 11 are arranged. For example, as shown in fig. 4 and 5, the housing includes 4 a base, a case 5, and a top cover 14 to form a space for accommodating the arithmetic unit and the communication unit and to protect the same.

The utility model discloses in, metal material can be chooseed for use to the casing, in a specific embodiment, the aluminum alloy can be chooseed for use to the casing, and the aluminum alloy not only the quality is lighter, can also dispel the heat fast. It should be noted that other materials can be selected for the housing, and the selection can be performed according to actual needs.

Wherein, the shape of casing can design according to control assembly's shape and mounted position, is not restricted to a certain kind the utility model discloses an embodiment, the shape of casing is square box, for example the box of square or cuboid shape.

The base 4 is connected with the first laser radar 3 and the second laser radar 2 into a whole, so that integration of the laser detection assembly and the control assembly is achieved.

Specifically, a fixing hole is formed in the top of the first laser radar 3 and/or the second laser radar 2, a through hole is formed in the base 4, the fixing hole vertically corresponds to the through hole, and the control assembly and the laser detection assembly are fixedly connected through the fixing hole and the through hole.

In an embodiment of the present invention, a screw or a rivet is disposed on the fixing hole and the through hole, and the screw or the rivet penetrates through the fixing hole and the through hole, so as to integrate the control component and the laser detection component. It should be noted that the connection is not limited to screws or rivets, and other types of connection structures may be used. Through the connection mode, the laser detection assembly and the control assembly can be integrated more conveniently and efficiently, so that the space is saved, and meanwhile, the whole set of modules can be quickly disassembled, assembled and maintained.

Wherein, first laser radar 3 with the bottom of second laser radar 2 is fixed through PMKD 1, and the top is passed through base 4 is fixed, in order to realize first laser radar 3 with the integration of second laser radar 2, first laser radar 3 with the lateral wall of second laser radar 2 no longer sets up the shell, in order to guarantee first laser radar 3 with the abundant emergence of laser energy of second laser radar 2. The PMKD can be more firm right first lidar 3 with second lidar 2 is fixed and integrated to further save space, can also protect simultaneously first lidar 3 with the bottom of second lidar 2.

The communication connection mode between the laser detection component and the Control component is as shown in fig. 3-6, and the arithmetic Unit 8, the communication Unit 11, the adapter board 6 and the network cable are fixed in an Electronic Control Unit (ECU) module, and expose a power line, a network port interface and a laser radar connector to the outside.

Specifically, the control assembly comprises a first connecting port, a first end of the first connecting port is connected with the laser detection assembly, and a second end of the first connecting port is connected with the communication unit.

In an embodiment, a first end of the first connection port is connected to the first laser radar 3, and a second end of the first connection port is connected to the communication unit through the first adapter plate. Optionally, an external communication interface 14 is arranged on the first adapter plate, and the external communication interface is connected with an external communication device.

In another embodiment, the control component comprises a second connection port, a first end of the second connection port is connected with the laser detection component, and a second end of the second connection port is connected with an external power supply. Specifically, a first end of the second connector is connected with the second laser radar 2, and a second end of the second connector is connected with an external power supply through a second adapter plate. The second adapter plate is provided with a power interface 12, and the power interface is connected with the external power supply.

The utility model discloses in, through the connected mode of first keysets and second keysets, first interface and second connector, can make the laser detection subassembly with control assembly's connected mode is more convenient, dismantles and assembles more easily to adapt to the different use scenes.

Optionally, the control assembly further comprises an adapter plate fixing frame 10, wherein the adapter plate 6 is supported and fixed, for example, one of the first adapter plate and the second adapter plate is arranged below the adapter plate fixing frame 10, and the other is arranged above the adapter plate fixing frame 10. Two adapter plate fixing frames 10 can also be arranged, and the first adapter plate and the second adapter plate are both arranged on the adapter plate fixing frames 10.

As shown in fig. 4, a heat dissipation air duct is disposed on the housing 5 to dissipate heat generated by each device in the control assembly in time, so as to reduce temperature, and ensure that the control assembly can operate normally and efficiently at a lower temperature. The heat dissipation air duct may be a heat dissipation opening, for example, a plurality of strip-shaped openings arranged in parallel on the housing 5. The number and shape of the heat dissipation openings are not limited to a certain number, and the heat dissipation openings can be arranged according to actual needs, which are not listed here.

Further, as shown in fig. 5, a heat dissipation air duct is disposed on the top cover 14 to enhance the heat dissipation effect of the control assembly. The heat dissipation air duct may be a heat dissipation opening, for example, a plurality of strip-shaped openings arranged in parallel on the top cover 14.

Further, the fixing base plate 1 can be further provided with heat dissipation holes 15, so that heat generated by the first laser radar 3 and the second laser radar 2 can be dissipated out in time, the temperature is reduced, and the first laser radar 3 and the second laser radar 2 can operate normally and efficiently at a lower temperature. The heat dissipation holes 15 may be a plurality of regularly or irregularly arranged circular holes, square holes, and holes with irregular patterns.

Optionally, the fixing base plate 1 is further provided with a mounting hole configured to mount and fix the environment sensing device, so as to improve the portability of the whole device, and enable the environment sensing device to be mounted and used in more scenes. In one embodiment, for example, to facilitate mounting of the environmental sensor on tripod 16, 1/4 threaded holes are provided in the mounting plate 1.

Furthermore, a tripod interface is also reserved on the fixing structure of the environment sensing device to the combined external power supply, so that the environment sensing device can be better matched and connected with the environment sensing device.

Specifically, the utility model discloses the environment perception device of embodiment can be applied to the vehicle, the platform body of environment perception device mountable at the vehicle.

The utility model also provides a vehicle, the vehicle is installed in the foreland environment perception device. The vehicle in the utility model can further comprise sensors other than the laser radar, including a visible light camera, an ultrasonic sensor, a wheel odometer, an IMU, a GPS and the like, so that 360-degree dead-angle-free sensing surrounding environment is realized, and reliable and stable environment sensing data are provided with less redundancy; the sensor calibration can be conveniently and rapidly carried out, and the requirement of real-time calibration result verification can be met. In addition, different sensors constitute a set of independent sensor modules, thereby covering specific detection areas and ranges. The information of all the sensors is integrated, the data of the surrounding environment can be obtained in real time, a driving road surface and other pedestrians and vehicles are detected, and then the control system guides the vehicles (such as vehicles) to automatically drive.

Further, the power generation system of the vehicle is connected with the power interface of the environment sensing device and configured to supply power to the environment sensing device.

Optionally, the vehicle further comprises:

a wheel speed sensor configured to acquire wheel speed information of a vehicle; and/or

A position information sensor configured to acquire position information of the vehicle; and or an inertial measurement unit.

The arithmetic unit of the environment perception device is configured to acquire the following environment perception information:

detecting at least one of other vehicles, pedestrians, static obstacles, lane lines, and ground information around the vehicle; and/or tracking dynamic objects.

Further, the vehicle further includes an output unit:

the output unit is connected with the environment sensing device and used for outputting the environment sensing information.

Through the fusion of the laser radar assembly, the IMU inertia measurement unit, the wheel speed and other information, the motion posture of the laser radar assembly can be estimated, information such as vehicles, pedestrians, static obstacles, lane lines and the ground can be detected, dynamic objects such as the vehicles, the pedestrians and the like can be tracked, and the perception information of the environment can assist an automatic driving system to make a better decision.

The vehicle of the utility model is provided with the environment sensing device, and has the advantages of the environment sensing device, such as compact structure, high integration level, more beautiful appearance and improved portability; the two different laser radars are fused to realize complementation, so that the whole sensing capability to the surrounding environment is improved, and the operation is more efficient; various mechanical interfaces are reserved on the device, so that the device is convenient to debug, display functions and the like in different scenes; in addition, the structure is reasonable in design, convenient to disassemble and assemble and convenient to maintain and debug; the integration level of the whole structure is high, the laser radar, the operation unit, the communication unit and the like are fixed in one module, and only a network cable and a power supply interface are reserved outwards; the utility model discloses structural configuration is reasonable, and the heat dissipation is high-efficient, and the outward appearance is pleasing to the eye.

Although the example embodiments have been described herein with reference to the accompanying drawings, it is to be understood that the above-described example embodiments are merely illustrative and are not intended to limit the scope of the present invention thereto. Various changes and modifications may be effected therein by one of ordinary skill in the pertinent art without departing from the scope or spirit of the present invention. All such changes and modifications are intended to be included within the scope of the present invention as claimed in the appended claims.

Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.

In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described device embodiments are merely illustrative, and for example, the division of the units is only one logical functional division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another device, or some features may be omitted, or not executed.

In the description provided herein, numerous specific details are set forth. It is understood, however, that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.

Similarly, it should be appreciated that in the description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various inventive aspects. However, the method of the present invention should not be interpreted as reflecting an intention that: rather, the invention as claimed requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this invention.

It will be understood by those skilled in the art that all of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or elements of any method or apparatus so disclosed, may be combined in any combination, except combinations where such features are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.

Furthermore, those skilled in the art will appreciate that while some embodiments described herein include some features included in other embodiments, rather than other features, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. For example, in the claims, any of the claimed embodiments may be used in any combination.

Various component embodiments of the invention may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art will appreciate that a microprocessor or Digital Signal Processor (DSP) may be used in practice to implement some or all of the functionality of some of the modules according to embodiments of the invention. The present invention may also be embodied as apparatus programs (e.g., computer programs and computer program products) for performing a portion or all of the methods described herein. Such a program implementing the invention may be stored on a computer readable medium or may be in the form of one or more signals. Such a signal may be downloaded from an internet website or provided on a carrier signal or in any other form.

It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The invention can be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering. These words may be interpreted as names.

Claims

1. An environment sensing device is characterized by comprising a laser detection component and a control component which are integrated in the environment sensing device;

2. The environment awareness apparatus of claim 1 wherein the first lidar and the second lidar are oriented at an angle of no more than 30 °.

3. The environment sensing device according to claim 1, wherein the control component comprises an arithmetic unit and a communication unit connected with each other;

4. The environment sensing device according to claim 3, wherein the control assembly comprises a first connection port, a first end of the first connection port is connected to the first lidar, a second end of the first connection port is connected to the communication unit via a first adapter plate, and an external communication port is disposed on the first adapter plate and connected to an external communication device.

5. The environment sensing device according to claim 4, wherein the control unit comprises a second connection port, a first end of the second connection port is connected to the second lidar, and a second end of the second connection port is connected to an external power source via a second adapter board.

6. The environment awareness apparatus according to claim 3, wherein the communication unit comprises a router and a router fixing plate for fixing the router.

7. The environmental awareness apparatus according to one of claims 1 to 6, wherein the first lidar and the second lidar are juxtaposed, and the control assembly is fixedly disposed in a space above the tops of the first lidar and the second lidar.

8. The environmental sensing device of claim 7, wherein the control assembly comprises a base, a housing, and a top cover to form a space for accommodating the arithmetic unit and the communication unit.

9. The environment sensing device according to claim 8, wherein a fixing hole is formed in a top of the first lidar and/or the second lidar, a through hole vertically corresponding to the fixing hole is formed in the base, and the control component and the laser detection component are fixedly connected through a screw or a rivet penetrating through the fixing hole and the through hole.

10. The environmental sensing device of claim 8, wherein a heat dissipation duct is disposed on the housing and/or the top cover.

11. The apparatus of claim 7, further comprising a mounting base, wherein the first lidar and the second lidar are disposed on the mounting base.

12. The device as claimed in claim 11, wherein the fixing plate has heat dissipating holes.

13. The device as claimed in claim 11, wherein the fixing base plate is provided with a mounting hole configured to mount and fix the device.

14. The environmental awareness apparatus according to claim 1, wherein the first field angle and the second field angle partially overlap.

15. A vehicle, characterized in that the vehicle is mounted with the environment sensing apparatus of one of claims 1 to 14.