WO2018213953A1 - Appareil et procédé d'évitement d'obstacles par une voiture sans conducteur - Google Patents

Appareil et procédé d'évitement d'obstacles par une voiture sans conducteur Download PDF

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Publication number
WO2018213953A1
WO2018213953A1 PCT/CN2017/085245 CN2017085245W WO2018213953A1 WO 2018213953 A1 WO2018213953 A1 WO 2018213953A1 CN 2017085245 W CN2017085245 W CN 2017085245W WO 2018213953 A1 WO2018213953 A1 WO 2018213953A1
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WO
WIPO (PCT)
Prior art keywords
temperature distribution
ultrasonic
obstacle avoidance
sensing module
sensing
Prior art date
Application number
PCT/CN2017/085245
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English (en)
Chinese (zh)
Inventor
李仁涛
Original Assignee
李仁涛
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by 李仁涛 filed Critical 李仁涛
Priority to PCT/CN2017/085245 priority Critical patent/WO2018213953A1/fr
Publication of WO2018213953A1 publication Critical patent/WO2018213953A1/fr

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions

Definitions

  • the present invention relates to unmanned driving technology, and in particular to an unmanned obstacle avoiding device and method.
  • Autonomous obstacle avoidance is the key technology for autonomous operation of unmanned driving machines.
  • Unmanned driving machines can avoid obstacles affecting sports during flight or driving through autonomous obstacle avoidance.
  • the obstacle avoidance technology in the prior art needs to be realized by a complicated operation method such as a neural network and deep learning.
  • the system hardware resources required for such an obstacle avoidance technology are large, and the full-scale obstacle avoidance cannot be realized quickly and in real time.
  • the prior art obstacle avoidance technology generally does not set the obstacle avoidance priority.
  • the driverless car when the driverless car is within the same obstacle avoidance range, it is found that both the living body (such as a pedestrian on the zebra crossing) and the non-living body ( For example, a sudden flying object needs to be avoided.
  • the existing driverless car usually avoids the closest object, such as a sudden flying object, and may hit a pedestrian on the zebra crossing. However, this is not what we expect.
  • the main object of the present invention is to solve the above technical problems.
  • an embodiment of the present invention provides an unmanned vehicle obstacle avoidance device, comprising: at least an ultrasonic sensing module, configured to transmit an ultrasonic wave and determine an obstacle according to the feedback signal; and a temperature distribution sensing module, It senses the temperature distribution of objects within a certain area and determines obstacles.
  • the system further includes: a storage device, configured to store a plurality of instructions; a processor, configured to load an instruction of the storage device and execute: setting a sensing result of the temperature distribution sensing module to a highest priority, and prioritizing Level setting, according to the temperature distribution sensing module to control the car to avoid the corresponding object, and secondly according to the ultrasonic sensing The module controls the car to avoid the corresponding object.
  • Another embodiment of the present invention provides an unmanned vehicle obstacle avoidance method suitable for execution in a computing device.
  • the method includes: transmitting an ultrasonic wave and determining an obstacle according to the feedback signal; and sensing an object temperature distribution within a certain area and determining an obstacle; and setting the temperature distribution sensing result to the highest priority and setting according to the priority, It is preferred to control the car to avoid the corresponding object according to the temperature distribution data, and secondly control the car to avoid the corresponding object according to the ultrasonic sensing data.
  • the unmanned vehicle obstacle avoidance device and method provided by the invention can detect the object temperature distribution data, and prioritize the obstacle avoidance detection data, so that the driverless vehicle can preferentially avoid obstacles that meet certain conditions, for example, Pedestrians can improve the safety of driverless cars.
  • FIG. 1 is a functional block diagram of an obstacle avoidance device for an unmanned automobile provided by the present invention
  • FIG. 2 is a temperature distribution diagram of an object detected by the driverless obstacle avoidance device of FIG. 1;
  • FIG. 3 is a flow chart of a method for avoiding obstacles in a driverless vehicle according to the present invention.
  • the present invention provides a driverless vehicle obstacle avoidance device 100.
  • the system includes at least an ultrasonic sensing module 10, a temperature distribution sensing module 20, and an obstacle avoidance control module 30.
  • the obstacle avoidance control module 30 receives signals or data of the ultrasonic sensing module 10 and the temperature distribution sensing module 20, And performing analysis, the obstacle avoidance control module 30 controls the driverless car according to the analysis result. It can be understood that the obstacle avoidance control
  • the functionality of module 30 is implemented by a storage device and a processor, the storage device being adapted to store a plurality of instructions, the processor for loading instructions of the storage device and performing the corresponding steps.
  • the ultrasonic sensing module 10 is configured to emit ultrasonic waves and determine an obstacle according to the feedback signal. More specifically, the ultrasonic sensing module 10 includes at least one ultrasonic transmitter and at least one ultrasonic receiver, the ultrasonic transmitter transmitting ultrasonic waves to the outside, the ultrasonic receiver receiving ultrasonic waves reflected from external obstacles, and The ultrasonic signal is sent to the obstacle avoidance control module 30 of the driverless vehicle. In this embodiment, the number of the ultrasonic transmitter and the ultrasonic receiver is four, respectively.
  • the temperature distribution sensing module 20 is configured to sense an object temperature distribution within a certain area and determine an obstacle.
  • the temperature distribution sensing module 20 includes a non-contact infrared thermometer that determines the surface temperature by measuring the infrared energy radiated by the target surface.
  • Non-contact meter temperature measurement is based on the principle of thermal radiation.
  • the temperature measuring element does not need to be in contact with the measured medium.
  • the temperature range is wide, and it is not limited by the upper limit of the temperature measurement. It does not damage the temperature field of the measured object.
  • the reaction speed is generally faster.
  • the temperature distribution sensing module 20 determines a temperature scanning area by using an auxiliary device such as a camera, and divides the temperature scanning area into a plurality of sub-areas. Then, the temperature of the plurality of sub-regions in the temperature scanning region is detected by a plurality of the non-contact infrared thermometers.
  • the processor performs: setting the sensing result of the temperature distribution sensing module 20 to the highest priority, and according to the priority setting, preferentially controlling the automobile to avoid the corresponding object according to the temperature distribution sensing module 20, and secondly, according to the ultrasonic sensing Module 10 controls the car to avoid corresponding objects.
  • the processor before the sensing result of the temperature distribution sensing module 20 is set to the highest priority, the processor further performs: determining, according to the temperature distribution of the object, whether the temperature distribution in the detected area falls Enter the reference range.
  • the reference range may be a range of body temperature distribution values, for example, may also be a range of temperature distribution values of a plurality of organisms set in advance.
  • the processor further performs: determining whether the object temperature distribution data and the ultrasonic feedback signal are both received, if , then the priority setting is made, otherwise the priority setting is not performed.
  • the processor is further configured to: according to a priority setting, The driverless vehicle is controlled according to the temperature distribution data of the object to perform the obstacle avoidance operation until the temperature distribution in the detected region does not fall within the reference range, and the obstacle avoidance operation is performed according to the ultrasonic feedback signal.
  • the driverless obstacle avoidance device 100 provided by the invention can detect the object temperature distribution data, and prioritizes the obstacle avoidance detection data, so that the driverless vehicle can preferentially avoid obstacles that meet certain conditions, such as pedestrians. , thereby improving the safety of driverless cars.
  • the present invention provides a driverless vehicle obstacle avoidance method suitable for execution in the above computing device.
  • the method includes:
  • step S301 ultrasonic waves are transmitted and an obstacle is determined based on the feedback signal.
  • Step S302 sensing an object temperature distribution within a certain area and determining an obstacle.
  • Step S303 setting the sensing result of the temperature distribution sensing module 20 to the highest priority, and according to the priority setting, preferentially controlling the automobile to avoid the corresponding object according to the temperature distribution sensing module 20, and secondly controlling according to the ultrasonic sensing module 10 The car avoids the corresponding object.
  • the unmanned vehicle obstacle avoidance device 100 and method provided by the invention can detect the object temperature distribution data, and prioritize the obstacle avoidance detection data, so that the driverless vehicle can preferentially avoid obstacles that meet certain conditions. For example, pedestrians can improve the safety of driverless cars.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Traffic Control Systems (AREA)

Abstract

L'invention concerne un appareil d'évitement d'obstacles par une voiture sans conducteur (100), comprenant au moins : un module de détection d'ondes ultrasonores (10), utilisé pour émettre des ondes ultrasonores, et déterminer des obstacles selon des signaux de rétroaction ; un module de détection de distributions de température (20), utilisé pour détecter des distributions de température d'objets dans une certaine plage de surface, et déterminer des obstacles. Le système comprend également : un dispositif de stockage, approprié pour stocker une pluralité d'instructions ; un processeur, utilisé pour charger les instructions du dispositif de stockage, et exécuter : le réglage d'un résultat de détection du module de détection de distributions de température (20) en tant que priorité la plus élevée, et selon le réglage de priorité, tout d'abord la commande d'une voiture pour éviter des objets correspondants selon le module de détection de distributions de température (20), puis la commande de la voiture pour éviter des objets correspondants selon le module de détection d'ondes ultrasonores (10). L'invention concerne également un procédé d'évitement d'obstacles par une voiture sans conducteur.
PCT/CN2017/085245 2017-05-21 2017-05-21 Appareil et procédé d'évitement d'obstacles par une voiture sans conducteur WO2018213953A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/CN2017/085245 WO2018213953A1 (fr) 2017-05-21 2017-05-21 Appareil et procédé d'évitement d'obstacles par une voiture sans conducteur

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2017/085245 WO2018213953A1 (fr) 2017-05-21 2017-05-21 Appareil et procédé d'évitement d'obstacles par une voiture sans conducteur

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WO2018213953A1 true WO2018213953A1 (fr) 2018-11-29

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Citations (13)

* Cited by examiner, † Cited by third party
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CN202459187U (zh) * 2011-12-02 2012-10-03 中国计量学院 一种可提示行人避让的导盲装置
CN202766955U (zh) * 2012-09-26 2013-03-06 长安大学 压路机避障控制系统
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CN105774585A (zh) * 2016-03-06 2016-07-20 王涛 智能型全自动无人驾驶电动汽车
CN105910604A (zh) * 2016-05-25 2016-08-31 武汉卓拔科技有限公司 一种基于多传感器的自主避障导航系统
CN106020232A (zh) * 2016-07-07 2016-10-12 天津航天中为数据系统科技有限公司 一种无人机避障装置及避障方法
CN205692048U (zh) * 2016-06-28 2016-11-16 广州沃港电子科技有限公司 基于超声波和红外线的自动避障系统
CN106249239A (zh) * 2016-08-23 2016-12-21 深圳市速腾聚创科技有限公司 目标检测方法及装置
CN106324619A (zh) * 2016-10-28 2017-01-11 武汉大学 一种变电站巡检机器人自动避障方法
CN106647768A (zh) * 2017-01-18 2017-05-10 成都黑盒子电子技术有限公司 服务型机器人自主运动避障方法

Patent Citations (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8456290B2 (en) * 2005-08-19 2013-06-04 Adc Technology Inc. In-vehicle image display apparatus
CN202459187U (zh) * 2011-12-02 2012-10-03 中国计量学院 一种可提示行人避让的导盲装置
CN202766955U (zh) * 2012-09-26 2013-03-06 长安大学 压路机避障控制系统
CN104669280A (zh) * 2013-11-30 2015-06-03 西安奥赛福科技有限公司 一种家用机器人自动避障控制系统
CN204270146U (zh) * 2014-12-22 2015-04-15 南京阿凡达机器人科技有限公司 一种移动机器人多方位避障系统
CN104731092A (zh) * 2014-12-22 2015-06-24 南京阿凡达机器人科技有限公司 一种移动机器人多方位避障系统
CN105774585A (zh) * 2016-03-06 2016-07-20 王涛 智能型全自动无人驾驶电动汽车
CN105910604A (zh) * 2016-05-25 2016-08-31 武汉卓拔科技有限公司 一种基于多传感器的自主避障导航系统
CN205692048U (zh) * 2016-06-28 2016-11-16 广州沃港电子科技有限公司 基于超声波和红外线的自动避障系统
CN106020232A (zh) * 2016-07-07 2016-10-12 天津航天中为数据系统科技有限公司 一种无人机避障装置及避障方法
CN106249239A (zh) * 2016-08-23 2016-12-21 深圳市速腾聚创科技有限公司 目标检测方法及装置
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CN106647768A (zh) * 2017-01-18 2017-05-10 成都黑盒子电子技术有限公司 服务型机器人自主运动避障方法

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