WO2018213956A1 - 无人驾驶汽车避障装置及方法 - Google Patents

无人驾驶汽车避障装置及方法 Download PDF

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WO2018213956A1
WO2018213956A1 PCT/CN2017/085248 CN2017085248W WO2018213956A1 WO 2018213956 A1 WO2018213956 A1 WO 2018213956A1 CN 2017085248 W CN2017085248 W CN 2017085248W WO 2018213956 A1 WO2018213956 A1 WO 2018213956A1
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temperature distribution
grating
obstacle avoidance
sensing module
sensing
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PCT/CN2017/085248
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English (en)
French (fr)
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李仁涛
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李仁涛
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Priority to PCT/CN2017/085248 priority Critical patent/WO2018213956A1/zh
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    • 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
    • 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences

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  • 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, including at least: a grating sensing module, configured to transmit a grating and determine an obstacle according to a 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 grating sensing module control The car avoids 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 a grating 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 raster 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 a grating 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 grating 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 module
  • the functions of 30 are 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 corresponding steps.
  • the grating sensing module 10 is configured to transmit a grating and determine an obstacle based on the feedback signal. More specifically, the grating sensing module 10 includes at least one grating emitter and at least one grating receiver, the grating emitter transmitting a grating to the outside, the grating receiver receiving a grating reflected by an external obstacle, and The raster signal is sent to the obstacle avoidance control module 30 of the driverless vehicle. In this embodiment, the number of the grating emitters and the grating 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 grating 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 raster 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 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 region does not fall within the reference range, and the obstacle avoidance operation is performed according to the grating 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 transmitting a grating and determining an obstacle 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 controlling according to the grating 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.

Abstract

一种无人驾驶汽车避障装置至少包括：光栅感测模块（10），用于发射光栅并根据反馈的信号确定障碍物；以及温度分布感测模块（20），用于感测一定区域范围内的物体温度分布并确定障碍物。该避障装置还包括：存储设备，用于存储多条指令；以及处理器，用于加载存储设备的指令并执行：将温度分布感测模块（20）的感测结果设置为最高优先级，并按照优先级设置，优先根据温度分布感测模块（20）控制汽车避开对应的物体，其次根据光栅感测模块（10）控制汽车避开对应的物体。

Description

无人驾驶汽车避障装置及方法 技术领域
本发明涉及无人驾驶技术，尤其涉及一种无人驾驶避障装置及方法。
背景技术
自主避障是无人驾驶机器自主运行的关键技术，无人驾驶机器通过自主避障可以在飞行或行驶过程中躲避开影响运动的障碍物。现有技术中的避障技术需要通过神经网络、深度学习等复杂的运算方法来实现，这样的避障技术所需的系统硬件资源较大，不能快速且实时的实现全方位的避障。
而且，现有技术的避障技术，通常不对避障优先级进行设置，例如，当无人驾驶汽车在同一避障范围内，发现同时有生物体(例如斑马线上的行人)以及非生物体(例如突然飞来的物体)需要避绕，此时，现有的无人驾驶汽车通常会先避开距离最近的物体，例如突然飞来的物体，从而有可能撞上斑马线上的行人。然而，这并不是我们期望的。
发明内容
本发明的主要目的在于解决上述技术问题。
为实现上述目的，本发明一实施例提供一种无人驾驶汽车避障装置，至少包括：光栅感测模块，用于发射光栅并根据反馈的信号确定障碍物；以及温度分布感测模块，用于感测一定区域范围内的物体温度分布并确定障碍物。所述系统还包括：存储设备，适于存储多条指令；处理器，用于加载所述存储设备的指令并执行：将温度分布感测模块的感测结果设置为最高优先级，并按照优先级设置，优先根据温度分布感测模块控制汽车避开对应的物体，其次根据光栅感测模块控 制汽车避开对应的物体。
本发明另一实施例提供一种无人驾驶汽车避障方法，适于在计算设备中执行。该方法包括：发射光栅并根据反馈的信号确定障碍物；以及感测一定区域范围内的物体温度分布并确定障碍物；以及将温度分布感测结果设置为最高优先级，并按照优先级设置，优先根据温度分布数据控制汽车避开对应的物体，其次根据光栅感测数据控制汽车避开对应的物体。
本发明提供的无人驾驶汽车避障装置以及方法，能够对物体温度分布数据进行检测，而且对避障检测数据进行优先级设置，可使无人驾驶汽车优先躲避符合一定条件的障碍物，例如行人，从而能够提高无人驾驶汽车的安全性。
附图说明
图1为本发明提供的无人驾驶汽车避障装置的功能模块图；
图2为图1的无人驾驶汽车避障装置检测到的物体温度分布图；
图3为本发明提供的无人驾驶汽车避障方法的流程图。
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
以下结合说明书附图对本发明的优选实施例进行说明，应当理解，此处所描述的优选实施例仅用于说明和解释本发明，并不用于限定本发明，并且在不冲突的情况下，本发明中的实施例及实施例中的特征可以相互组合。
下面结合附图和实施例对本发明进行详细说明。
请参阅图1，本发明提供一种无人驾驶汽车避障装置100。该系统至少包括光栅感测模块10、温度分布感测模块20以及避障控制模块30，所述避障控制模块30接收所述光栅感测模块10以及温度分布感测模块20的信号或数据，并进行分析，所述避障控制模块30根据分析结果对无人驾驶汽车进行控制。可以理解，所述避障控制模块 30的功能由存储设备和处理器实现，存储设备适于存储多条指令，处理器用于加载所述存储设备的指令并执行对应步骤。
具体来说，所述光栅感测模块10用于发射光栅并根据反馈的信号确定障碍物。更具体的，所述光栅感测模块10包括至少一个光栅发射器以及至少一个光栅接收器，所述光栅发射器向外界发送光栅，所述光栅接收器接收外界障碍物反射回来的光栅，并将光栅信号发送至无人驾驶汽车的避障控制模块30。本实施例中，所述光栅发射器和光栅接收器的数量分别是4个。
所述温度分布感测模块20用于感测一定区域范围内的物体温度分布并确定障碍物。本实施例中，所述温度分布感测模块20包括非接触式红外测温仪，其通过测量目标表面所辐射的红外能量来确定表面温度。非接触式仪表测温是通过热辐射原理来测量温度的，测温元件不需与被测介质接触，测温范围广，不受测温上限的限制，也不会破坏被测物体的温度场，反应速度一般也比较快。
请结合图2，本实施例中，所述温度分布感测模块20通过摄像头等辅助设备，确定温度扫描区域，并且将该温度扫描区域划分为多个子区域。然后，通过多个所述非接触式红外测温仪，分别检测到该温度扫描区域内的多个子区域的温度。
所述处理器执行：将温度分布感测模块20的感测结果设置为最高优先级，并按照优先级设置，优先根据温度分布感测模块20控制汽车避开对应的物体，其次根据光栅感测模块10控制汽车避开对应的物体。本实施例中，在所述将温度分布感测模块20的感测结果设置为最高优先级之前，所述处理器还执行：根据物体温度分布，判断所检测的区域范围内的温度分布是否落入参考范围。其中，所述参考范围可以是人体温度分布值的范围，例如也可以是预先设置的多种生物体的温度分布值的范围。在另一实施例中，在所述判断所检测的区域范围内的温度分布是否落入参考范围之后，所述处理器进一步执行：判断是否均接收到物体温度分布数据以及光栅反馈信号，如果是，则进行优先级设置，否则不进行优先级设置。
在又一个实施例中，所述处理器进一步执行：根据优先级设置， 优先根据物体温度分布数据来控制无人驾驶汽车进行避障操作，直到所检测的区域范围内的温度分布未落入参考范围时，根据光栅反馈信号进行避障操作。
本发明提供的无人驾驶汽车避障装置100，能够对物体温度分布数据进行检测，而且对避障检测数据进行优先级设置，可使无人驾驶汽车优先躲避符合一定条件的障碍物，例如行人，从而能够提高无人驾驶汽车的安全性。
请参阅图3，本发明提供一种无人驾驶汽车避障方法，适于在上述计算设备中执行。该方法包括：
步骤S301，发射光栅并根据反馈的信号确定障碍物。
步骤S302，感测一定区域范围内的物体温度分布并确定障碍物。
步骤S303，将温度分布感测模块20的感测结果设置为最高优先级，并按照优先级设置，优先根据温度分布感测模块20控制汽车避开对应的物体，其次根据光栅感测模块10控制汽车避开对应的物体。
本发明提供的无人驾驶汽车避障装置100以及方法，能够对物体温度分布数据进行检测，而且对避障检测数据进行优先级设置，可使无人驾驶汽车优先躲避符合一定条件的障碍物，例如行人，从而能够提高无人驾驶汽车的安全性。
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 (8)

  1. 一种无人驾驶汽车避障装置，至少包括：
    光栅感测模块，用于发射光栅并根据反馈的信号确定障碍物；以及
    温度分布感测模块，用于感测一定区域范围内的物体温度分布并确定障碍物；
    所述系统还包括：
    存储设备，适于存储多条指令；
    处理器，用于加载所述存储设备的指令并执行：将温度分布感测模块的感测结果设置为最高优先级，并按照优先级设置，优先根据温度分布感测模块控制汽车避开对应的物体，其次根据光栅感测模块控制汽车避开对应的物体。
  2. 根据权利要求1所述的无人驾驶汽车避障装置，其特征在于：所述光栅感测模块包括至少一个光栅发射器以及至少一个光栅接收器，所述光栅发射器向外界发送光栅，所述光栅接收器接收外界障碍物反射回来的光栅，并将光栅信号发送至无人驾驶汽车的处理器。
  3. 根据权利要求1所述的无人驾驶汽车避障装置，其特征在于：所述温度分布感测模块包括非接触式红外测温仪，其通过测量目标表面所辐射的红外能量来确定表面温度。
  4. 根据权利要求1所述的无人驾驶汽车避障装置，其特征在于：在所述将温度分布感测模块的感测结果设置为最高优先级之前，所述处理器还执行：
    根据物体温度分布，判断所检测的区域范围内的温度分布是否落入参考范围。
  5. 根据权利要求4所述的无人驾驶汽车避障装置，其特征在于：所述参考范围是人体温度分布值的范围。
  6. 根据权利要求4所述的无人驾驶汽车避障装置，其特征在于：在所述判断所检测的区域范围内的温度分布是否落入参考范围之后，所述处理器进一步执行：
    判断是否均接收到物体温度分布数据以及光栅反馈信号，如果是，则进行优先级设置，否则不进行优先级设置。
  7. 根据权利要求1所述的无人驾驶汽车避障装置，其特征在于：所述处理器进一步执行：
    根据优先级设置，优先根据物体温度分布数据来控制无人驾驶汽车进行避障操作，直到所检测的区域范围内的温度分布未落入参考范围时，根据光栅反馈信号进行避障操作。
  8. 一种无人驾驶汽车避障方法，适于在计算设备中执行，该方法包括：
    发射光栅并根据反馈的信号确定障碍物；以及
    感测一定区域范围内的物体温度分布并确定障碍物；以及
    将温度分布感测结果设置为最高优先级，并按照优先级设置，优先根据温度分布数据控制汽车避开对应的物体，其次根据光栅感测数据控制汽车避开对应的物体。
PCT/CN2017/085248 2017-05-21 2017-05-21 无人驾驶汽车避障装置及方法 WO2018213956A1 (zh)

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CN2570893Y (zh) * 2001-10-31 2003-09-03 石家庄钢铁有限责任公司 一种冶金棒材计数器
KR20130085235A (ko) * 2012-01-19 2013-07-29 김동용 자동차의 무인 운전 시스템
CN205326990U (zh) * 2016-02-19 2016-06-22 上海若诗信息科技有限公司 一种基于无人驾驶的智能汽车
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
CN106527445A (zh) * 2016-12-05 2017-03-22 西宁意格知识产权咨询服务有限公司 一种高效雨雾天障碍识别的无人驾驶汽车

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CN2570893Y (zh) * 2001-10-31 2003-09-03 石家庄钢铁有限责任公司 一种冶金棒材计数器
KR20130085235A (ko) * 2012-01-19 2013-07-29 김동용 자동차의 무인 운전 시스템
CN205326990U (zh) * 2016-02-19 2016-06-22 上海若诗信息科技有限公司 一种基于无人驾驶的智能汽车
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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