CN216646816U - Autopilot radar module and autopilot sensing assembly - Google Patents

Abstract

The utility model provides an automatic driving radar module and an automatic driving perception component, wherein the automatic driving radar module is arranged at the top of a vehicle and comprises: the three adjacent first laser radars are arranged on the front side of the vehicle; and an included angle formed between the orientation directions of the first laser radars which are adjacently arranged is an obtuse angle. The automatic driving radar module provided by the utility model at least provides three first laser radars which are tightly arranged on the front side of the vehicle, and the angle range of the environment detection of the radar module can be expanded to a greater extent, so that the scheme of arranging the mechanical all-directional rotation detection laser radars on the vehicle roof is replaced.

Description

Autopilot radar module and autopilot sensing assembly

Technical Field

The present invention relates to the field of autopilot, and more particularly, to an autopilot radar module and an autopilot sensing assembly.

Background

The automatic driving vehicle needs to be provided with devices such as sensors for environment detection and identification so as to realize automatic driving. A single or a small number of sensors cannot be qualified for complex environment detection and identification, or the sensors cannot be arranged in important areas and cannot be accurately detected, so that the system stability and reliability of the vehicle cannot be guaranteed. The roof of the vehicle has a wide area, is a good area for installing the sensor, can provide a good installation space for the sensor and ensures that the sensor detects an environment area which is extremely important for the vehicle to run. The sensors or devices installed on the roof of the vehicle are generally of several types, and the number of the sensors or devices is also several, so as to ensure the sufficient detection and identification of the vehicle environment, and make full use of the performance or parameters of each sensor or device, such as laser radar, camera, millimeter wave radar, antenna, and the like.

At present, a sensor suite arranged in the area of the roof of a vehicle adopts a mechanical rotating laser radar, and the mechanical rotating laser radar can provide 360-degree environment perception. However, the mechanical rotary lidar is large in size and expensive, and as a vehicle sensor, the mechanical rotary lidar is not ideal in cost and appearance. However, if the laser radar with a smaller size is used, the laser radar cannot provide 360-degree all-around environment detection, and the environment detection and identification capability of the automatic driving vehicle can be directly influenced.

SUMMERY OF THE UTILITY MODEL

The utility model aims to overcome at least one defect of the prior art and provides an automatic driving radar module and an automatic driving sensing assembly, which are used for solving the problems that a mechanical rotating laser radar arranged on a car roof is large in size and high in cost, and a small laser radar arranged on the car roof cannot provide all-dimensional environment detection.

The technical scheme adopted by the utility model comprises the following steps:

in a first aspect, the present invention provides an autopilot radar module, disposed on a roof of a vehicle, comprising: the three first laser radars which are arranged adjacently are all arranged on the front side of the vehicle; and an included angle formed between the orientation directions of the first laser radars which are adjacently arranged is an obtuse angle.

Further, the field angle of the first laser radar is in a range of 110 ° to 150 °.

Further, at least one of the first lidar is directed directly in front of the vehicle; and the other first laser radars are symmetrically arranged on two sides of the first laser radar facing the front of the vehicle.

Further, an included angle formed between the first laser radar facing the front of the vehicle and the first laser radars symmetrically arranged is larger than 90 degrees and smaller than or equal to 135 degrees.

Further, the level of the first lidar facing directly in front of the vehicle is lower than the level of the symmetrically arranged first lidar.

Further, still include: at least one second lidar arranged at the rear side of the vehicle; at least one of the second lidar heads is directed directly behind the vehicle.

Further, the field angle range of the second laser radar is between 110 ° and 150 °.

Further, the level of a second lidar directed directly behind the vehicle is higher than the level of all of the first lidar.

In a second aspect, the utility model provides an autopilot sensing assembly, which is arranged on the top of a vehicle, and comprises an installation platform, an image acquisition module and an antenna module, wherein the image acquisition module and the antenna module are arranged on the installation platform, and the autopilot radar module is arranged on the installation platform.

Further, the image acquisition module includes: the frame rate of the first wide-angle image acquisition devices is the same as that of the first laser radar; at least one first wide-angle image acquisition device is arranged on the side surface of each first laser radar; the frame rate of the second wide-angle image acquisition devices is the same as that of the second laser radar; and at least one second wide-angle image acquisition device is arranged on the side surface of each second laser radar.

Further, the image acquisition module still includes: a plurality of tele image acquisition devices; at least one tele image acquisition device is arranged on the side of the first laser radar facing the front of the vehicle.

Further, the image acquisition module still includes: a plurality of mid-tele image acquisition devices; and at least one middle long-focus image acquisition device is arranged on the side surface of the first laser radar facing the front of the vehicle.

Further, the mounting platform comprises four top corners; at least one middle long-focus image acquisition device is respectively arranged on the four top corners; an included angle formed between the middle and long-focus image acquisition devices arranged at the two top corners of the front side of the vehicle and the first laser radar facing the front of the vehicle is an acute angle; and an included angle formed between the middle long-focus image acquisition devices arranged at the two top corners of the rear side of the vehicle and the second laser radar facing the right rear side of the vehicle is an acute angle.

Further, two top corners of the mounting platform on the front side of the vehicle protrude outwards to form protruding areas; the symmetry sets up first laser radar, sets up the first wide angle image acquisition device in the first laser radar's that the symmetry set up side, and establishes the well long burnt image acquisition device of two apex angles of the front side of car all is located the bulge area.

Further, the antenna module includes: at least two antennas; at least one antenna is arranged on the side surface of each first laser radar which is symmetrically arranged.

Compared with the prior art, the utility model has the beneficial effects that:

(1) the automatic driving radar module provided by the utility model at least provides three first laser radars which are tightly arranged on the front side of the vehicle, and the angle range of the environment detection of the radar module can be expanded to a greater extent, so that the scheme that a mechanical omnibearing rotation detection laser radar is arranged on the vehicle roof is replaced, and compared with the mechanical omnibearing rotation detection laser radar, each first laser radar has the advantages of smaller size, lower cost, compactness and attractiveness;

(2) the automatic driving radar module provided by the utility model also provides at least one second laser radar which is arranged at the rear side of the vehicle and faces to the right rear side of the vehicle, so that the environment detection range of the whole radar module covers the front, rear, left and right directions of the vehicle, and the environment detection and identification capability of the automatic driving vehicle is ensured;

(3) the automatic driving sensing assembly provided by the utility model comprises an automatic driving radar module, an image acquisition module and an antenna module, wherein each module can give full play to respective parameter performance, collect different types of data and realize information observation and object detection at various angles and distances, so that the data complementation of each module in environment detection and identification is realized.

Drawings

Fig. 1 is a schematic positional relationship diagram of three first laser radars 10 according to embodiment 1 of the present invention.

Fig. 2 is a schematic diagram of detection ranges of three first lidar 10 according to embodiment 1 of the present invention.

Fig. 3 is a schematic diagram of detection ranges of the first laser radar 10a and the first laser radar 10b according to embodiment 1 of the present invention.

Fig. 4 is a schematic diagram of the detection range of the first laser radar 10a in the vehicle body vertical direction according to embodiment 1 of the present invention.

Fig. 5 is a schematic diagram of the first laser radar 10 according to embodiment 1 of the present invention, which is disposed on a recessed platform.

Fig. 6 is a schematic diagram of detection ranges of the first laser radar 10a, the first laser radar 10b, and the second laser radar 20a according to embodiment 1 of the present invention.

Fig. 7 is a schematic diagram of second laser radar 20a according to embodiment 1 of the present invention, which is disposed on a raised platform.

Fig. 8 is a perspective view of an automatic driving feeling assembly of embodiment 2 of the present invention.

Fig. 9 is a top view of an automatic driving perception assembly of embodiment 2 of the present invention.

Fig. 10 is a schematic view of an angular relationship between the first laser radar 200a and the second laser radar 300a and the intermediate-and-long-focus image capturing device 800 according to embodiment 2 of the present invention.

Fig. 11 is a schematic diagram of detection ranges of the first laser radar 200a, the first laser radar 200b, and the second laser radar 300a according to embodiment 2 of the present invention.

Description of reference numerals:

a first laser radar 10; a first laser radar 10 a; a first laser radar 10 b; a second laser radar 20; a second laser radar 20 a;

a mounting platform 100; a first laser radar 200; a laser radar mount 101; a laser radar mount 101 a; a laser radar mount 101 b; a laser radar mount 101 c; a first laser radar 200 a; a first laser radar 200 b; a second laser radar 300; a second laser radar 300 a; a recessed platform 400; a raised platform 500; a first wide-angle image capture device 610; a second wide-angle image capture device 620; a tele image acquisition device 700; a mid-tele image acquisition device 800; an antenna 900.

Detailed Description

The drawings are only for purposes of illustration and are not to be construed as limiting the utility model. For a better understanding of the following embodiments, certain features of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.

Example 1

The present embodiment provides an autonomous driving radar module disposed on the top of an autonomous driving vehicle, which is a vehicle capable of complete, safe and effective driving without substantial human manipulation, and in the following embodiments, the autonomous driving vehicle is simply referred to as a vehicle.

As shown in fig. 1, the autopilot radar module includes: three first laser radar 10 of adjacent setting, three first laser radar 10 all set up the front side at the car, and contained angle alpha that becomes between the orientation direction of the first laser radar 10 of adjacent setting is the obtuse angle.

The front side of the vehicle is the side of the vehicle close to the vehicle head, namely the three first laser radars 10 are arranged at the top of the vehicle and are positioned at the front side of the vehicle, and the positions of the three first laser radars 10 are closer. The laser radar is a radar that detects a characteristic amount such as a position and a velocity of a target with a laser beam. The direction of the first laser radar 10 is specifically the direction in which the detection means of the first laser radar 10 for environmental detection are directed.

Every first laser radar 10 homoenergetic carries out the environmental detection of certain angle, and when three first laser radar 10 was adjacent to be set up, can cooperate between the first laser radar 10 to carry out environmental detection, the angle range that makes the environmental detection that whole radar module provided is greater than the detection angle scope that every first laser radar 10 provided. As shown in fig. 1, when the included angle α formed between the facing directions of the three first laser radars 10 is an obtuse angle, the angle range of the environment detection of the radar module can be greatly expanded, so as to replace the scheme of arranging a mechanical omnidirectional rotation detection laser radar on the roof of the vehicle. Compare in the laser radar of mechanical type omnidirectional rotation detection, every first laser radar 10's size is less, and the cost that sets up three first laser radar 10 is also lower, closely sets up between the first laser radar 10, and whole seems compact and pleasing to the eye.

Specifically, the field angle of the first laser radar 10 ranges from 110 ° to 150 °.

The size of the angle of view determines the range of view and the detection range of the laser radar, and the angle of view is divided into a horizontal angle of view and a vertical angle of view, and only the horizontal angle of view is limited and explained in the present embodiment, and the horizontal angle of view is hereinafter simply referred to as the angle of view. As shown in fig. 2, the field angle FOV of the first laser radar 10 ranges from 110 ° to 150 °, the included angle α formed between the facing directions of the first laser radars 10 forms an obtuse angle, and the three first laser radars 10 are all disposed on the top of the front side of the vehicle, so that the environment detection range of the entire radar module can cover the front side, the left side, and the right side of the vehicle. The field angle of the first lidar 10 is most preferably 120 °.

Specifically, as shown in fig. 3, the first lidar 10a faces the front of the vehicle, and the two first lidar 10b are symmetrically disposed on both sides of the first lidar 10 a. The first lidar 10a is directed directly in front of the vehicle, which is one of the directions most in need of attention during autonomous driving, and is covered within the environmental detection range of the first lidar 10 a. The two first laser radars 10b are symmetrically arranged on both sides of the first laser radar 10a, and the left side and the right side of the vehicle are covered in the environment detection ranges of the two first laser radars 10b, respectively.

More specifically, the angle α formed by the orientation direction of the first laser radar 10b and the orientation direction of the first laser radar 10a is greater than 90 ° and less than or equal to 135 °, based on which, as shown in fig. 3, only a very small scanning blind area exists between each first laser radar 10b and the first laser radar 10 a. Each of the first laser radars 10b has an overlapping portion of the detection range with the first laser radar 10a, which is an area a shown by a dotted line in fig. 3, and the two areas a are located at the left front of the vehicle and the right front of the vehicle, respectively. The left front of car and the right front of car are the position that the friction collision appears easily with other vehicles among the autopilot process, therefore, two regional A are located the left front and the right front of car respectively, are favorable to the car to fuse as required the data that first laser radar 10a and first laser radar 10b gathered at the autopilot in-process to strengthen the data analysis of these two directions, avoid appearing the condition that friction collision appears between the vehicle.

Preferably, the level of the first lidar 10a is lower than the level of the first lidar 10 b. On the premise of not blocking the field angle of the first laser radar 10a, reducing the horizontal height of the first laser radar 10a can make the field angle FOV of the first laser radar 10a fully applied, as shown in fig. 4, the first laser radar 10a can be attached to the vehicle body right in front of the vehicle for scanning and detecting, so that the scanning blind area of the vehicle body in the vertical direction is smaller. The scanning blind area refers to a position where the field angle of the laser radar cannot be scanned. More preferably, as shown in fig. 5, the first lidar 10a may be disposed on a recessed platform to reduce its level to a level lower than that of the first lidar 10b, while also ensuring that the first lidar 10a is disposed in a horizontal position and that the scanning process is stable.

Preferably, the radar module provided by this embodiment further includes at least one second laser radar 20 disposed at the rear side of the vehicle, wherein the at least one second laser radar 20 faces the front and rear of the vehicle.

The second laser radar 20 and the first laser radar 10 may be the same type or different types of laser radars, and only the laser radars disposed on the rear side of the vehicle are collectively referred to as the second laser radar 20 herein, and are distinguished from the first laser radar 10 disposed on the front side of the vehicle, and there is no distinction or restriction on the types, performances, and the like of the first laser radar 10 and the second laser radar 20.

Specifically, the field angle range of the second laser radar 20 is between 110 ° and 150 ° to ensure that the detection range of the second laser radar 20 can cover most of the area on the rear side of the vehicle. The angle of view of the second lidar 20 is most preferably 120 °.

As shown in fig. 6, at least one second lidar 20a is disposed right behind the vehicle and at the rear side of the vehicle, and when the FOV of the second lidar 20a is in the range of 110 ° to 150 °, the right front, right rear, left side and right side of the vehicle are covered in the detection ranges of the first lidar 10a, the first lidar 10b and the second lidar 20a, the radar module provided in this embodiment only needs at least four radars, wherein the cooperation between the first lidar 10 and the second lidar 20 can satisfy the omnidirectional environment detection of the vehicle, so that the radar can replace the radar for mechanical omnidirectional rotation detection, and the use of a plurality of radars instead of the mechanical omnidirectional rotation detection radar not only saves the cost, but also can make the top of the vehicle more beautiful and concise due to the smaller size thereof.

As shown in fig. 6, there is only a very small scanning blind area between the first laser radar 10b and the second laser radar 20 a. The detection ranges of the first laser radar 10B and the second laser radar 20a overlap, and are areas B shown by dotted lines in fig. 6, and the two areas B are located on the left rear side of the vehicle and the right rear side of the vehicle, respectively. The left rear part of the vehicle and the right rear part of the vehicle are positions where friction collision with other vehicles easily occurs in the automatic driving process, and therefore the two areas B are respectively located at the left rear part and the right rear part of the vehicle, and the data collected by the first laser radar 10B and the second laser radar 20a in the automatic driving process of the vehicle can be fused as required, so that data analysis in the two directions can be enhanced, and the situation of friction collision between the vehicles can be avoided. Since the two first laser radars 10B are disposed on the front side of the vehicle, the size of the area a may be larger than that of the area B.

Preferably, the level of the second lidar 20a towards the direct rear of the vehicle is higher than the level of all of the first lidar 10. If the number of the second laser radars 20 is more than one, the level of the second laser radar 20a facing the vehicle directly behind is also higher than the level of the other second laser radars 20. The angle of view of the second laser radar 20a facing the front and rear of the vehicle is easily blocked by an antenna provided at the rear of the vehicle, a tail wing of the vehicle, or a body molding of the rear of the vehicle, so that environment detection at the front and rear of the vehicle is affected, but the front and rear of the vehicle belong to one of directions which need to be paid attention to most in the automatic driving process, so that the horizontal height of the second laser radar 20a is increased, the angle of view of the second laser radar 20a can be ensured not to be blocked, and the environment detection at the front and rear of the vehicle is ensured to be unimpeded. More preferably, as shown in fig. 7, the second lidar 20a may be disposed on a raised platform to raise its level above the level of all of the first lidar 10, while also ensuring that the second lidar 20a is disposed in a horizontal position and that the scanning process is stable.

The autonomous driving radar module that this embodiment provided sets up at the top of autonomous driving vehicle, including four laser radar at least, is the three first laser radar 10 that sets up in the plantago side respectively to and set up at least one second laser radar 20 in the car rear side. The three first laser radars 10 are closely arranged adjacent to each other, and form an obtuse angle between the facing directions, the field angle range of the first laser radar 10 is between 110 degrees and 150 degrees, wherein the first laser radar 10a faces the right front of the vehicle, so that the environment detection at least covering the right front, left side and right side of the vehicle is realized. The at least one second laser radar 20a faces the right back of the vehicle, and the field angle range is between 110 and 150 degrees, so that the environment detection at least covering the right back of the vehicle is realized. The cooperation between first laser radar 10 and second laser radar 20 has covered all-round environmental detection of plantago, back, left and right sides, is enough to replace the rotatory laser radar who surveys of mechanical type all-round formula, and the laser radar that this embodiment adopted is small in size and with low costs, arranges compactly and pleasing to the eye, and weight is lighter, is favorable to encapsulating. The scanning detection range between the laser radars has an overlapping part at a specific position, so that certain data acquisition, data fusion and data analysis capabilities of the automatic driving vehicle on environmental detection are ensured.

Example 2

Based on the same concept as embodiment 1, the present embodiment provides an automatic driving sensing assembly provided on the roof of an automatic driving vehicle, which is simply referred to as a vehicle in the present embodiment. The automatic driving perception assembly comprises: mounting platform 100, set up radar module, image acquisition module and the antenna module on this mounting platform 100.

Mounting platform 100 is the foundation for carrying the autopilot sensing assembly and may be secured to the roof of a vehicle. The shape of the mounting platform 100 is generally similar to the shape of a vehicle roof, and the mounting platform 100 may be rectangular, or the mounting platform 100 may be correspondingly shaped according to the shape of the roof of different vehicles.

The radar module disposed on the mounting platform 100 is the autopilot radar module provided in embodiment 1, and when the radar module provided in embodiment 1 is applied to embodiment 2, the radar module specifically includes three first lidar 200 and one second lidar 300. Preferably, each first lidar 200 is secured to one lidar bracket 101, and each second lidar 300 is secured to one lidar bracket 101, with lidar brackets 101 each being secured to mounting platform 100.

As shown in fig. 8 and 9, the first laser radar 200a is positioned at the forefront of the center axis of the mounting platform 100, and faces the front of the vehicle. Preferably, the mounting platform 100 is provided with a recessed platform 400 at the foremost position of the central axis thereof, the lidar bracket 101a fixed with the first lidar 200a is fixed in the recessed platform 400, so that the field angle FOV of the first lidar 200a is fully applied, the first lidar 200a can be attached to the vehicle body right in front of the vehicle for scanning and detecting, the scanning blind area of the vehicle body in the vertical direction is smaller, and meanwhile, the first lidar 200a is ensured to be arranged at the horizontal position, and the scanning process can be kept stable.

As shown in fig. 8, two first laser radars 200b are symmetrically disposed on two sides of the first laser radar 200a, and the included angles formed between the facing directions of the two first laser radars and the facing direction of the first laser radar 200a are obtuse angles, and the included angle is greater than 90 ° and less than or equal to 135 °. The field angle of the first laser radar 200 is in the range of 110 ° to 150 °, most preferably 120 °. Each of the first laser radars 200b has an overlapping portion with the scanning detection range of the first laser radar 200a, and the overlapping portions are two in total and are respectively positioned at the front left and right of the vehicle.

Preferably, as shown in fig. 9, the mounting platform 100 is provided with four corners, wherein two corners on the front side of the vehicle are protruded outwards, a protruded area C is formed on each side of the mounting platform 100, two first laser radars 200b are respectively positioned in the protruded area C on one side of the mounting platform, and an included angle formed between each first laser radar 200b and the facing direction of the first laser radar 200a is kept as an obtuse angle, and the angle range is unchanged.

Referring to fig. 8 and 9, the second lidar 300a is positioned rearward and rearward of the central axis of the mounting platform 100. Preferably, the mounting platform 100 is provided with a protruding platform 500 at the rearmost of the central axis thereof, and the lidar bracket 101c fixed with the second lidar 300a is fixed on the protruding platform 500, so that the second lidar 300a is prevented from being shielded by an antenna arranged at the rear of a vehicle, a tail of the vehicle, or a vehicle body molding at the rear of the vehicle, thereby affecting the scanning detection range thereof, and meanwhile, the second lidar 300a is ensured to be arranged at a horizontal position, and the scanning process thereof can be kept stable.

The field angle of the second laser radar 300a is in the range of 110 ° to 150 °, most preferably 120 °. The scanning detection ranges of the two first laser radars 200b and the second laser radar 300a have overlapped parts, and the two overlapped parts are respectively positioned at the left rear part and the right rear part of the vehicle.

Under the cooperation of first laser radar 200 and second laser radar 300, the whole scanning detection range of radar module has covered the dead ahead of car, left side, right side and dead behind, and there is the overlap portion in scanning detection range, has guaranteed that the autopilot vehicle is certain data acquisition, data fusion and data analysis ability on environmental detection.

The image acquisition module set on the mounting platform 100 is a combination of a plurality of devices for image acquisition, and the acquired image data is generally used as a supplement to the data acquired by the laser radar and is an indispensable part of a general automatic driving perception component.

Specifically, the image capturing module includes a plurality of first wide-angle image capturing devices 610 having the same frame rate as the first laser radar 200, and a plurality of second wide-angle image capturing devices 620 having the same frame rate as the second laser radar 300. The wide-angle image acquisition device is a device adopting a wide-angle camera lens, and the camera lens has a wide visual angle and can accommodate more scenery ranges within a limited distance. The frame rate of the image acquisition device refers to the number of frames of images acquired per second, and the frame rate of the laser radar refers to the number of turns of rotation of a motor of the laser radar per second.

At least one first wide-angle image acquisition device 610 is arranged on the side surface of the first laser radar 200, and specifically, as shown in fig. 8 and 9, the first wide-angle image acquisition device 610 arranged on the side surface of the first laser radar 200a is fixed on the laser radar support 101 a. A first wide-angle image capturing device 610 provided on the side of the first laser radar 200b is fixed to the laser radar holder 101b at a position within the protruding area C on one side of the mounting platform 100. At least one second wide-angle image acquisition device 620 is arranged on the side surface of the second laser radar 300a, and the second wide-angle image acquisition device 620 is fixed on the laser radar support 101 c.

Set up the same first wide angle image acquisition device 610 of frame rate in first laser radar 200's side, be favorable to fusing the image data of its collection with the data that first laser radar 200 gathered, and the image that the scenery scope is bigger can be gathered to first wide angle image acquisition device 610 itself, effectively improves the environment detectability of car. Similarly, a second wide-angle image capture device 620 with the same frame rate is disposed on the side of the second lidar 300, with the same advantages.

Specifically, the image capturing module includes a plurality of tele image capturing devices 700, which are devices using a tele lens having a small viewing angle and a short depth of field, and can capture a distant scene.

As shown in fig. 8, at least one tele image acquisition device 700 is disposed on a side of the first laser radar 200a, so as to capture image data in a far distance in front of the vehicle, thereby ensuring that an obstacle in the far distance in front of the vehicle can be identified more quickly. Specifically, a tele image acquisition device 700 provided on the side of the first laser radar 200a is fixed to the laser radar stand 101 a. Preferably, a tele image capture device 700 and a first wide image capture device 610 are disposed on either side of first lidar 200 a.

Specifically, the image capturing module further includes a plurality of intermediate and long focus image capturing devices 800, where the intermediate and long focus image capturing devices 800 are devices using an intermediate and long focus lens, and the intermediate and long focus lens has characteristics similar to those of a long focus lens, but the focal length is not as large as that of the long focus lens, and can capture a scene at a distance as compared with a common lens.

As shown in fig. 8, at least one mid-telephoto image capture device 800 is disposed on a side surface of the first lidar 200a, and the first lidar 200a and the at least one mid-telephoto image capture device 700 are also disposed on a side surface of the first lidar 200a, so that an environmental condition directly in front of the vehicle can be accurately detected. Specifically, the mid-telephoto image capturing device 800 provided on the side of the first lidar 200a is fixed to the lidar holder 101 a. Preferably, the mid-telephoto image capturing device 800 and the telephoto image capturing device 700 are disposed on the same side of the first lidar 200a, and the telephoto image capturing device 700 is disposed above the mid-telephoto image capturing device 800.

Specifically, as shown in fig. 8 and 9, 1 middle and long focus image acquisition device 800 is respectively disposed at four corners of the mounting platform 100. Specifically, the positions of the mid-telephoto image capturing devices 800 disposed at the two top corners of the front side of the vehicle are respectively in the convex regions C at the two sides of the mounting platform 100, each mid-telephoto image capturing device 800 is fixed to one camera mounting bracket 102, and the camera mounting brackets 102 are fixed to the four top corners of the mounting platform 100. As shown in fig. 10, an included angle γ is formed between each of the mid-telephoto image capturing devices 800 disposed at the front side of the vehicle and the first laser radar 200a₁Is acute angle. An included angle gamma formed between the middle and long focus image acquisition device 800 arranged at each vertex angle on the rear side of the vehicle and the second laser radar 300a₂Is acute angle.

As shown in fig. 9 and 11, only a very small scanning blind area exists between the first laser radar 200b and the first laser radar 200a, and the directions of the middle and long-focus image acquisition devices 800 at the two top corners of the front of the vehicle correspond to the two scanning blind areas, so that the image data acquired by the two middle and long-focus image acquisition devices 800 at the front of the vehicle can compensate the scanning blind area of the first laser radar 200 at the front of the vehicle. Similarly, there is only a very small scanning blind area between the first laser radar 200b and the second laser radar 300a, and the directions in which the mid-and-long-focus image capturing devices 800 disposed at the two top corners of the rear side of the vehicle face the two scanning blind areas, and it can be seen that the image data captured by the two mid-and-long-focus image capturing devices 800 disposed at the rear side of the vehicle can compensate for the scanning blind areas of the first laser radar 200 and the second laser radar 300 at the rear side of the vehicle.

Specifically, the antenna module provided on the mounting platform 100 includes: at least two antennas 900.

As shown in fig. 8 and 9, at least one antenna 900 is provided on each side surface of the first laser radar 200 b. The two antennas 900 are arranged at the wide position of the car roof, so that the shielding of other objects is avoided, and the receiving and sending of signals are facilitated.

The automatic driving perception subassembly that this embodiment provided sets up at the top of automatic driving vehicle, including four lidar at least, is the three first lidar 200 that sets up in the plantago side respectively to and set up the second lidar 300 in the car rear side. The cooperation between first laser radar 200 and the second laser radar 300 is enough to replace the mechanical type laser radar that can all-round formula rotation was surveyed, and the laser radar that this embodiment adopted is small in size and with low costs, and whole pleasing to the eye and succinct, and weight is lighter, is favorable to encapsulating. The scanning detection range between the laser radars has an overlapping part, so that certain data acquisition, data fusion and data analysis capabilities of the automatic driving vehicle on environment detection are ensured. Since the radar module adopted in this embodiment is the radar module provided in embodiment 1, the definitions, optional or preferred schemes of the components or the positions of the components in the radar module and the beneficial effects brought by the definitions, optional or preferred schemes can be found in the description of embodiment 1, and details are not described herein again.

Simultaneously, still include the image acquisition module and the antenna module that set up in specific position in the automatic driving perception subassembly, realize the information observation and the object detection of multiple angle, multiple distance, and each module can full play respective parameter performance, collects different kinds of data, realizes the complementation of automatic driving perception subassembly in environmental detection and discernment.

It should be understood that the above-mentioned embodiments of the present invention are only examples for clearly illustrating the technical solutions of the present invention, and are not intended to limit the specific embodiments of the present invention. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention claims should be included in the protection scope of the present invention claims.

Claims (15)

1. The utility model provides an automatic drive radar module, sets up the top at the car, its characterized in that includes: the three first laser radars which are arranged adjacently are all arranged on the front side of the vehicle;

and an included angle formed between the orientation directions of the first laser radars which are adjacently arranged is an obtuse angle.

2. The autopilot radar module of claim 1 wherein the first lidar has a field of view angle in a range of 110 ° to 150 °.

3. The autopilot radar module of claim 1 wherein at least one of the first lidar is directed directly forward of the vehicle; and the other first laser radars are symmetrically arranged on two sides of the first laser radar facing the front of the vehicle.

4. The autopilot radar module of claim 3 wherein the first lidar directed toward the front of the vehicle is angled greater than 90 ° and less than or equal to 135 ° from the symmetrically disposed first lidar.

5. The autopilot radar module of claim 3 wherein the first lidar is oriented toward the front of the vehicle at a lower level than the symmetrically disposed first lidar.

6. The autopilot radar module of any of claims 3-5 further comprising:

at least one second lidar arranged at the rear side of the vehicle; at least one of the second lidar heads is directed directly behind the vehicle.

7. The autopilot radar module of claim 6 wherein the second lidar has a field of view angle in a range of 110 ° to 150 °.

8. The autopilot radar module of claim 6 wherein a level of a second lidar directed directly behind the vehicle is higher than a level of all of the first lidar.

9. The utility model provides an automatic drive perception subassembly sets up the top at the car, is in including mounting platform, setting image acquisition module and antenna module on the mounting platform, its characterized in that still includes: the autopilot radar module of any of claims 6-8 disposed on the mounting platform.

10. The autopilot sensing assembly of claim 9 wherein the image capture module includes:

the frame rate of the first wide-angle image acquisition devices is the same as that of the first laser radar; at least one first wide-angle image acquisition device is arranged on the side surface of each first laser radar;

the frame rate of the second wide-angle image acquisition devices is the same as that of the second laser radar; and at least one second wide-angle image acquisition device is arranged on the side surface of each second laser radar.

11. The autopilot sensing assembly of claim 10 wherein the image capture module further comprises: a plurality of tele image acquisition devices; at least one tele image acquisition device is arranged on the side of the first laser radar facing the front of the vehicle.

12. The autopilot sensing assembly of claim 11 wherein the image capture module further comprises: a plurality of mid-tele image acquisition devices; and at least one middle long-focus image acquisition device is arranged on the side surface of the first laser radar facing the front of the vehicle.

13. The automatic driving perception assembly of claim 12,

the mounting platform comprises four top corners;

at least one middle and long focus image acquisition device is respectively arranged at the four top corners;

an included angle formed between the middle and long focus image acquisition devices arranged at the two top corners of the front side of the vehicle and the first laser radar facing the front of the vehicle is an acute angle;

and an included angle formed between the middle long-focus image acquisition devices arranged at the two top corners of the rear side of the vehicle and the second laser radar facing the right rear side of the vehicle is an acute angle.

14. The autopilot sensing assembly of claim 13,

two top corners of the mounting platform on the front side of the vehicle protrude outwards to form a protrusion;

the symmetry sets up first laser radar, sets up the first wide angle image acquisition device in the first laser radar's that the symmetry set up side, and establishes the well long burnt image acquisition device of two apex angles of the front side of car all is located the protrusion.

15. The automatic driving perception assembly of any of claims 9-14,

the antenna module includes: at least two antennas; at least one antenna is arranged on the side surface of each first laser radar which is symmetrically arranged.

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