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Environment sensing method of unmanned vehicle and control terminal

An unmanned vehicle, environment perception technology, applied in the environment perception method and control terminal field of unmanned vehicles, can solve major safety accidents, restrict the development of unmanned driving and other problems, achieve high resolution and good all-weather performance Effect

Pending Publication Date: 2020-07-14
江苏盛海智能科技有限公司
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] In recent years, with the rapid development of various sensors and the continuous innovation of unmanned driving technology, more and more sensors have been used in unmanned vehicles. The perception of the environment by unmanned vehicles is essential for the realization of truly unmanned driving. In the process of unmanned driving, there will inevitably be unexpected situations on the road that make it impossible for the unmanned vehicle to continue driving along the originally planned route, such as various obstacles, pits, etc. At this time, if the unmanned vehicle does not The corresponding environmental perception system cannot judge the unexpected situation encountered on the road, and if it continues to drive, it will cause a major safety accident
[0003] Therefore, the environmental perception system is the basis for realizing autonomous driving for autonomous obstacle avoidance, but today's environmental perception systems have certain defects, which restrict the development of autonomous driving.

Method used

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  • Environment sensing method of unmanned vehicle and control terminal
  • Environment sensing method of unmanned vehicle and control terminal

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Embodiment 1

[0069] Please refer to figure 1 , Embodiment 1 of the present invention is:

[0070] A method for environment perception of an unmanned vehicle, comprising the steps of:

[0071] S1. Perform image fusion on the surrounding image data sent by the visual sensors located around the vehicle, the surrounding millimeter wave data sent by the millimeter wave radar sensor located around the vehicle, and the surrounding point cloud data sent by the lidar sensor located on the vehicle roof. processing and establishing a three-dimensional surrounding environment model;

[0072] In this embodiment, step S1 specifically includes the following steps:

[0073] S11. Receive the front binocular image data sent by the binocular camera located in front of the vehicle, the monocular image data on both sides sent by the monocular camera located on both sides of the vehicle, and the rear monocular image data sent by the monocular camera located at the rear of the vehicle Image data to obtain sur...

Embodiment 2

[0091] Please refer to figure 2 , the second embodiment of the present invention is:

[0092] An environment perception control terminal 1 of an unmanned vehicle, including a memory 3, a processor 2, and a computer program stored in the memory 3 and operable on the processor 2, and the processor 2 implements the first embodiment above when executing the computer program in the steps.

[0093] An environment perception control terminal 1 of an unmanned vehicle forms an environment perception system with binocular cameras, multiple monocular cameras, millimeter-wave radar sensors and lidar sensors on the unmanned vehicle, wherein the processor can be selected from NVIDIA Jetson TX2, the entire environment perception system is connected with the basic unmanned wire control system of the unmanned vehicle through the CAN bus to control the vehicle to avoid risks in time to ensure the safety of unmanned driving.

[0094] In summary, the present invention provides an environment p...

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Abstract

The invention discloses an environment sensing method of an unmanned vehicle and a control terminal. The method comprises the following steps: carrying out image fusion processing on the surrounding image data sent by the visual sensors located around the vehicle, the surrounding millimeter wave data sent by the millimeter wave radar sensors located around the vehicle and the surrounding point cloud data sent by the laser radar sensors located at the roof of the vehicle; establishing a three-dimensional surrounding environment model; and obtaining attribute information of all objects on the road according to the surrounding environment model, and generating a driving decision according to the attribute information of all the objects on the road. Through advantage and disadvantage complementation of the laser radar sensor, the visual sensor and the millimeter wave radar sensor, a perfect, stable and reliable environment sensing system is formed.

Description

technical field [0001] The invention relates to the field of unmanned driving technology, in particular to an environment perception method and a control terminal of an unmanned vehicle. Background technique [0002] In recent years, with the rapid development of various sensors and the continuous innovation of unmanned driving technology, more and more sensors have been used in unmanned vehicles. The perception of the environment by unmanned vehicles is essential for the realization of truly unmanned driving. In the process of unmanned driving, there will inevitably be unexpected situations on the road that make it impossible for the unmanned vehicle to continue driving along the originally planned route, such as various obstacles, pits, etc. At this time, if the unmanned vehicle does not The corresponding environmental perception system cannot judge the sudden situation encountered on the road, and if the vehicle continues to drive, it will cause a major safety accident. ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0246G05D1/0257G05D1/0231
Inventor 林特
Owner 江苏盛海智能科技有限公司
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