WO2018213955A1 - Appareil et procédé d'évitement d'obstacle de voiture sans conducteur - Google Patents

Appareil et procédé d'évitement d'obstacle de voiture sans conducteur Download PDF

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Publication number
WO2018213955A1
WO2018213955A1 PCT/CN2017/085247 CN2017085247W WO2018213955A1 WO 2018213955 A1 WO2018213955 A1 WO 2018213955A1 CN 2017085247 W CN2017085247 W CN 2017085247W WO 2018213955 A1 WO2018213955 A1 WO 2018213955A1
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WO
WIPO (PCT)
Prior art keywords
temperature distribution
infrared light
obstacle avoidance
sensing module
car
Prior art date
Application number
PCT/CN2017/085247
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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.)
Filing date
Publication date
Application filed by 李仁涛 filed Critical 李仁涛
Priority to PCT/CN2017/085247 priority Critical patent/WO2018213955A1/fr
Publication of WO2018213955A1 publication Critical patent/WO2018213955A1/fr

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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
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
    • B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
    • 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
    • G05D1/12—Target-seeking control

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 infrared light sensing module, configured to emit infrared light and determine an obstacle according to the feedback signal; and a temperature distribution sensing module It is used to sense the temperature distribution of objects within a certain area and determine 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, the car is controlled to avoid the corresponding object, and secondly, according to the infrared light 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: emitting infrared light 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
  • the car is controlled to avoid the corresponding object according to the temperature distribution data
  • the car is controlled to avoid the corresponding object according to the infrared light 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 infrared light sensing module 10, a temperature distribution sensing module 20, and an obstacle avoidance control module 30.
  • the obstacle avoidance control module 30 receives signals of the infrared light sensing module 10 and the temperature distribution sensing module 20 or The data is analyzed and the obstacle avoidance control module 30 controls the driverless car based on 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 infrared light sensing module 10 is configured to emit infrared light and determine an obstacle according to the feedback signal. More specifically, the infrared light sensing module 10 includes at least one infrared light emitter and at least one infrared light receiver, the infrared light emitter sends infrared light to the outside, and the infrared light receiver receives an external obstacle reflection The infrared light is returned and the infrared light signal is sent to the obstacle avoidance control module 30 of the driverless vehicle. In this embodiment, the number of the infrared light emitters and the infrared light receivers 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 infrared light sensation
  • the measurement 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 infrared light feedback signal are both received, if Yes, the priority setting is made, otherwise the priority setting is not performed.
  • the processor is further configured to: according to a priority setting, The unmanned 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 area does not fall within the reference range, and the obstacle avoidance operation is performed according to the infrared light 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 infrared light is emitted and an obstacle is determined according to 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 according to the infrared light sensing module 10 Control the car to avoid 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)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Traffic Control Systems (AREA)

Abstract

L'invention concerne un appareil d'évitement d'obstacle de voiture sans conducteur (100), comprenant au moins : un module de détection de lumière infrarouge (10), utilisé pour émettre une lumière infrarouge, et déterminer des obstacles selon des signaux de rétroaction ; un module de détection de distribution de température (20), utilisé pour détecter des distributions de température d'objet dans une certaine portée de zone, et déterminer des obstacles. L'appareil 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 distribution 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 distribution de température (20), puis la commande de la voiture pour éviter des objets correspondants selon le module de détection de lumière infrarouge (10).
PCT/CN2017/085247 2017-05-21 2017-05-21 Appareil et procédé d'évitement d'obstacle de voiture sans conducteur WO2018213955A1 (fr)

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Application Number Priority Date Filing Date Title
PCT/CN2017/085247 WO2018213955A1 (fr) 2017-05-21 2017-05-21 Appareil et procédé d'évitement d'obstacle de voiture sans conducteur

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2017/085247 WO2018213955A1 (fr) 2017-05-21 2017-05-21 Appareil et procédé d'évitement d'obstacle de voiture sans conducteur

Publications (1)

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WO2018213955A1 true WO2018213955A1 (fr) 2018-11-29

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Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3910537C2 (fr) * 1989-04-01 1993-07-22 Jungheinrich Ag, 2000 Hamburg, De
US20010002688A1 (en) * 1999-12-04 2001-06-07 Helmut Uebel Method of detecting obstacles on railroad lines
CN204795370U (zh) * 2014-04-18 2015-11-18 菲力尔系统公司 监测系统及包含其的交通工具
CN105751999A (zh) * 2016-03-31 2016-07-13 汪家琳 全智能全自动(无人)驾驶汽车
CN105774585A (zh) * 2016-03-06 2016-07-20 王涛 智能型全自动无人驾驶电动汽车
CN205632352U (zh) * 2016-03-31 2016-10-12 汪家琳 全智能全自动无人驾驶汽车
CN106043125A (zh) * 2016-06-08 2016-10-26 宋勇 一种智能可视路径导航方法
CN106094809A (zh) * 2015-04-30 2016-11-09 Lg电子株式会社 车辆驾驶辅助装置
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
WO2017093197A1 (fr) * 2015-12-04 2017-06-08 Kuka Roboter Gmbh Représentation de zones protégées variables

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3910537C2 (fr) * 1989-04-01 1993-07-22 Jungheinrich Ag, 2000 Hamburg, De
US20010002688A1 (en) * 1999-12-04 2001-06-07 Helmut Uebel Method of detecting obstacles on railroad lines
CN204795370U (zh) * 2014-04-18 2015-11-18 菲力尔系统公司 监测系统及包含其的交通工具
CN106094809A (zh) * 2015-04-30 2016-11-09 Lg电子株式会社 车辆驾驶辅助装置
WO2017093197A1 (fr) * 2015-12-04 2017-06-08 Kuka Roboter Gmbh Représentation de zones protégées variables
CN105774585A (zh) * 2016-03-06 2016-07-20 王涛 智能型全自动无人驾驶电动汽车
CN105751999A (zh) * 2016-03-31 2016-07-13 汪家琳 全智能全自动(无人)驾驶汽车
CN205632352U (zh) * 2016-03-31 2016-10-12 汪家琳 全智能全自动无人驾驶汽车
CN106043125A (zh) * 2016-06-08 2016-10-26 宋勇 一种智能可视路径导航方法
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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