CN215264496U - Automatic driving passenger car - Google Patents
Automatic driving passenger car Download PDFInfo
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- CN215264496U CN215264496U CN202121279204.5U CN202121279204U CN215264496U CN 215264496 U CN215264496 U CN 215264496U CN 202121279204 U CN202121279204 U CN 202121279204U CN 215264496 U CN215264496 U CN 215264496U
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Abstract
The utility model discloses an automatic drive passenger train, include: the device comprises a vehicle head part, wherein a panoramic camera, a millimeter wave radar, a solid laser radar and a forward camera are sequentially arranged in the middle area of the vehicle head part towards the inside of the vehicle, and two angles at the connecting part of the vehicle head part and the side surface of the vehicle body are respectively provided with a first laser radar; a panoramic camera is arranged on the rear-view mirror of the head part or the lower part of the first laser radar; the vehicle tail part is provided with a looking-around camera in the middle area, and two corners of the connecting part of the vehicle tail part and the side surface of the vehicle body are respectively provided with a millimeter wave radar; the first side part is provided with ultrasonic radars at the joints of the first side part, the head part and the tail part respectively; and the joints of the second side part, the head part and the tail part are respectively provided with an ultrasonic radar. The utility model discloses reduce required sensor among the autopilot process, saved the cost.
Description
Technical Field
The utility model relates to a technical field of vehicle autopilot, in particular to autopilot passenger train.
Background
The bus industry relates to public transport, and public transport is a traffic trip mode which is preferentially encouraged by the nation. The automatic driving passenger car realizes the intelligent information exchange and sharing between the car and X (car, road, people, cloud and the like) by carrying advanced devices such as a car-mounted sensor, a controller, an actuator and the like and fusing modern communication and network technologies, has the functions of complex environment sensing, intelligent decision, cooperative control and the like, can realize safe, efficient, comfortable and energy-saving driving, and plays a vital role in reducing traffic safety accidents, improving traffic travel efficiency, improving urban environmental pollution and the like.
However, in the existing automatic driving passenger car, a large number of high-precision sensors are generally required to be installed to realize environment sensing, a large amount of data is brought by the sensors in a large number, the requirement for computing capacity is further increased, in addition, extreme environments can interfere with the stability of the sensors or cause decision delay of an automatic driving system, and the reliability and the stability of the automatic driving passenger car are poor. Meanwhile, a large number of sensors also cause cost increase, so that the automatic driving passenger car is difficult to land on the ground on a large scale.
SUMMERY OF THE UTILITY MODEL
The utility model discloses aim at solving one of the technical problem that exists among the prior art at least. Therefore, the utility model provides an automatic drive passenger train can utilize less sensor to realize autopilot.
According to the utility model discloses an automatic driving passenger train of first aspect embodiment, include: the device comprises a vehicle head part, wherein a panoramic camera, a millimeter wave radar, a solid laser radar and a forward camera are sequentially arranged in the middle area of the vehicle head part towards the inside of the vehicle, and two angles at the connecting part of the vehicle head part and the side surface of the vehicle body are respectively provided with a first laser radar; a panoramic camera is arranged on the rear-view mirror of the head part or the lower part of the first laser radar; the vehicle tail part is provided with a looking-around camera in the middle area, and two corners of the connecting part of the vehicle tail part and the side surface of the vehicle body are respectively provided with a millimeter wave radar; the first side part is provided with ultrasonic radars at the joints of the first side part, the head part and the tail part respectively; the joints of the second side part, the head part and the tail part are respectively provided with an ultrasonic radar; the millimeter wave radar passes through the CAN line and is connected with the domain controller in the car, solid-state laser radar reaches first laser radar passes through the CAN line via the switch with the domain controller is connected, ultrasonic radar passes through the CAN line via the gateway with the domain controller is connected, look around the camera and to the camera with the domain controller is connected.
According to the utility model discloses autopilot passenger train has following beneficial effect at least: according to the characteristics of the passenger car, according to the sensing characteristics of different vehicle-mounted sensors, blind areas of the passenger car can be effectively reduced by effectively combining fewer sensors, and corresponding data is acquired by detecting environmental obstacle information around the vehicle, so that judgment basis is provided for determining the position and the posture of the vehicle and controlling automatic driving and parking decisions.
According to some embodiments of the present invention, further comprising: the roof part is provided with a navigation device.
According to some embodiments of the invention, the navigation device is located in the head side and the tail side of the roof portion.
According to some embodiments of the present invention, the navigation device is: the combined navigation device of satellite positioning, differential navigation and inertial navigation.
According to some embodiments of the utility model, the front end both sides of car head portion reach in the tail end both sides of car afterbody, every side all is provided with a plurality of ultrasonic radar.
According to some embodiments of the utility model, the front end both sides of car head portion reach in the tail end both sides of car afterbody, every side all is provided with and all is provided with two ultrasonic radar.
According to some embodiments of the invention, the first lidar is a 16-line lidar.
According to some embodiments of the utility model, the domain controller passes through the HDMI line and is connected with the display screen in the car.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a top view block diagram of a passenger car with a sensor installed in an embodiment of the present invention;
fig. 2 is a schematic connection diagram of modules according to an embodiment of the present invention.
Reference numerals:
a nose portion 100, a tail portion 200, a first side portion 300, a second side portion 400;
the system comprises a look-around camera 610, a millimeter wave radar 620, a solid state laser radar 630, a forward facing camera 640, a first laser radar 650, an ultrasonic radar 660, and a navigation device 670.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present invention, and should not be construed as limiting the present invention.
In the description of the present invention, a plurality of means are one or more, a plurality of means are two or more, and the terms greater than, less than, exceeding, etc. are understood as not including the present number, and the terms greater than, less than, within, etc. are understood as including the present number. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated. In the description of the present invention, the step numbers are only marks for convenience of description or for convenience of reference, and the sequence numbers of the steps do not mean the order of execution, and the execution order of the processes should be determined by the functions and the internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.
Referring to fig. 1, the utility model discloses a passenger train of embodiment includes: the vehicle head part 100 is characterized in that a looking-around camera 610, a millimeter wave radar 620, a solid laser radar 630 and a forward camera 640 are sequentially arranged in the middle area of the vehicle head part 100 towards the inside of the vehicle, and two corners of the connecting part of the vehicle head part 100 and the side surface of the vehicle body are respectively provided with a first laser radar 650; a looking-around camera 610 is arranged on the lower portion of a rear-view mirror or a first laser radar 650 of the vehicle head portion 100; the vehicle tail part 200 is provided with a looking-around camera 610 in the middle area of the vehicle tail part 200, and two corners of the connecting part of the vehicle tail part and the side surface of the vehicle body are respectively provided with a millimeter wave radar 620; the ultrasonic radar 660 is arranged at the joint of the first side part 300, the head part 100 and the tail part 200 respectively; the second side portion 400, and the joints of the second side portion 400, the head portion 100 and the tail portion 200 are respectively provided with an ultrasonic radar 660. The millimeter-wave radar 620 is connected with a domain controller in the vehicle through a CAN line, the solid-state laser radar 630 and the first laser radar 650 are connected with the domain controller through the CAN line through a switch, and the ultrasonic radar 660 is connected with the domain controller through a gateway through the CAN line. Although not shown, the all-around camera 610 and the forward camera 640 are connected to a domain controller.
The automatic driving passenger car system of the embodiment comprises a sensing sensor, a domain controller, a display screen, a switch, a gateway, a vehicle-mounted unit and the like, and the structure of the system is shown in fig. 2. And uploading the laser radar data to the domain controller through the switch. The domain controller receives data of the millimeter wave radar 620 and positioning data of the combined inertial navigation. Data collected by the ultrasonic radar 660 is input to the domain controller through the gateway. And the domain controller receives and processes the data of each sensor, and carries out path planning and decision making through sensing the data.
The embodiment of the utility model provides an in, refer to fig. 1, first laser radar 650 is 16 line laser radar, is provided with 2 first laser radar 650 in a passenger train, is located the left and right sides of locomotive portion 100 front end respectively, and the both corners of the side junction of automobile body can be used to detect the obstacle of vehicle both sides. The blind spot at the near place in the place ahead and the side can be effectively avoided by the arrangement, and the acquisition of more comprehensive information is ensured when the vehicle changes the road to drive. It should be understood that, although first lidar 650 in the present embodiment is a 16-line lidar, the first lidar in the present invention is not limited thereto, and may be other types of lidar.
In this embodiment, four around-looking cameras 610 are provided. Among them, one look-around camera 610 is installed at the middle position of the car head portion 100, and the installation height is more than 60 cm. A look-around camera 610 is mounted at the middle position of the vehicle tail portion 200, and the mounting height is more than 60 cm. And a look-around camera 610 is respectively installed under the rearview mirrors on the left and right sides of the vehicle head or under the first laser radar 650, and can be used for identifying an automatic parking space and an obstacle in a low-speed state.
In this embodiment, three millimeter wave radars 620 are provided. A millimeter wave radar 620 is provided in the vehicle head portion 100 for detecting a dynamic target ahead in a harsh environment. The millimeter wave radars 620 are arranged on two sides of the tail portion 200 respectively, and when lane changing and automatic overtaking are carried out, a rear moving target can be detected, so that a decision-making system can make a correct evading strategy, and safety is guaranteed. In the present embodiment, the measurement distances of the millimeter wave radar 620 provided in the head portion 100 and the tail portion 200 are different, and the millimeter wave radar 620 provided in the head portion 100 is located farther than the millimeter wave radar 620 provided in the tail portion 200.
The solid-state laser radar 630 is disposed right in front of the vehicle head portion 100, and is configured to detect targets (including static and dynamic targets) within a certain range (e.g., 200 meters) in front of the vehicle, so as to ensure redundancy and reliability of front information detection. And the data of the solid-state laser radar 630 is simple and is processed quickly, so that enough response time can be provided for safe driving of the vehicle.
In this embodiment, the vehicle head portion 100 is further provided with a forward monocular camera 640, which is mounted behind a windshield in front of the vehicle, and is used for detecting lane lines and obstacles of vehicles or pedestrians in front. Through this camera 640, can provide comparatively accurate lane line and the preceding obstacle information. In the embodiment, the effective shooting range of the selected camera is more than 100 meters ahead, so that more stable image information can be obtained under most light conditions.
In this embodiment, the look-around camera 610, the millimeter wave radar 620, the solid state laser radar 630, and the forward camera 640 are sequentially disposed on the car head portion 100 along a direction from the outside of the car toward the inside of the car.
Further, a plurality of ultrasonic radars 660 are provided on both sides of the front end of the car head portion 100. In this embodiment, two ultrasonic radars 660 are provided on both sides of the front end of the car head portion 100.
In the present embodiment, the vehicle tail portion 200 is provided with the all-round-looking camera 610 in the middle area of the tail end thereof, and the two corners of the connection with the side surface of the vehicle body are respectively provided with one millimeter wave radar 620, and the two sides of the tail end of the vehicle tail portion 200 are also provided with a plurality of ultrasonic radars 660. In this embodiment, two ultrasonic radars 660 are respectively disposed on two sides of the tail end of the car tail 200.
In addition, in the present embodiment, the joints of the first side 300 of the passenger car with the car head portion 100 and the car tail portion 200 are respectively provided with the ultrasonic radars 660, that is, the first side 300 is provided with two ultrasonic radars 660; in addition, in the present embodiment, the joints of the second side portion 400 of the passenger car with the car head portion 100 and the car tail portion 200 are respectively provided with the ultrasonic radars 660, that is, the second side portion 400 is provided with two ultrasonic radars 660.
In summary, in the present embodiment, a total of 12 ultrasonic radars 660 are provided, and these ultrasonic radars 660 are used for redundant detection of an obstacle around the vehicle body and detection of a low-speed short-distance obstacle and detection of an obstacle when the vehicle is automatically parked. It should be understood that, in the embodiment of the present invention, the number of the ultrasonic radars located on the two sides of the head portion, the two sides of the tail portion, the first side portion and the second side portion may be adjusted according to actual needs.
In the embodiment of the present invention, the car roof (not shown) of the customer is further provided with a navigation device 670. As shown in fig. 1, the navigation device 670 is provided on the front side and the rear side of the roof portion. In this embodiment, the navigation device 670 is: the combined navigation device of satellite positioning, differential navigation and inertial navigation can reliably obtain the position and attitude information of the vehicle. The satellite positioning and the differential system are used together, so that accurate position information can be obtained under most conditions. Under the condition of meeting shielding, the inertial navigation can calculate more accurate position information. After the two modes are fused, accurate positioning information can be obtained in 99% of environments.
Although specific embodiments have been described herein, those of ordinary skill in the art will recognize that many other modifications or alternative embodiments are equally within the scope of this disclosure. For example, any of the functions and/or processing capabilities described in connection with a particular device or component may be performed by any other device or component. In addition, while various illustrative implementations and architectures have been described in accordance with embodiments of the present disclosure, those of ordinary skill in the art will recognize that many other modifications of the illustrative implementations and architectures described herein are also within the scope of the present disclosure.
Claims (8)
1. An autonomous bus, comprising:
the device comprises a vehicle head part, wherein a panoramic camera, a millimeter wave radar, a solid laser radar and a forward camera are sequentially arranged in the middle area of the vehicle head part towards the inside of the vehicle, and two angles at the connecting part of the vehicle head part and the side surface of the vehicle body are respectively provided with a first laser radar; a panoramic camera is arranged on the rear-view mirror of the head part or the lower part of the first laser radar;
the vehicle tail part is provided with a looking-around camera in the middle area, and two corners of the connecting part of the vehicle tail part and the side surface of the vehicle body are respectively provided with a millimeter wave radar;
the first side part is provided with ultrasonic radars at the joints of the first side part, the head part and the tail part respectively;
the joints of the second side part, the head part and the tail part are respectively provided with an ultrasonic radar;
the millimeter wave radar passes through the CAN line and is connected with the domain controller in the car, solid-state laser radar reaches first laser radar passes through the CAN line via the switch with the domain controller is connected, ultrasonic radar passes through the CAN line via the gateway with the domain controller is connected, look around the camera and to the camera with the domain controller is connected.
2. The autonomous-capable passenger vehicle of claim 1, further comprising: the roof part is provided with a navigation device.
3. The autonomous-capable passenger vehicle of claim 2, wherein the navigation device is provided on a head side and a tail side of the roof portion, respectively.
4. The autonomous-capable passenger vehicle of claim 2, wherein the navigation device is: the combined navigation device of satellite positioning, differential navigation and inertial navigation.
5. The autonomous-capable passenger vehicle of claim 1, wherein a plurality of ultrasonic radars are provided on each of both sides of a front end of the head portion and both sides of a rear end of the tail portion.
6. The autonomous-capable passenger vehicle of claim 5, wherein two ultrasonic radars are provided on each of both sides of the front end of the head portion and both sides of the rear end of the tail portion.
7. The autonomous-capable passenger vehicle of any of claims 1-6, wherein the first lidar is a 16-line lidar.
8. The autonomous-capable passenger car of any one of claims 1 to 6, wherein the domain controller is connected to a display screen inside the car via an HDMI line.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121279204.5U CN215264496U (en) | 2021-06-08 | 2021-06-08 | Automatic driving passenger car |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121279204.5U CN215264496U (en) | 2021-06-08 | 2021-06-08 | Automatic driving passenger car |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215264496U true CN215264496U (en) | 2021-12-21 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202121279204.5U Active CN215264496U (en) | 2021-06-08 | 2021-06-08 | Automatic driving passenger car |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN215264496U (en) |
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2021
- 2021-06-08 CN CN202121279204.5U patent/CN215264496U/en active Active
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