WO2018058868A1 - 车辆环境采集融合装置及方法 - Google Patents

车辆环境采集融合装置及方法 Download PDF

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Publication number
WO2018058868A1
WO2018058868A1 PCT/CN2017/071860 CN2017071860W WO2018058868A1 WO 2018058868 A1 WO2018058868 A1 WO 2018058868A1 CN 2017071860 W CN2017071860 W CN 2017071860W WO 2018058868 A1 WO2018058868 A1 WO 2018058868A1
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Prior art keywords
processor
vehicle
environment
information data
automatic driving
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PCT/CN2017/071860
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English (en)
French (fr)
Inventor
刘均
刘新
宋朝忠
欧阳张鹏
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深圳市元征科技股份有限公司
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Publication of WO2018058868A1 publication Critical patent/WO2018058868A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/143—Alarm means

Definitions

  • the present invention relates to the field of unmanned driving, and in particular, to a vehicle environment collection and fusion device and method.
  • the main object of the present invention is to provide a vehicle environment acquisition and fusion device and method, which aim to reduce the time for the vehicle to analyze and process the surrounding environment information, and improve the response speed of the vehicle to the surrounding environment.
  • the present invention provides a vehicle environment acquisition and fusion device, the vehicle environment collection and fusion device comprising a first processor, a second processor and at least one set of sensors, each set of the sensor and a first processor Connected, the first processor is connected to the second processor;
  • the sensor is configured to acquire parameters of the vehicle itself and surrounding environment
  • the first processor is configured to obtain standard environmental information data according to the environmental parameter calculation
  • the second processor is configured to obtain the current environment information of the vehicle itself and the surrounding area according to the standard environmental information data fusion.
  • the vehicle environment collection and fusion device further includes:
  • a navigation module configured to generate driving control information according to the current environment information of the vehicle itself and the surrounding area;
  • the driving module is configured to control the driving of the vehicle according to the driving control information.
  • the senor is one or more of a speed sensor, a temperature sensor, a tire pressure sensor, a radar device, and a positioning device.
  • the vehicle environment collection and fusion device further includes:
  • a receiving module configured to receive an automatic driving instruction
  • control module configured to control the vehicle to enter the automatic driving mode according to the automatic driving instruction.
  • the second processor is further provided with an early warning module, where the early warning module comprises:
  • a first determining unit configured to determine whether the vehicle is in an automatic driving mode
  • a second determining unit configured to determine, when the vehicle is in an automatic driving mode, whether the second processor receives standard environmental information data from the first processor
  • the early warning control unit is configured to issue an alert signal when the second processor does not receive the standard environmental information data.
  • the early warning control unit is configured to: when the second processor is unable to receive any signal sent by the first processor, issue an alert signal or the second processor cannot receive the A warning signal is issued when the specified signal is sent by the first processor.
  • the early warning control unit is further configured to control the vehicle to stop or exit the automatic driving mode after the warning signal is issued.
  • the present invention also provides a vehicle environment acquisition and fusion method, and the vehicle environment collection and fusion method includes the following steps:
  • the second processor is used to obtain the current environment information of the vehicle itself and the surrounding area according to the standard environmental information data.
  • the method further includes the following steps:
  • the vehicle travel is controlled based on the travel control information.
  • the vehicle itself and surrounding environmental parameters are acquired by sensors, and the sensors are one or more of a speed sensor, a temperature sensor, a tire pressure sensor, a radar device, and a positioning device.
  • the sensors are one or more of a speed sensor, a temperature sensor, a tire pressure sensor, a radar device, and a positioning device.
  • the step of obtaining the vehicle itself and surrounding environment parameters further includes the following steps:
  • the vehicle is controlled to enter the automatic driving mode according to the automatic driving instruction.
  • the method further includes:
  • sending the warning signal specifically includes:
  • the early warning control unit is specifically configured to: issue an alert signal when the second processor is unable to receive any signal sent by the first processor or fail to receive the first process in the second processor A warning signal is issued when the specified signal is sent.
  • the method further comprises the steps of: controlling the vehicle to stop or exiting the automatic driving mode.
  • the technical solution of the embodiment of the present invention includes a first processor, a second processor, and at least one set of sensors, each set of the sensors is connected to a first processor, and the first processor is connected to the second processor;
  • the sensor is configured to acquire a parameter of the vehicle itself and the surrounding environment;
  • the first processor is configured to obtain standard environmental information data according to the environmental parameter;
  • the second processor is configured to integrate the data according to the standard environmental information.
  • the technical solution of the embodiment of the invention can reduce the time for the vehicle to analyze and process the surrounding environment information, and improve the response speed of the vehicle to the surrounding environment.
  • FIG. 1 is a schematic diagram of functional modules of a first embodiment of a vehicle environment collection and fusion device according to the present invention
  • FIG. 2 is a schematic diagram of functional modules of a second embodiment of a vehicle environment collection and fusion device according to the present invention
  • FIG. 3 is a schematic diagram of a refinement function module of an early warning module according to an embodiment of the present invention.
  • FIG. 4 is a schematic flow chart of a first embodiment of a vehicle environment collection and fusion method according to the present invention.
  • FIG. 5 is a schematic flowchart diagram of a second embodiment of a vehicle environment collection and fusion method according to the present invention.
  • FIG. 6 is a schematic flow chart of a third embodiment of a vehicle environment collection and fusion method according to the present invention.
  • the present invention provides a vehicle environment acquisition and fusion device.
  • the vehicle environment collection and fusion device includes a first processor 20, a second processor 30, and at least one set of sensors 10, each set of the sensors 10 and A first processor 20 is connected, and the first processor 20 is connected to the second processor 30.
  • the senor 10 may be a well-known sensor 10, in particular, various sensors 10 used in an unmanned vehicle.
  • four sensors 10 are taken as an example, and specific
  • Each group of sensors 10 is correspondingly provided with a first processor 20, which is dedicated to data processing collected by the sensor 10 corresponding thereto. All of the first processors 20 are connected to the second processor 30.
  • the first processor 20 and the second processor 30 preferably use a microprocessor or a single chip microcomputer.
  • the sensor 10 is configured to acquire the vehicle itself and surrounding environmental parameters.
  • the sensor 10 in this embodiment is a well-known sensor 10 used in an unmanned vehicle, and is specifically used to acquire environmental parameters of the vehicle itself and its surroundings.
  • the sensor 10 that acquires the vehicle's own parameters includes at least a speed sensor that acquires the current vehicle speed; a pressure sensor that acquires the tire pressure; a temperature sensor that acquires the temperature inside the vehicle, and the like.
  • the sensor 10 for acquiring environmental parameters of the vehicle includes at least various radar devices disposed around the vehicle, such as Doppler radar, infrared radar, anti-collision radar, etc.; an image sensor for confirming current lanes and road conditions, and the like.
  • a position sensor or positioning device such as a Beidou positioning device or a GPS positioning device, should also be included for obtaining a real-time position.
  • the first processor 20 is configured to obtain standard environmental information data according to the environmental parameter calculation.
  • Each set of sensors 10 transmits the obtained raw data of the environmental parameters to the first processor 20 after the corresponding vehicle travel information, and each of the first processors 20 may be wired with each set of sensors 10 corresponding thereto. Or wireless communication connection.
  • Each of the first processors 20 is configured to process the signals collected by the sensor 10 to obtain corresponding standard environmental information data, for example, calculating the distance between the vehicle and the preceding vehicle according to the echo signals of the Doppler radar. .
  • the second processor 30 is configured to obtain the current environment information of the vehicle itself and the surrounding area according to the standard environment information data fusion.
  • the second processor 30 in this embodiment is used to fuse the standard environment information data calculated by the first processor 20, thereby obtaining detailed environmental information of the vehicle itself and the surroundings. Specifically, the second processor 30 fuses the calculation results of the plurality of first processors 20 to obtain overall environmental data.
  • the first processor 20 first analyzes the data collected by the sensor 10 to obtain standard environmental information data, and then performs fusion analysis on the standard environmental information data by the second processor 30 to obtain the overall environmental data of the vehicle itself and the surrounding environment.
  • the technical solution of the embodiment can effectively reduce the load and the calculation amount of the first processor 20 and the second processor 30, reasonably allocate the calculation capability, effectively improve the data processing speed, thereby reducing the time for the vehicle to analyze and process the surrounding environment information. Improve the response speed of the vehicle to the surrounding environment.
  • the vehicle environment acquisition and fusion device further includes:
  • the navigation module 40 is configured to generate driving control information according to the current environment information of the vehicle itself and the surrounding area;
  • the driving module 50 is configured to control the driving of the vehicle according to the driving control information.
  • the technical solution of the present embodiment further generates driving control information according to the information, and controls driving of the vehicle, thereby realizing control of the unmanned vehicle. Since the technical solution of the embodiment can reduce the time for the vehicle to analyze and process the surrounding environment information, it is possible to make a corresponding quick response to the surrounding environment, thereby improving the safety in the unmanned driving process while the vehicle is running.
  • the vehicle environment acquisition and fusion device further includes:
  • a receiving module configured to receive an automatic driving instruction
  • control module configured to control the vehicle to enter the automatic driving mode according to the automatic driving instruction.
  • the vehicle should have both an automatic driving mode and a manual driving mode, and the vehicle will enter the automatic driving mode only after receiving the automatic driving command. In actual use, the two modes can be switched according to the needs of the user.
  • the second processor 30 is further provided with an early warning module 31, and the early warning module 31 includes:
  • the first determining unit 32 is configured to determine whether the vehicle is in an automatic driving mode.
  • the second determining unit 33 is configured to determine, when the vehicle is in the automatic driving mode, whether the second processor 30 receives the standard environment information data from the first processor 20.
  • the early warning control unit 34 is configured to issue an alert signal when the second processor 30 does not receive the standard environmental information data.
  • the warning module 31 is further provided for a fault that may exist in the automatic driving process.
  • the second processor 30 fails to receive the signal from the first processor 20, it may be that some of the sensors 10 are malfunctioning, or there may be a problem in circuit transmission, in order to ensure safety,
  • an alert signal is issued. Specifically, it may be set to issue a warning signal when any of the first environment information data sent by the first processor 20 is sent, or may be set only when certain key parameters that are indispensable during driving are not received. Only a warning signal is issued.
  • the front and rear distance is an indispensable information data during driving, and the temperature parameters used to control the air conditioner are not essential information data.
  • the driving safety cannot be guaranteed.
  • the driver must be reminded of the sudden situation, and the temperature of the air conditioner in the vehicle can be manually adjusted by the driver or the member of the vehicle as needed.
  • the warning signal can also be various, such as a voice signal, a ringing signal, and the like, and a vibration device or the like can be set on the seat to remind the unexpected situation.
  • the early warning control unit is further configured to control the vehicle to stop or exit the automatic driving mode after the warning signal is issued.
  • the vehicle is controlled to stop or exit the automatic driving mode after the warning signal is issued. It should be understood that in places where it is inconvenient to directly stop on the expressway, the vehicle should be controlled to exit the automatic driving mode after the warning signal is issued, and the vehicle should be stopped at the place where the parking is convenient, which should be combined with the actual road conditions and the user's habits. determine.
  • the present invention also provides a vehicle environment acquisition and fusion method.
  • the vehicle environment collection and fusion method includes the following steps:
  • the sensor 10 is used to acquire the vehicle itself and surrounding environmental parameters.
  • the sensor 10 in this embodiment is a well-known sensor 10 used in an unmanned vehicle, and is specifically used to acquire environmental parameters of the vehicle itself and its surroundings.
  • the sensor 10 that acquires the vehicle's own parameters includes at least a speed sensor that acquires the current vehicle speed; a pressure sensor that acquires the tire pressure; a temperature sensor that acquires the temperature inside the vehicle, and the like.
  • the sensors for obtaining environmental parameters of the vehicle include at least various radar devices disposed around the vehicle, such as Doppler radar, infrared radar, anti-collision radar, etc.; image sensors for confirming current lanes and road conditions, and the like.
  • a position sensor or positioning device such as a Beidou positioning device or a GPS positioning device, should also be included for obtaining a real-time position.
  • S20 Calculate and obtain standard environmental information data by using the first processor 20 according to the environmental parameter.
  • Each set of sensors 10 transmits the obtained raw data of the environmental parameters to the first processor 20 after the corresponding vehicle travel information, and each of the first processors 20 may be wired with each set of sensors 10 corresponding thereto. Or wireless communication connection.
  • Each of the first processors 20 is configured to process the signals collected by the sensor 10 to obtain corresponding standard environmental information data, for example, calculating the distance between the vehicle and the preceding vehicle according to the echo signals of the Doppler radar. .
  • the second processor 30 is used to obtain the current environment information of the vehicle itself and the surrounding area according to the standard environmental information data.
  • the second processor 30 in this embodiment is used to fuse the standard environment information data calculated by the first processor 20, thereby obtaining detailed environmental information of the vehicle itself and the surroundings. Specifically, the second processor 30 fuses the calculation results of the plurality of first processors 20 to obtain overall environmental data.
  • the first processor 20 first analyzes the data collected by the sensor 10 to obtain standard environmental information data, and then performs fusion analysis on the standard environmental information data by the second processor 30 to obtain the overall environmental data of the vehicle itself and the surrounding environment.
  • the technical solution of the embodiment can effectively reduce the load and the calculation amount of the first processor 20 and the second processor 30, reasonably allocate the calculation capability, effectively improve the data processing speed, thereby reducing the time for the vehicle to analyze and process the surrounding environment information. Improve the response speed of the vehicle to the surrounding environment.
  • the second processor 30 is used to obtain the environment information of the vehicle itself and the surrounding environment according to the standard environment information data, Also includes the steps:
  • the technical solution of the present embodiment further generates driving control information according to the information, and controls driving of the vehicle, thereby realizing control of the unmanned vehicle. Since the technical solution of the embodiment can reduce the time for the vehicle to analyze and process the surrounding environment information, it is possible to make a corresponding quick response to the surrounding environment, thereby improving the safety in the unmanned driving process while the vehicle is running.
  • the step of acquiring the vehicle itself and the surrounding environment parameters further includes the following steps:
  • the method before the obtaining the current environment information of the vehicle itself and the surrounding environment according to the standard environment information data fusion, the method further includes:
  • the second processor 30 receives the standard environmental information data.
  • an early warning module is further provided for a fault that may exist in the automatic driving process.
  • the second processor 30 fails to receive the signal from the first processor 20, it may be that some of the sensors 10 are malfunctioning, or there may be a problem in circuit transmission, in order to ensure safety.
  • an alert signal is issued. Specifically, it may be set to issue a warning signal when any of the first environment information data sent by the first processor 20 is sent, or may be set only when certain key parameters that are indispensable during driving are not received. Only a warning signal is issued.
  • the front and rear distance is an indispensable information data during driving, and the temperature parameters used to control the air conditioner are not essential information data.
  • the driving safety cannot be guaranteed.
  • the driver must be reminded of the sudden situation, and the temperature of the air conditioner in the vehicle can be manually adjusted by the driver or the member of the vehicle as needed.
  • the warning signal can also be various, such as a voice signal, a ringing signal, and the like, and a vibration device or the like can be set on the seat to remind the unexpected situation.
  • the step of issuing the warning signal further comprises the step of controlling the vehicle to stop or exit the automatic driving mode.
  • the vehicle is controlled to stop or exit the automatic driving mode after the warning signal is issued. It should be understood that in places where it is inconvenient to directly stop on the expressway, the vehicle should be controlled to exit the automatic driving mode after the warning signal is issued, and the vehicle should be stopped at the place where the parking is convenient, which should be combined with the actual road conditions and the user's habits. determine.

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Abstract

一种车辆环境采集融合装置及车辆环境采集融合方法，所述车辆环境采集融合装置包括第一处理器（20）、第二处理器（30）和至少一组传感器（10），每组所述传感器（10）与一个第一处理器（20）相连，所述第一处理器（20）均与第二处理器（30）相连；其中，所述传感器（10）用于获取车辆自身及周围环境参数；所述第一处理器（20）用于根据所述环境参数计算获得标准环境信息数据；所述第二处理器（30）用于根据所述标准环境信息数据融合获得车辆自身及周围当前的环境信息。根据上述技术方案，可以减少车辆对周围环境信息分析处理的时间，提高车辆对于周围环境的响应速度。

Description

车辆环境采集融合装置及方法
技术领域
本发明涉及无人驾驶领域，尤其涉及一种车辆环境采集融合装置及方法。
背景技术
目前，随着科技的发展，无人驾驶的交通工具已经逐渐走进人们的视野。无人驾驶汽车行驶过程中需要收集周围和车辆本身的环境信息，并有针对性的生成相应的控制信号，以控制车辆行驶。现有的无人驾驶汽车通过传感器接收的信息传送到统一的中央处理器进行融合分析，这种处理方式会让中央处理器承担过多的工作任务，所以需要耗费较长时间分析处理周围的环形信息，影响车辆对于周围环境的响应速度。
发明内容
本发明的主要目的在于提供一种车辆环境采集融合装置及方法，旨在减少车辆对周围环境信息分析处理的时间，提高车辆对于周围环境的响应速度。
为实现上述目的，本发明提供一种车辆环境采集融合装置，所述车辆环境采集融合装置包括第一处理器、第二处理器和至少一组传感器，每组所述传感器与一个第一处理器相连，所述第一处理器均与第二处理器相连；其中，
所述传感器，用于获取车辆自身及周围环境参数；
所述第一处理器，用于根据所述环境参数计算获得标准环境信息数据；
所述第二处理器，用于根据所述标准环境信息数据融合获得车辆自身及周围当前的环境信息。
优选的，所述车辆环境采集融合装置还包括：
导航模块，用于根据所述车辆自身及周围当前的环境信息生成行驶控制信息；
驾驶模块，用于根据所述行驶控制信息控制车辆行驶。
优选的，所述传感器为速度传感器、温度传感器、胎压传感器、雷达装置和定位装置中的一种或几种。
优选的，所述车辆环境采集融合装置还包括：
接收模块，用于接收自动驾驶指令；
控制模块，用于依据所述自动驾驶指令控制车辆进入自动驾驶模式。
优选的，所述第二处理器上还设有预警模块，所述预警模块包括：
第一判断单元，用于判断车辆是否处于自动驾驶模式；
第二判断单元，用于在车辆处于自动驾驶模式时，判断所述第二处理器是否接收到来自所述第一处理器的标准环境信息数据；
预警控制单元，用于在所述第二处理器未接收到所述标准环境信息数据时发出警示信号。
优选的，所述预警控制单元具体用于：在所述第二处理器无法接收到所述第一处理器发出的任一信号时发出警示信号或在所述第二处理器无法接收到所述第一处理器发出的指定信号时发出警示信号。
优选的，所述预警控制单元，还用于在发出警示信号后控制车辆停止或退出自动驾驶模式。
此外，本发明还提供一种车辆环境采集融合方法，所述车辆环境采集融合方法包括步骤：
获取车辆自身及周围环境参数；
根据所述环境参数利用第一处理器计算获得标准环境信息数据；
根据所述标准环境信息数据利用第二处理器融合获得车辆自身及周围当前的环境信息。
优选的，所述根据所述标准环境信息数据利用第二处理器融合获得车辆自身及周围当前的环境信息之后还包括步骤：
根据所述车辆自身及周围当前的环境信息生成行驶控制信息；
根据所述行驶控制信息控制车辆行驶。
优选的，所述车辆自身及周围的环境参数通过传感器获取，所述传感器为速度传感器、温度传感器、胎压传感器、雷达装置和定位装置中的一种或几种。
优选的，所述获取车辆自身及周围环境参数之前还包括步骤：
接收自动驾驶指令；
依据所述自动驾驶指令控制车辆进入自动驾驶模式。
优选的，所述根据所述标准环境信息数据融合获得车辆自身及周围当前的环境信息之前还包括：
判断车辆是否处于自动驾驶模式；
当车辆处于自动驾驶模式时，判断所述第二处理器是否接收到所述标准环境信息数据；
若所述第二处理器未接收到所述标准环境信息数据，则发出警示信号。
优选的，所述若所述第二处理器未接收到所述标准环境信息数据，则发出警示信号具体包括：
所述预警控制单元具体用于：在所述第二处理器无法接收到所述第一处理器发出的任一信号时发出警示信号或在所述第二处理器无法接收到所述第一处理器发出的指定信号时发出警示信号。
优选的，所述发出警示信号之后还包括步骤：控制车辆停止或退出自动驾驶模式。
本发明实施例的技术方案包括第一处理器、第二处理器和至少一组传感器，每组所述传感器与一个第一处理器相连，所述第一处理器均与第二处理器相连；其中，所述传感器，用于获取车辆自身及周围环境参数；第一处理器，用于根据所述环境参数计算获得标准环境信息数据；第二处理器，用于根据所述标准环境信息数据融合获得车辆自身及周围当前的环境信息。本发明实施例的技术方案可以减少车辆对周围环境信息分析处理的时间，提高车辆对于周围环境的响应速度。
附图说明
图1为本发明车辆环境采集融合装置第一实施例的功能模块示意图；
图2为本发明车辆环境采集融合装置第二实施例的功能模块示意图；
图3为本发明实施例的预警模块的细化功能模块示意图；
图4为本发明车辆环境采集融合方法第一实施例的流程示意图；
图5为本发明车辆环境采集融合方法第二实施例的流程示意图；
图6为本发明车辆环境采集融合方法第三实施例的流程示意图。
本发明目的的实现、功能特点及优点将结合实施例，参照附图做进一步说明。
具体实施方式
应当理解，此处所描述的具体实施例仅仅用以解释本发明，并不用于限定本发明。
本发明提供一种车辆环境采集融合装置，如图1所示，所述车辆环境采集融合装置包括第一处理器20、第二处理器30和至少一组传感器10，每组所述传感器10与一个第一处理器20相连，所述第一处理器20均与第二处理器30相连。
应当理解的是，本实施例的技术方案中，传感器10可以是公知的传感器10，特别是无人驾驶的车辆使用的各种传感器10，本实施例中以四个传感器10为例，具体的，每组传感器10对应设置一个第一处理器20，该第一处理器20专用于与其对应的传感器10采集的数据处理。所有的第一处理器20均与所述第二处理器30相连。本实施例中，第一处理器20和第二处理器30优选采用微处理器或单片机。
所述传感器10，用于获取车辆自身及周围环境参数。
本实施例中的传感器10为无人驾驶汽车使用的公知的传感器10，具体用于获取车辆自身及周围的环境参数。例如，获取车辆自身参数的传感器10至少包括获取当前车速的速度传感器；获取胎压的压力传感器；获取车内温度的温度传感器等。而获取车辆周围环境参数的传感器10至少包括设置于车辆周围的各种雷达装置，例如多普勒雷达、红外雷达、防撞雷达等；用于确认当前车道及路况的图像传感器等。作为一种改进，还应当包括位置传感器或称定位装置，例如北斗定位装置或GPS定位装置，用以获取实时位置。
所述第一处理器20，用于根据所述环境参数计算获得标准环境信息数据。
每组传感器10在相应的车辆行驶信息后，将获得的环境参数的原始数据传递至第一处理器20，具体的每个所述第一处理器20可以和与之对应的每组传感器10有线或无线通讯连接。每个所述第一处理器20用于对传感器10采集的信号进行处理，得到相应的标准环境信息数据，例如，根据多普勒雷达的回波信号计算获得本车与前车之间的距离。
所述第二处理器30，用于根据所述标准环境信息数据融合获得车辆自身及周围当前的环境信息。
应当理解的是，本实施例中的第二处理器30用于对所述第一处理器20计算得到的标准环境信息数据融合，进而得到车辆自身及周围的详细环境信息。具体的，第二处理器30将多个第一处理器20的计算结果融合分析，获得的是整体的环境数据。
本实施例中，通过第一处理器20先对传感器10采集的数据进行分析获得标准环境信息数据，然后通过第二处理器30对标准环境信息数据进行融合分析获得车辆自身及周围的整体环境数据。本实施例的技术方案可以有效降低第一处理器20和第二处理器30的负载和计算量，合理分配计算能力，有效的提升了数据处理速度，从而减少车辆对周围环境信息分析处理的时间，提高车辆对于周围环境的响应速度。
如图2所示，在基于本发明的装置上述第一实施例的第二实施例中，所述车辆环境采集融合装置还包括：
导航模块40，用于根据所述车辆自身及周围当前的环境信息生成行驶控制信息；
驾驶模块50，用于根据所述行驶控制信息控制车辆行驶。
应当理解的是，本实施例的技术方案在获取了车辆自身及周围当前的环境信息后，根据该信息进一步生成行驶控制信息，并控制车辆行驶，实现了无人驾驶车辆的控制。由于本实施例的技术方案可以减少车辆对周围环境信息分析处理的时间，所以可以更加迅速的针对周围的环境做出相应，提高了车辆行驶时无人驾驶过程中的安全性。
在基于本发明的装置上述实施例的第三实施例中，所述车辆环境采集融合装置还包括：
接收模块，用于接收自动驾驶指令；
控制模块，用于依据所述自动驾驶指令控制车辆进入自动驾驶模式。
应当理解的是，车辆应当同时具有自动驾驶模式和手动驾驶模式，只有在接收到自动驾驶命令后，该车辆才会进入自动驾驶模式。实际使用中，两种模式之间是可以根据使用者的需求而切换的。
请进一步参阅图3，在基于本发明的装置上述实施例的第四实施例中，所述第二处理器30上还设有预警模块31，所述预警模块31包括：
第一判断单元32，用于判断车辆是否处于自动驾驶模式。
第二判断单元33，用于在车辆处于自动驾驶模式时，判断所述第二处理器30是否接收到来自所述第一处理器20的标准环境信息数据。
预警控制单元34，用于在所述第二处理器30未接收到所述标准环境信息数据时发出警示信号。
本实施例中，针对自动驾驶过程中可能存在的故障，进一步设置了预警模块31。当车辆处于自动驾驶模式时，如果第二处理器30未能接收到来自第一处理器20的信号，则可能是某些传感器10发生故障，也可能是电路传输出现问题，为了保证安全，本实施例中在第二传感器10无法接收到第一处理器20的标准环境信息数据时，发出警示信号。具体的，可以设定为当任意一个第一处理器20发送的标准环境信息数据时发出警示信号，也可以设定为仅当无法接收到某些关键的、行驶过程中必不可少的参数时才发出警示信号。例如前后车距是行驶过程中必不可少的信息数据，而用于控制空调的温度参数则并不是必不可少的信息数据，显然，当自动驾驶车辆无法判断前后车距时，无法保证行驶安全，此时必须提醒驾驶员注意该突发情况，而车内空调的温度可以由驾驶员或车内成员根据需要手动调节。可以理解的是，警示信号也可以是多种多样的，例如语音信号、响铃信号等声音信号，还可以在座位上设置震动装置等用于提醒出现的意外情况。
进一步的，在本发明的装置基于上述实施例的第五实施例中，所述预警控制单元，还用于在发出警示信号后控制车辆停止或退出自动驾驶模式。
为了进一步提高安全性，本实施例中，在发出警示信号之后控制车辆停止或退出自动驾驶模式。应当理解的是，在高速公路等不便于直接停车的地方，应当在发出警示信号后控制车辆退出自动驾驶模式，而在便于停车的地方则控制车辆停止，具体应当结合实际路况和使用者的习惯确定。
本发明还提供一种车辆环境采集融合方法，参照图4，在一实施例，所述车辆环境采集融合方法包括步骤：
S10、获取车辆自身及周围环境参数。
本实施例中，利用传感器10获取车辆自身及周围环境参数。本实施例中的传感器10为无人驾驶汽车使用的公知的传感器10，具体用于获取车辆自身及周围的环境参数。例如，获取车辆自身参数的传感器10至少包括获取当前车速的速度传感器；获取胎压的压力传感器；获取车内温度的温度传感器等。而获取车辆周围环境参数的传感器至少包括设置于车辆周围的各种雷达装置，例如多普勒雷达、红外雷达、防撞雷达等；用于确认当前车道及路况的图像传感器等。作为一种改进，还应当包括位置传感器或称定位装置，例如北斗定位装置或GPS定位装置，用以获取实时位置。
S20、根据所述环境参数利用第一处理器20计算获得标准环境信息数据。
每组传感器10在相应的车辆行驶信息后，将获得的环境参数的原始数据传递至第一处理器20，具体的每个所述第一处理器20可以和与之对应的每组传感器10有线或无线通讯连接。每个所述第一处理器20用于对传感器10采集的信号进行处理，得到相应的标准环境信息数据，例如，根据多普勒雷达的回波信号计算获得本车与前车之间的距离。
S30、根据所述标准环境信息数据利用第二处理器30融合获得车辆自身及周围当前的环境信息。
应当理解的是，本实施例中的第二处理器30用于对所述第一处理器20计算得到的标准环境信息数据融合，进而得到车辆自身及周围的详细环境信息。具体的，第二处理器30将多个第一处理器20的计算结果融合分析，获得的是整体的环境数据。
本实施例中，通过第一处理器20先对传感器10采集的数据进行分析获得标准环境信息数据，然后通过第二处理器30对标准环境信息数据进行融合分析获得车辆自身及周围的整体环境数据。本实施例的技术方案可以有效降低第一处理器20和第二处理器30的负载和计算量，合理分配计算能力，有效的提升了数据处理速度，从而减少车辆对周围环境信息分析处理的时间，提高车辆对于周围环境的响应速度。
如图5所示，在基于本发明的方法上述第一实施例的第二实施例中，所述根据所述标准环境信息数据利用第二处理器30融合获得车辆自身及周围当前的环境信息之后还包括步骤：
S40、根据所述车辆自身及周围当前的环境信息生成行驶控制信息；
S50、根据所述行驶控制信息控制车辆行驶。
应当理解的是，本实施例的技术方案在获取了车辆自身及周围当前的环境信息后，根据该信息进一步生成行驶控制信息，并控制车辆行驶，实现了无人驾驶车辆的控制。由于本实施例的技术方案可以减少车辆对周围环境信息分析处理的时间，所以可以更加迅速的针对周围的环境做出相应，提高了车辆行驶时无人驾驶过程中的安全性。
请参阅图6，在基于本发明的方法上述实施例的第三实施例中，所述获取车辆自身及周围环境参数之前还包括步骤：
S01、接收自动驾驶指令；
S02、依据所述自动驾驶指令控制车辆进入自动驾驶模式。
在基于本发明的方法上述实施例的第四实施例中，所述根据所述标准环境信息数据融合获得车辆自身及周围当前的环境信息之前还包括：
判断车辆是否处于自动驾驶模式。
当车辆处于自动驾驶模式时，判断所述第二处理器30是否接收到所述标准环境信息数据。
若所述第二处理器30未接收到所述标准环境信息数据，则发出警示信号。
本实施例中，针对自动驾驶过程中可能存在的故障，进一步设置了预警模块。当车辆处于自动驾驶模式时，如果第二处理器30未能接收到来自第一处理器20的信号，则可能是某些传感器10发生故障，也可能是电路传输出现问题，为了保证安全，本实施例中在第二传感器10无法接收到第一处理器20的标准环境信息数据时，发出警示信号。具体的，可以设定为当任意一个第一处理器20发送的标准环境信息数据时发出警示信号，也可以设定为仅当无法接收到某些关键的、行驶过程中必不可少的参数时才发出警示信号。例如前后车距是行驶过程中必不可少的信息数据，而用于控制空调的温度参数则并不是必不可少的信息数据，显然，当自动驾驶车辆无法判断前后车距时，无法保证行驶安全，此时必须提醒驾驶员注意该突发情况，而车内空调的温度可以由驾驶员或车内成员根据需要手动调节。可以理解的是，警示信号也可以是多种多样的，例如语音信号、响铃信号等声音信号，还可以在座位上设置震动装置等用于提醒出现的意外情况。
在基于本发明的方法上述实施例的第五实施例中，所述发出警示信号之后还包括步骤：控制车辆停止或退出自动驾驶模式。
为了进一步提高安全性，本实施例中，在发出警示信号之后控制车辆停止或退出自动驾驶模式。应当理解的是，在高速公路等不便于直接停车的地方，应当在发出警示信号后控制车辆退出自动驾驶模式，而在便于停车的地方则控制车辆停止，具体应当结合实际路况和使用者的习惯确定。
以上仅为本发明的优选实施例，并非因此限制本发明的专利范围，凡是利用本发明说明书及附图内容所作的等效结构或等效流程变换，或直接或间接运用在其他相关的技术领域，均同理包括在本发明的专利保护范围内。

Claims (16)

  1. 一种车辆环境采集融合装置，其特征在于，所述车辆环境采集融合装置包括第一处理器、第二处理器和至少一组传感器，每组所述传感器与一个第一处理器相连，所述第一处理器均与第二处理器相连；其中，
    所述传感器，用于获取车辆自身及周围环境参数；
    所述第一处理器，用于根据所述环境参数计算获得标准环境信息数据；
    所述第二处理器，用于根据所述标准环境信息数据融合获得车辆自身及周围当前的环境信息。
  2. 如权利要求1所述的车辆环境采集融合装置，其特征在于，所述车辆环境采集融合装置还包括：
    导航模块，用于根据所述车辆自身及周围当前的环境信息生成行驶控制信息；
    驾驶模块，用于根据所述行驶控制信息控制车辆行驶。
  3. 如权利要求2所述的车辆环境采集融合装置，其特征在于，所述传感器为速度传感器、温度传感器、胎压传感器、雷达装置和定位装置中的一种或几种。
  4. 如权利要求1所述的车辆环境采集融合装置，其特征在于，所述车辆环境采集融合装置还包括：
    接收模块，用于接收自动驾驶指令；
    控制模块，用于依据所述自动驾驶指令控制车辆进入自动驾驶模式。
  5. 如权利要求4所述的车辆环境采集融合装置，其特征在于，所述第二处理器上还设有预警模块，所述预警模块包括：
    第一判断单元，用于判断车辆是否处于自动驾驶模式；
    第二判断单元，用于在车辆处于自动驾驶模式时，判断所述第二处理器是否接收到来自所述第一处理器的标准环境信息数据；
    预警控制单元，用于在所述第二处理器未接收到所述标准环境信息数据时发出警示信号。
  6. 如权利要求5所述的车辆环境采集融合装置，其特征在于，所述预警控制单元具体用于：在所述第二处理器无法接收到所述第一处理器发出的任一信号时发出警示信号或在所述第二处理器无法接收到所述第一处理器发出的指定信号时发出警示信号。
  7. 如权利要求5所述的车辆环境采集融合装置，其特征在于，所述预警控制单元，还用于在发出警示信号后控制车辆停止或退出自动驾驶模式。
  8. 如权利要求7所述的车辆环境采集融合装置，其特征在于，所述预警控制单元具体用于：在所述第二处理器无法接收到所述第一处理器发出的任一信号时发出警示信号或在所述第二处理器无法接收到所述第一处理器发出的指定信号时发出警示信号。
  9. 一种车辆环境采集融合方法，其特征在于，所述车辆环境采集融合方法包括步骤：
    获取车辆自身及周围环境参数；
    根据所述环境参数利用第一处理器计算获得标准环境信息数据；
    根据所述标准环境信息数据利用第二处理器融合获得车辆自身及周围当前的环境信息。
  10. 如权利要求9所述的车辆环境采集融合方法，其特征在于，所述根据所述标准环境信息数据利用第二处理器融合获得车辆自身及周围当前的环境信息之后还包括步骤：
    根据所述车辆自身及周围当前的环境信息生成行驶控制信息；
    根据所述行驶控制信息控制车辆行驶。
  11. 如权利要求10所述的车辆环境采集融合装置，其特征在于，所述车辆自身及周围的环境参数通过传感器获取，所述传感器为速度传感器、温度传感器、胎压传感器、雷达装置和定位装置中的一种或几种。
  12. 如权利要求9所述的车辆环境采集融合方法，其特征在于，所述获取车辆自身及周围环境参数之前还包括步骤：
    接收自动驾驶指令；
    依据所述自动驾驶指令控制车辆进入自动驾驶模式。
  13. 如权利要求12所述的车辆环境采集融合方法，其特征在于，所述根据所述标准环境信息数据融合获得车辆自身及周围当前的环境信息之前还包括：
    判断车辆是否处于自动驾驶模式；
    当车辆处于自动驾驶模式时，判断所述第二处理器是否接收到所述标准环境信息数据；
    若所述第二处理器未接收到所述标准环境信息数据，则发出警示信号。
  14. 如权利要求13所述的车辆环境采集融合方法，其特征在于，所述若所述第二处理器未接收到所述标准环境信息数据，则发出警示信号具体包括：
    在所述第二处理器无法接收到所述第一处理器发出的任一信号时发出警示信号或在所述第二处理器无法接收到所述第一处理器发出的指定信号时发出警示信号。
  15. 如权利要求13所述的车辆环境采集融合方法，其特征在于，所述发出警示信号之后还包括步骤：控制车辆停止或退出自动驾驶模式。
  16. 如权利要求15所述的车辆环境采集融合方法，其特征在于，所述若所述第二处理器未接收到所述标准环境信息数据，则发出警示信号具体包括：
    在所述第二处理器无法接收到所述第一处理器发出的任一信号时发出警示信号或在所述第二处理器无法接收到所述第一处理器发出的指定信号时发出警示信号。
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