CN214492889U - Environment sensing system of automobile and automobile thereof - Google Patents
Environment sensing system of automobile and automobile thereof Download PDFInfo
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- CN214492889U CN214492889U CN202022582849.8U CN202022582849U CN214492889U CN 214492889 U CN214492889 U CN 214492889U CN 202022582849 U CN202022582849 U CN 202022582849U CN 214492889 U CN214492889 U CN 214492889U
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Abstract
The embodiment of the utility model discloses environment perception system and car of car, this environment perception system includes panorama sensing device, laser radar perception device, millimeter wave radar perception device and ultrasonic wave perception device, panorama sensing device is used for the preceding barrier with the side direction of perception car, laser radar perception device is used for the barrier of the circumference of perception car, millimeter wave radar perception device is used for the preceding barrier of the preceding direction of perception car, ultrasonic wave perception device is used for the barrier of the circumference of perception car. Through the embodiment of the utility model provides an environmental perception system of car makes multiple perception device's perception scope all have certain overlapping on the all directions that the car went, and there is multiple redundancy in the perception of all directions, and each perception device can each other be for backing up, has reduced the risk that single perception device became invalid and has brought, has improved safe redundancy, has promoted autopilot, driver assistance's driving safety.
Description
Technical Field
The utility model relates to a car intelligence drives technical field, especially relates to a car and autopilot, driver assistance's environmental perception system thereof.
Background
The automatic driving technology is the important leading technology and development direction in the current automobile industry. The automatic driving technology mainly comprises an environment perception system, a planning decision system and a motion control system.
The environment perception system is used for collecting information of the environment in the automobile and around the automobile. In order to enable an automatic driving automobile to safely, real-timely and accurately obtain surrounding environment information, an environment sensing system is urgently needed to effectively identify obstacles in all directions and at different distances of the automobile and effectively deal with the influence of external interference identification success rate, so that driving safety is improved.
SUMMERY OF THE UTILITY MODEL
In view of the above, embodiments of the present application are expected to provide an environmental sensing system for an automobile, so that there is multiple redundancy in sensing of each direction of the automobile.
In order to achieve the above purpose, the technical solution of the embodiment of the present application is implemented as follows:
the utility model provides an environmental perception system of car, include:
the panoramic camera sensing device is used for sensing the obstacles in the front direction and the side direction of the automobile;
the laser radar sensing device is used for sensing the obstacles in the circumferential direction of the automobile;
the millimeter wave radar sensing device is used for sensing obstacles in the forward direction of the automobile; and
the ultrasonic sensing device is used for sensing the obstacles in the circumferential direction of the automobile;
the panoramic shooting sensing device, the laser radar sensing device, the millimeter wave radar sensing device and the ultrasonic sensing device are all installed on the automobile.
In some embodiments, the panoramic camera sensing device comprises:
the forward camera is arranged in front of the automobile to sense obstacles in the forward direction of the automobile;
the front rear-view cameras are respectively arranged at corners on two sides of the front end of the automobile so as to sense obstacles in the front side direction and the rear oblique direction of the automobile; and
and the rear forward-looking cameras are respectively arranged at corners on two sides of the rear end of the automobile so as to sense obstacles in the front side direction and the front oblique direction of the automobile.
In some embodiments, the lidar sensing apparatus comprises:
the front overlook laser radar is obliquely arranged above the front of the automobile downwards so as to sense obstacles in the front direction of the automobile;
the rear overlook laser radar is obliquely arranged above the rear surface of the automobile downwards so as to sense an obstacle behind the automobile;
the front horizontal laser radar is horizontally arranged below the front of the automobile so as to sense obstacles in the front direction of the automobile;
the corner laser radars are respectively and rotatably arranged at corners on two sides of the front end of the automobile so as to sense obstacles in the front direction and the side direction of the automobile;
a lateral laser radar respectively arranged below two side surfaces of the automobile for sensing lateral obstacles of the automobile
And the backward laser radar is horizontally arranged behind the automobile so as to sense the obstacles behind the automobile. In some embodiments, the overhead lidar and/or the front level lidar is a solid state lidar; and/or the presence of a gas in the gas,
the lateral laser radar and/or the corner laser radar are mechanical laser radars; and/or the presence of a gas in the gas,
the backward laser radar is a single-line laser radar.
In some embodiments, the millimeter wave radar sensing device comprises a millimeter wave radar disposed in front of the automobile.
In some embodiments, the ultrasonic sensing device comprises a plurality of ultrasonic radars spaced apart and surrounding the body of the vehicle.
In some embodiments, the environmental awareness system of the automobile further comprises:
and the all-round looking camera sensing device is used for acquiring the circumferential target information of the automobile.
In some embodiments, the surround-view camera sensing device comprises a surround-view camera arranged at the upper center of the front, the upper centers of the two side faces and the upper center of the back of the automobile respectively.
In some embodiments, the panoramic camera sensing means, the lidar sensing means, the millimeter wave radar sensing means, and the ultrasonic sensing means are configured such that the forward direction of the automobile has at least triple sensing at long distances, at least triple sensing at medium distances, and at least quadruple sensing at short distances;
such that the lateral direction of the automobile has at least a twofold perception at medium distances and a threefold perception at short distances;
so that the rear of the car has triple perception at short distances;
the long distance is greater than a first preset value, the short distance is smaller than a second preset value, the second preset value is smaller than the first preset value, and the middle distance is a third preset value located between the long distance and the short distance.
The embodiment of the utility model provides an in still provide an automobile, the automobile includes in any one of the aforesaid embodiments the environmental perception system.
The embodiment of the utility model provides an in still provide a car, the car is for the autopilot truck towards garden commodity circulation, the autopilot truck includes:
the chassis comprises a frame and a vehicle head arranged on the frame;
the container is arranged on the frame;
the environmental awareness system for an automobile according to the foregoing embodiment, wherein,
the panoramic shooting sensing device comprises a front-facing camera, a front-facing rear-facing camera and a rear-facing front-facing camera; the forward camera is arranged in front of the vehicle head so as to sense obstacles in the forward direction of the vehicle; the front rear-view cameras are respectively arranged at corners on two sides of the front end of the vehicle head so as to sense obstacles in the front side direction and the rear oblique direction of the vehicle; the rear front-view cameras are respectively arranged at the lateral rear part of the cargo box so as to sense the obstacles in the front lateral direction and the front oblique direction of the automobile;
the laser radar sensing device comprises a front overlook laser radar, a rear overlook laser radar, a front horizontal laser radar, a corner laser radar, a lateral laser radar and a rear laser radar; the front overlook laser radar is obliquely arranged above the front of the vehicle head downwards so as to sense obstacles in the front direction of the vehicle; the rear overlook laser radar is arranged above the rear surface of the cargo box in an inclined downward mode so as to sense an obstacle behind the automobile; the front horizontal laser radar is horizontally arranged below the front of the vehicle head so as to sense obstacles in the front direction of the vehicle; the corner laser radars are respectively and rotatably arranged at corners on two sides of the front end of the vehicle head so as to sense obstacles in the front direction and the side direction of the vehicle; the lateral laser radars are respectively arranged below two side surfaces of the automobile so as to sense lateral obstacles of the automobile; the backward laser radar is horizontally arranged behind the cargo box to sense obstacles behind the automobile;
the millimeter wave radar sensing device comprises a millimeter wave radar arranged in front of the vehicle head;
the ultrasonic sensing device comprises a plurality of ultrasonic radars which are arranged at intervals and surround the automobile body;
the all-round looking camera sensing device comprises all-round looking cameras which are respectively arranged in the center above the front of the vehicle head, the center above the two side surfaces of the cargo box and the center above the rear of the cargo box.
The embodiment of the utility model provides an in the environmental perception system of car, through setting up panorama sensing device, laser radar sensing device, millimeter wave radar sensing device and ultrasonic wave sensing device, combine together the perception means of different modes, realized that different sensing device's advantage is complementary to carry out the overlapping of certain limit with each sensing device's perception direction, make the embodiment of the utility model provides an in the embodiment of the environment perception system of car can effectively discern and can effectively deal with the interference of external environment changes such as external weather change, electromagnetic interference to the barrier, improve the discernment success rate to the barrier. Simultaneously, above-mentioned multiple perception device's perception scope all has certain overlapping on the all directions that the car went for there is multiple redundancy in the perception of all directions, and each perception device can each other be for backup, has reduced the risk that single perception device became invalid and has brought, has improved the embodiment of the utility model provides an environment sensing system's of car safety redundancy has promoted automatic driving, driver assistance's driving safety.
Drawings
Fig. 1 is a schematic layout view of an environmental sensing system of an automobile according to an embodiment of the present invention;
fig. 2 is a schematic layout view of an environmental sensing system of an automobile behind the automobile according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of the division of the car direction in the embodiment of the present invention;
fig. 4 is a schematic view of the layout and sensing range of the panoramic camera sensing device according to an embodiment of the present invention;
fig. 5 is a schematic view of a layout and a sensing range of a lidar sensing device according to an embodiment of the present invention;
fig. 6 is a schematic view of the layout and sensing range of the millimeter wave radar sensing device according to an embodiment of the present invention;
fig. 7 is a schematic view of the layout and sensing range of the ultrasonic sensing device according to an embodiment of the present invention; and
fig. 8 is a schematic diagram of the layout and sensing range of the around-view camera sensing device according to an embodiment of the present invention.
Description of the reference numerals
10. Panoramic camera sensing device 11, forward camera 12 and front and rear camera
13. Rear front-view camera 20, laser radar sensing device 21 and front overlook laser radar
22. Rear overlook laser radar 23, forward horizontal laser radar 24 and corner laser radar
25. Backward laser radar 26, lateral laser radar 30 and millimeter wave radar sensing device
40. Ultrasonic sensing device 50, look around sensing device 60, car of making a video recording
61. Chassis 611, frame 612 and cab
62. Packing box
Detailed Description
It should be noted that, in the present application, technical features in examples and embodiments may be combined with each other without conflict, and the detailed description in the specific embodiment should be understood as an explanation of the gist of the present application and should not be construed as an improper limitation to the present application.
In the description of the present application, the "forward direction", "backward direction", "left forward direction", "right backward direction", "circumferential direction", "front direction", "rear direction", "left side surface", "right side surface" orientation or positional relationship is based on the orientation or positional relationship shown in fig. 3, in which the "forward direction" includes "left forward direction" and "right forward direction", "backward direction" includes "left backward direction" and "right backward direction", "forward direction" includes "forward direction" and "forward direction", "backward direction" includes "forward direction" and "backward direction", "lateral direction" includes "left forward direction", "right forward direction", "forward direction" and "backward direction", "left direction" includes "left forward direction", "left forward direction" and "left backward direction", "right direction" includes "right forward direction" and "right direction, The "right front oblique direction" and the "right rear oblique direction". The end of the automobile close to the advancing direction is the front end, and the end far away from the advancing direction is the rear end. It is to be understood that such directional terms are merely for convenience in describing the present application and for simplicity in description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the present application.
In the related art, millimeter wave radar, laser radar, ultrasonic radar and camera are the mainstream sensing devices in automatic driving at present. The millimeter wave radar detects the obstacles by actively transmitting high-frequency millimeter radio waves and receiving target echoes, and has strong anti-interference capability but low precision; the laser radar actively emits laser beams in infrared or visible light wave bands, receives the light beams reflected back from the target to acquire the position information of the target, and has higher precision but is easily interfered by other light rays and heat radiation in the environment; the ultrasonic radar detects the obstacles by actively transmitting ultrasonic waves and receiving reflected waves, has strong penetrability and low cost, is easily influenced by weather and has poor accuracy when detecting at a longer distance; the camera identifies the barrier by passively receiving the natural light reflected by the target, and has the advantages of high precision, long sensing distance, visual imaging and easy influence of weather change and strong light. In summary, the mainstream system in the market currently only adopts one or some of the sensing devices, which cannot ensure stable and effective identification of various obstacles in a complex driving environment, and is not favorable for driving safety of automatic driving and driving assistance.
The embodiment of the utility model provides an environmental perception system of car refers to fig. 1 and fig. 2, including panorama sensing device 10, lidar sensing device 20, millimeter wave radar sensing device 30 and ultrasonic wave sensing device 40. The panoramic camera sensing device 10 is used for sensing forward and lateral obstacles of the automobile 60, the laser radar sensing device 20 is used for sensing circumferential obstacles of the automobile 60, the millimeter wave radar sensing device 30 is used for sensing forward obstacles of the automobile 60, and the ultrasonic sensing device 40 is used for sensing circumferential obstacles of the automobile 60. The panoramic photography sensing device 10, the laser radar sensing device 20, the millimeter wave radar sensing device 30 and the ultrasonic sensing device 40 are all installed on the automobile 60.
The embodiment of the utility model provides an in the environmental perception system of car combines together the perception means of different modes, has realized that the advantage of different perception devices is complementary to carry out the overlapping of certain limit with each perception device's perception direction, make the utility model provides an environmental perception system of car can effectively discern and can effectively deal with the influence of external weather change, electromagnetic interference to barrier discernment success rate to the barrier of each direction of car 60, different distances. Simultaneously, multiple perception device's perception scope all has certain overlapping on the all directions that car 60 traveles for there is at least duplicate redundancy in the perception of all directions, and each perception device can each other be backup, has reduced the risk that single perception device became invalid and has brought, has improved the embodiment of the utility model provides an environmental perception system's safe redundancy has promoted automatic driving, driver assistance's driving safety.
It should be noted that, the embodiment of the utility model provides an in the perception position description of perception device, should not be understood as only carrying out the perception in the position of description, according to the different motorcycle types and the actual demand of car, under the prerequisite that the perception device possesses corresponding function, the perception device can also perceive more positions except the position that can the perception description.
In some embodiments, referring to fig. 1, 2 and 4, the panoramic camera sensing device 10 includes a forward-facing camera 11, a forward-facing rear-facing camera 12 and a rear-facing front-facing camera 13. Referring to fig. 4, the range shown by a thick solid line is an illustration of the sensing range of the front-facing camera 11, and the range shown by a thick broken line is an illustration of the sensing ranges of the front-facing rear-facing camera 12 and the rear-facing front-facing camera 13. The forward camera 11 is arranged in front of the automobile and used for sensing obstacles in the forward direction of the automobile 60; the front and rear view cameras 12 are respectively disposed at corners of both sides of the front end of the automobile 60, that is, front ends of both sides or both sides of the front surface, and are used for sensing obstacles in the front side direction and the rear oblique direction of the automobile 60. The front rear-view camera 12 at the front left corner can sense left front side and left rear oblique obstacles of the automobile 60, and the front rear-view camera 12 at the front right corner can sense right front side and right rear oblique obstacles of the automobile 60; the rear front-view cameras 13 are respectively disposed at corners on both sides of the rear end of the automobile 60, i.e., rear ends of both sides or both sides of the rear surface, and are used for sensing obstacles in the front side direction and the front oblique direction of the automobile 60. The rear front camera 13 at the rear left corner can sense left front side and left front oblique obstacles of the automobile 60, and the rear front camera 13 at the rear right corner can sense right front side and right front oblique obstacles of the automobile 60. Through the arrangement, the panoramic camera sensing device 10 meets the requirement of identifying obstacles in different directions, the sensing ranges of the cameras are overlapped, and safety redundancy is improved.
In some embodiments, forward facing camera 11 may employ a telephoto lens and/or a wide-angle lens. In daily driving, the automobile 60 is forward to being main driving direction, therefore through adopting telephoto lens and/or wide-angle lens, make forward camera 11 can obtain forward to go up farther perception distance or wider visual field angle to acquire the information of more obstacles, promoted driving safety. The number of the forward-facing cameras 11 may be set to one or more.
In some embodiments, the front rear-view camera 12 and the rear front-view camera 13 employ wide-angle lenses. By adopting the wide-angle lens, the overlapping areas of the sensing ranges of the front rear-view camera 12 and the rear front-view camera 13 in the left side direction and the right side direction of the automobile 60 are increased, so that the safety redundancy is improved; the increase of the view field angles of the front rear view camera 12 and the rear front view camera 13 also reduces the view field blind areas of the front oblique direction and the rear oblique direction of the automobile 60, and improves the driving safety.
It will be appreciated that mounting the front and rear looking cameras 12, 13 on a rotatable base also achieves the purpose of extending the sensing range. Therefore, the sensing range of the front-rear-view camera 12 may cover a part of the front oblique region and a part of the forward-rearward region, and the sensing range of the rear-front-view camera 13 may cover a part of the rear oblique region and a part of the forward-forward region.
In some embodiments, referring to fig. 4, at least two front rear-view cameras 12 are respectively disposed at corners where two side surfaces of the automobile 60 are connected with the front, and at least two rear front-view cameras 13 are respectively disposed at connecting positions where two side surfaces of the automobile 60 are connected with the rear. By arranging the front rear-view camera 12 and the rear front-view camera 13 at the above positions, the view field angles of the front rear-view camera 12 and the rear front-view camera 13 are improved, and the shielding of the body of the automobile 60 on the view field ranges of the front rear-view camera 12 and the rear front-view camera 13 is prevented, so that the driving safety is improved.
In some embodiments, referring to fig. 1, 2, and 5, lidar sensing device 20 includes a front-looking down lidar 21, a rear-looking down lidar 22, a forward level lidar 23, a corner lidar 24, and a rear lidar 25. Referring to fig. 5, the range indicated by a thick solid line is an illustration of the sensing ranges of the forward horizontal lidar 23 and the backward lidar 25, the range indicated by a thick broken line is an illustration of the sensing range of the corner lidar 24, the range indicated by a thick chain line is an illustration of the sensing ranges of the forward looking down lidar 21 and the backward looking down lidar 22, and the range indicated by a thick two-dot chain line is an illustration of the sensing range of the lateral lidar 26.
Specifically, the front down-view laser radar 21 is disposed diagonally downward above the front of the automobile 60 to sense an obstacle in the front direction of the automobile 60; the rear-view laser radar 22 is disposed diagonally downward above the rear of the automobile 60 to sense an obstacle in the rear of the automobile 60. The front overlook laser radar 21 and the rear overlook laser radar 22 are obliquely and downwards directed to the ground surface, so that the front overlook laser radar and the rear overlook laser radar can sense small obstacles and pits on the ground surface, and a driving path is conveniently planned. The forward horizontal lidar 23 is disposed horizontally below the front of the automobile 60 to sense obstacles in the forward direction of the automobile 60. And corner laser radars 24 respectively disposed at corners of both sides of the front end of the automobile 60 to sense obstacles in the forward and lateral directions of the automobile 60. The corner lidar 24 located at the front-end left corner can sense obstacles in the forward direction, the left-front oblique direction, the right-front oblique direction, the left forward lateral direction and the left backward oblique direction of the automobile 60, and the corner lidar 24 located at the front-end right corner can sense obstacles in the forward direction, the left-front oblique direction, the right forward lateral direction and the right backward oblique direction of the automobile 60. The lateral laser radars 26 are respectively disposed below both side surfaces of the automobile 60, for example, at the center positions below both side surfaces to sense an obstacle in the lateral direction of the automobile 60. The lateral lidar 26 located at the center of the left side of the automobile 60 may sense the front left, and rear left obstacles of the automobile 60, and the lateral lidar 26 located at the center of the right side of the automobile 60 may sense the front right, and rear right obstacles of the automobile 60. And a backward lidar 25 horizontally disposed behind the automobile 60 to sense an obstacle in the backward direction of the automobile 60.
Through the arrangement, the laser radar sensing device 20 meets the requirement of identifying obstacles in different directions, and identifies small obstacles and pits on the ground surface, so that risks on a driving path are further avoided, the sensing ranges of the laser radars are overlapped, and safety redundancy is improved.
In some embodiments, front and rear overhead lidars 21 and 22 may employ three-dimensional solid state lidars. Since the front and rear downward-looking laser radars 21 and 22 only need to sense obstacles in the forward direction, and the backward direction of the traveling route of the automobile 60, and obstacles in the forward and backward directions that may need to turn, and do not need an excessively large angle of field, and recognizing small obstacles and pits on the ground surface requires high scanning accuracy and high speed, it is preferable to employ a three-dimensional solid-state laser radar.
Since the forward direction is the main driving direction of the automobile 60 and it is necessary to quickly and accurately identify obstacles appearing in the forward direction, in some embodiments, the forward horizontal lidar 23 may be a three-dimensional solid-state lidar.
In some embodiments, the corner lidar 24 employs a mechanical rotation type multiline lidar, such as a 16-line lidar, so that the corner lidar 24 obtains a larger view angle to cover the forward direction and the lateral direction of the automobile 60, the sensing range is enlarged, the view dead angle is reduced, a larger overlapping area is generated, and the safety redundancy is further improved. It will be appreciated that the angle lidar 24 may also employ a combination of solid state radars to achieve the above-described objectives.
In some embodiments, referring to fig. 5, at least two corner lidar 24 are respectively disposed at the corners where the two side surfaces of the automobile 60 are connected with the front surface, so that the view angle of the corner lidar 24 is fully utilized, the shielding of the automobile body of the automobile 60 to the emitted laser beam is reduced, and the corner lidar 24 respectively located at the left side and the right side are overlapped in the sensing range in the front direction, thereby improving the safety redundancy.
In some embodiments, referring to fig. 5, the two lateral lidar 26 are respectively disposed below the central positions of the left and right side surfaces of the automobile 60, so that the lateral direction of the automobile 60 is monitored at any time, the defect that a blind area may exist right below the corner lidar 24 is overcome, small obstacles located in the lateral direction and nearby cannot be sensed is avoided, and safety redundancy is improved. Meanwhile, the lateral laser radar 26 can better take the perception ranges of the front oblique direction and the rear oblique direction into consideration, timely perceive the environmental change on the adjacent lanes, reduce the blind area and reduce the driving risk. Lateral lidar 26 may employ mechanical lidar.
The probability of rear-end collisions from the rear is lower than the probability of collisions from the front, so in some embodiments, the rear lidar 25 employs a mechanically rotating single line lidar, which reduces cost while meeting the need to cover the rear sensing range. In some embodiments, referring to fig. 1 and 6, millimeter-wave radar sensing device 30 comprises a millimeter-wave radar disposed in front of vehicle 60, and referring to fig. 6, the range shown by the thick solid line is illustrative of the sensing range of millimeter-wave radar sensing device 30. The millimeter wave radar is arranged in front of the automobile 60 to obtain a better forward view field angle, and the forward view field angle is overlapped with the sensing range of other sensing devices, so that safety redundancy is improved.
In some embodiments, referring to fig. 1 and 7, the ultrasonic sensing device 40 includes a plurality of ultrasonic radars spaced apart and surrounding the circumference of the body of the vehicle 60. referring to fig. 7, the range shown by the thick solid line is an illustration of the sensing range of the ultrasonic sensing device 40. The sensing range of the ultrasonic sensing device 40 covers the circumferential direction of the automobile 60 and is overlapped with the sensing ranges of other sensing devices, so that safety redundancy is improved.
In some embodiments, referring to fig. 1, fig. 2 and fig. 8, the environmental sensing system of the automobile in the embodiment of the present invention further includes a perspective view camera sensing device 50, and referring to fig. 8, a range shown by a thick solid line is an illustration of a sensing range of the perspective view camera sensing device 50. The all-round camera sensing device 50 is used for acquiring circumferential target information of the automobile 60, so that a worker can remotely monitor the surrounding environment of the automobile 60, and the worker can remotely take over the automobile 60 through the information acquired by the all-round camera sensing device 50 if necessary to realize remote control driving.
In some embodiments, referring to FIG. 8, the looking-around camera sensing device 50 includes looking-around cameras disposed at the top center of the front, top center of the left and right sides, and top center of the back of the vehicle 60, respectively. Through the layout, the all-around cameras respectively obtain better view field angles in all directions, and the view field angles of the all-around cameras are overlapped, so that view field blind areas are prevented.
The expression "central" above should not be understood to mean the median of the respective planes, including the median and the areas around the median.
It is understood that, in order to provide a better field of view for the operator and leave a buffer time for the operator to operate, the distance of the field of view of the looking-around camera sensing device 50 is not less than 5 m.
It should be noted that, the embodiment of the utility model provides an environment sensing system of car is because the performance of the perception components and parts of chooseing for use is different, and the visual field angle, detection distance, the sensitivity difference of ability perception are great, consequently, need the gradient of rational configuration panorama sensing device 10, laser radar sensing device 20, millimeter wave radar sensing device 30 and ultrasonic wave sensing device 40's detection distance just enable the embodiment of the utility model provides an environment sensing system acquires car 60 all ring edge border information more comprehensively, provides more detailed road conditions data for automatic driving.
Illustratively, in some embodiments, the panoramic camera sensing device 10, the lidar sensing device 20, the millimeter-wave radar sensing device 30, and the ultrasonic sensing device 40 are configured such that the forward direction of the automobile 60 has at least triple sensing over a long distance, i.e., at least three sensing devices are capable of sensing obstacles in the forward direction of the automobile 60 over a long distance, at least triple sensing over a medium distance, and quadruple sensing over a short distance; such that the lateral direction of the automobile 60 has at least a two-fold perception at mid-range and a three-fold perception at short range; so that the rear of the car 60 has triple perception at short distances. The long distance is greater than a first preset value, the short distance is smaller than a second preset value, the second preset value is smaller than the first preset value, and the middle distance is a third preset value located between the long distance and the short distance.
The front direction of the automobile 60 can be provided with triple sensing of the panoramic photography sensing device 10, the laser radar sensing device 20 and the millimeter wave radar sensing device 30 at a long distance, triple sensing of the panoramic photography sensing device 10, the laser radar sensing device 20 and the millimeter wave radar sensing device 30 at a middle distance, and quadruple sensing of the panoramic photography sensing device 10, the laser radar sensing device 20, the millimeter wave radar sensing device 30 and the ultrasonic wave sensing device 40 at a short distance; the lateral direction of the automobile 60 has double perception of the panoramic photography sensing device 10 and the lidar sensing device 20 at the middle distance and triple perception of the panoramic photography sensing device 10, the lidar sensing device 20 and the ultrasonic sensing device 40 at the short distance; the rear direction of the automobile 60 has triple sensing of the panoramic camera sensing device 10, the lidar sensing device 20, and the ultrasonic sensing device 40 at a short distance.
In some embodiments, the forward direction of the automobile 60 is mainly sensed by the forward camera 11, the forward horizontal laser radar 23 and the millimeter wave radar sensing device 30 at a long distance, the forward camera 11, the forward horizontal laser radar 23, the corner laser radar 24 and the millimeter wave radar sensing device 30 at a middle distance, and the forward camera 11, the front overlook laser radar 21, the forward horizontal laser radar 23, the corner laser radar 24, the millimeter wave radar sensing device 30 and the ultrasonic sensing device 40 at a short distance; the lateral direction of the automobile 60 is mainly sensed by the front rear-view camera 12, the rear front-view camera 13, the corner laser radar 24 and the lateral laser radar 26 at the middle distance, and is mainly sensed by the front rear-view camera 12, the rear front-view camera 13, the corner laser radar 24, the lateral laser radar 26 and the ultrasonic sensing device 40 at the short distance; the rear direction of the automobile 60 is provided with the rear down-view lidar 22, the rear-direction lidar 25, and the ultrasonic sensing device 40 at a short distance to achieve sensing.
It will be appreciated that the perception of the vehicle 60 in the above directions and distances may be varied by selecting sensing elements of different perceived distances and angular ranges, for example, the more powerful model of the rearward lidar 25 may be selected to achieve a perception of the vehicle 60 in the rearward direction at intermediate distances. In addition, the above description mainly describes the sensing distance of a certain sensing element in its main sensing direction, which means that the sensing device may have a certain sensing range in some other directions, for example, referring to fig. 4, the forward-facing camera 11 can sense a certain range in a long distance in the lateral direction.
In addition, in order to allow the automobile 60 to find a sufficient braking distance in an emergency, the first preset value may be set to 100 meters, i.e., a long distance greater than 100 meters. In order to facilitate sensing of obstacles in the surrounding environment and planning of sufficient space for accurate parking when the automobile 60 is automatically parked, the second preset value may be set to 10 meters, i.e., a short distance of less than 10 meters. The middle distance is between the long distance and the short distance, in order to enable the automobile 60 to have sufficient turning or turning space and facilitate the avoidance of driving, the third preset value can be set to be 50 meters, namely the middle distance is preferably greater than 50 meters in combination with the length of the automobile body of the common automobile 60.
In some embodiments, the sensing range of the looking-around camera sensing device 50 is not less than the second preset value. The sensing range of the environmental camera sensing device 50 can be overlapped with the sensing ranges of other sensing devices, so that safety redundancy is improved.
The embodiment of the present invention further provides an automobile, and the automobile 60 includes any one of the environmental sensing systems in the foregoing embodiments. In order to enable the motor vehicle 60 to be driven automatically or remotely, the motor vehicle may also comprise data processing means, network connection means and actuating means.
The embodiment of the present invention further provides an automobile, referring to fig. 1 and fig. 2, the automobile 60 is an automatic driving truck for logistics in a garden, the automatic driving truck includes a chassis 61, a container 62 and the embodiment of the present invention provides an environment sensing system, the chassis 61 includes a frame 611 and a head disposed at the front end of the frame 611, and the container 62 is disposed on the frame 611.
It is understood that the vehicle head may refer to the cab 612 necessary for Level L4 (Level 4, Level 4 autopilot) and below, or to the end of the vehicle 60 near the forward direction, such as the front end of the cargo box 62, in the case where the cab 612 is not necessary for Level L5 (Level 5, Level 5 autopilot) autopilot.
Hereinafter, the application of the environmental sensing system in the embodiment of the present invention in the automobile 60 with the cab 612, that is, in the case that the head of the automobile is the cab 612, is exemplified, and referring to fig. 1 and 2 and fig. 4 to 8, the panoramic image pickup sensing device 10 includes a front camera 11, a front rear camera 12, and a rear front camera 13. The forward camera 11 is disposed in front of the cab 612 for sensing obstacles in the forward direction of the car 60, and the installation height can be adjusted according to the situation of the specific vehicle in order to obtain a good view, and the truck used for general garden logistics is preferably set to be 2200 ± 100mm from the ground. The front and rear view cameras 12 are respectively arranged at the corners of the two sides of the front end of the cab 612 to sense the obstacles in the two front and rear directions of the automobile. The front rearview camera 12 at the front left corner can sense left front side and left rear oblique obstacles of the automobile 60, and the front rearview camera 12 at the front right corner can sense right front side and right rear oblique obstacles of the automobile 60. Rear forward-looking cameras 13 are respectively arranged at the corners of the two sides of the rear end of the cargo box 62 to sense two obstacles in the front side direction and the front oblique direction of the automobile. The rear front camera 13 at the rear left corner can sense left front side and left front oblique obstacles of the automobile 60, and the rear front camera 13 at the rear right corner can sense right front side and right front oblique obstacles of the automobile 60. In order to obtain a good view, the installation heights of the front rear view camera 12 and the rear front view camera 13 can be adjusted according to the conditions of specific vehicles, and the truck used for general park logistics is preferably 1400 +/-100 mm away from the ground.
The millimeter wave radar sensing device 30 comprises a millimeter wave radar arranged on the front surface of the cab 612, and in order to obtain a good view, the installation height can be adjusted according to the conditions of specific vehicles, and the distance from the ground to a truck used for general park logistics is preferably less than 800 mm.
The ultrasonic sensing device 40 comprises a plurality of ultrasonic radars which are arranged at intervals and surround the body of the automobile 60, and the installation height is preferably 700 +/-50 mm from the ground for obtaining a good visual field.
The looking-around camera sensing device 50 includes looking-around cameras respectively provided at the upper center of the front of the cab 612, at the upper centers of the left and right side surfaces of the cargo box 62, and at the upper center of the rear of the cargo box 62.
The utility model provides an automatic driving truck for garden logistics, which can completely replace drivers in the garden, realize the horizontal transportation of garden roads, the functions of dock accurate butt-joint parking, automatic parking and the like; meanwhile, the vehicle can run all day long in the daytime and at night without being influenced by illumination conditions; normal running under normal weather conditions can be met, and the influence of common rain and fog is avoided; under the condition of mixed running of people and vehicles, the safety is fully guaranteed; the device can detect low special-shaped obstacles such as scattered goods, pot holes and the like.
The various embodiments/implementations provided herein may be combined with each other without contradiction.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (10)
1. An environmental awareness system for a vehicle, comprising:
the panorama sensing device that makes a video recording for perception the barrier forward of car and side direction, the panorama sensing device that makes a video recording includes: the forward camera is arranged in front of the automobile to sense obstacles in the forward direction of the automobile; the front rear-view cameras are respectively arranged at corners on two sides of the front end of the automobile so as to sense obstacles in the front side direction and the rear oblique direction of the automobile; the rear front-view cameras are respectively arranged at corners on two sides of the rear end of the automobile so as to sense obstacles in the front side direction and the front oblique direction of the automobile;
the laser radar sensing device is used for sensing the obstacles in the circumferential direction of the automobile;
the millimeter wave radar sensing device is used for sensing obstacles in the forward direction of the automobile; and
the ultrasonic sensing device is used for sensing the obstacles in the circumferential direction of the automobile;
the panoramic shooting sensing device, the laser radar sensing device, the millimeter wave radar sensing device and the ultrasonic sensing device are all installed on the automobile.
2. The environmental awareness system of claim 1, wherein the lidar sensing apparatus comprises:
the front overlook laser radar is obliquely arranged above the front of the automobile downwards so as to sense obstacles in the front direction of the automobile;
the rear overlook laser radar is obliquely arranged above the rear surface of the automobile downwards so as to sense an obstacle behind the automobile;
the front horizontal laser radar is horizontally arranged below the front of the automobile so as to sense obstacles in the front direction of the automobile;
the corner laser radars are respectively and rotatably arranged at corners on two sides of the front end of the automobile so as to sense obstacles in the front direction and the side direction of the automobile;
the lateral laser radars are respectively arranged below two side surfaces of the automobile so as to sense lateral obstacles of the automobile; and
and the backward laser radar is horizontally arranged behind the automobile so as to sense the obstacles behind the automobile.
3. The context awareness system of claim 2, wherein the overhead lidar and/or the front level lidar is a solid state lidar; and/or the presence of a gas in the gas,
the lateral laser radar and/or the corner laser radar are mechanical laser radars; and/or the presence of a gas in the gas,
the backward laser radar is a single-line laser radar.
4. The environmental awareness system of claim 1, wherein the millimeter-wave radar sensing device comprises a millimeter-wave radar disposed in front of the automobile.
5. The environmental awareness system of claim 1, wherein the ultrasonic sensing device comprises a plurality of ultrasonic radars spaced apart and surrounding the vehicle body.
6. The environmental awareness system according to any one of claims 1 to 5, further comprising:
and the all-round looking camera sensing device is used for acquiring the circumferential target information of the automobile.
7. The environmental awareness system of claim 6, wherein the looking-around camera sensing device comprises looking-around cameras respectively disposed at the upper center of the front, the upper centers of the two side surfaces and the upper center of the rear surface of the automobile.
8. The environment awareness system according to any one of claims 1 to 5, wherein the panoramic photography awareness apparatus, the lidar awareness apparatus, the millimeter wave radar awareness apparatus, and the ultrasonic awareness apparatus are configured to:
such that the forward direction of the automobile has at least triple perception at long distances, at least triple perception at medium distances, and at least quadruple perception at short distances;
such that the lateral direction of the automobile has at least a twofold perception at medium distances and a threefold perception at short distances;
so that the rear of the car has triple perception at short distances;
the long distance is greater than a first preset value, the short distance is smaller than a second preset value, the second preset value is smaller than the first preset value, and the middle distance is a third preset value located between the long distance and the short distance.
9. An automobile comprising the environmental sensing system of any one of claims 1 to 8.
10. An automobile, wherein the automobile is a campus logistics oriented autonomous truck, the autonomous truck comprising:
the chassis comprises a frame and a vehicle head arranged on the frame;
the container is arranged on the frame;
the environmental awareness system of an automobile as set forth in claim 6,
the panoramic shooting sensing device comprises a front-facing camera, a front-facing rear-facing camera and a rear-facing front-facing camera; the forward camera is arranged in front of the vehicle head so as to sense obstacles in the forward direction of the vehicle; the front rear-view cameras are respectively arranged at corners on two sides of the front end of the vehicle head so as to sense obstacles in the front side direction and the rear oblique direction of the vehicle; the rear forward-looking cameras are respectively arranged at corners on two sides of the rear end of the cargo box so as to sense obstacles in the front side direction and the front oblique direction of the automobile;
the laser radar sensing device comprises a front overlook laser radar, a rear overlook laser radar, a front horizontal laser radar, a corner laser radar, a lateral laser radar and a rear laser radar; the front overlook laser radar is obliquely arranged above the front of the vehicle head downwards so as to sense obstacles in the front direction of the vehicle; the rear overlook laser radar is arranged above the rear surface of the cargo box in an inclined downward mode so as to sense an obstacle behind the automobile; the front horizontal laser radar is horizontally arranged below the front of the vehicle head so as to sense obstacles in the front direction of the vehicle; the corner laser radars are respectively and rotatably arranged at corners on two sides of the front end of the vehicle head so as to sense obstacles in the front direction and the side direction of the vehicle; the lateral laser radars are respectively arranged below two side surfaces of the automobile so as to sense lateral obstacles of the automobile; the backward laser radar is horizontally arranged behind the cargo box to sense obstacles behind the automobile;
the millimeter wave radar sensing device comprises a millimeter wave radar arranged in front of the vehicle head;
the ultrasonic sensing device comprises a plurality of ultrasonic radars which are arranged at intervals and surround the automobile body;
the all-round looking camera sensing device comprises all-round looking cameras which are respectively arranged in the center above the front of the vehicle head, the center above the two side surfaces of the cargo box and the center above the rear of the cargo box.
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| CN202022582849.8U CN214492889U (en) | 2020-11-10 | 2020-11-10 | Environment sensing system of automobile and automobile thereof |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115616578A (en) * | 2022-12-05 | 2023-01-17 | 成都航空职业技术学院 | Radar detection method and device for unmanned aerial vehicle |
| CN116039620A (en) * | 2022-12-05 | 2023-05-02 | 北京斯年智驾科技有限公司 | Safe redundant processing system based on automatic driving perception |
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2020
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115616578A (en) * | 2022-12-05 | 2023-01-17 | 成都航空职业技术学院 | Radar detection method and device for unmanned aerial vehicle |
| CN116039620A (en) * | 2022-12-05 | 2023-05-02 | 北京斯年智驾科技有限公司 | Safe redundant processing system based on automatic driving perception |
| CN116039620B (en) * | 2022-12-05 | 2024-04-19 | 北京斯年智驾科技有限公司 | Safe redundant processing system based on automatic driving perception |
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