A telescopic radar detection device, detection method and autonomous driving system

Abstract

The present invention discloses a telescopic radar detection device, a detection method and an automatic driving system. The method for detecting vehicle operating environment information comprises the following steps: if the loaded cargo exceeds the width edge of the vehicle or blocks the field of view of the radar device installed on the vehicle, the radar device is controlled to be extended; an automatic calibration program is run: a transformation matrix of an initial radar coordinate system where the radar device is in a retracted state relative to a vehicle coordinate system is pre-determined #imgabs0# a radar detection data in a retracted state is compared with the radar detection data in a current extended state, and a point cloud matching algorithm is applied to calculate a transformation matrix of a current radar coordinate system in a current extended state relative to the initial radar coordinate system #imgabs1# a transformation matrix of a currently extended radar device relative to the vehicle is determined to be #imgabs2# based on calibration parameters, environmental detection data is provided #imgabs3# wherein, P i It is the radar detection data in the current extended state.

Description

Technical Field

[0001] The present invention relates to the field of autonomous driving, and in particular, to a telescopic radar detection device, a detection method, and an autonomous driving system. Background Art

[0002] The autonomous driving system of a vehicle relies on a perception system to detect environmental information around the vehicle's operating environment, and controls the vehicle to complete driving actions such as acceleration, deceleration, steering, and avoidance based on the perception results. Currently, the more common sensors for detecting environmental information include cameras, lidar, millimeter-wave radars, ultrasonic radars, etc. Lidar is the main sensor relied on by the current autonomous driving system due to its good environmental adaptability and high detection accuracy. Millimeter-wave radars and ultrasonic radars are generally installed on the vehicle bumper and are flush with the vehicle surface. Cameras and lidar are generally slightly higher than the vehicle surface to prevent the vehicle itself from blocking the detection range of the sensors. However, the installation position of general sensors cannot be too far from the vehicle surface to avoid affecting the vehicle's passability and to prevent damage caused by frequent rubbing of the sensors during actual operation.

[0003] For autonomous driving vehicles applied to the logistics and transportation industry, such as towing flatbed trucks, automated guided vehicles (AGVs), etc., when the transported object exceeds the vehicle body width, it will block the detection vision of some autonomous driving sensors, forming a detection blind area, which causes certain safety hazards. Currently, it is necessary to actively remind other objects in the environment to pay attention to avoidance by reducing the vehicle speed and giving audible and visual warnings, or to provide supplementary environmental monitoring information through external auxiliary devices.

[0004] The disclosure of the above background art content is only used to assist in understanding the inventive concept and technical solution of the present invention, and it does not necessarily belong to the prior art of this patent application, nor will it necessarily give technical guidance; without clear evidence that the above content was publicly available before the filing date of this patent application, the above background art should not be used to evaluate the novelty and inventiveness of this application. Summary of the Invention

[0005] The object of the present invention is to provide a solution for automatic detection using a telescopic radar detection device. When it detects that an on-vehicle object blocks the vision, it automatically extends an appropriate length and automatically completes the system calibration work, providing accurate and comprehensive environmental data for the autonomous driving process to ensure the safety of autonomous driving or driverless driving.

[0006] To achieve the above object, the technical solution adopted by the present invention is as follows:

[0007] A telescopic radar detection device for detecting vehicle operating environment information, comprising a base, a telescopic mechanism, a radar device and a controller. Among them, the base is configured to be fixedly connected to the vehicle. The telescopic mechanism includes a driving device and a slider slidably connected to the base. The radar device is arranged on the slider. Driven by the driving device, the slider drives the radar device to extend or retract in the width direction of the vehicle.

[0008] Both the driving device and the radar device are electrically connected to the controller. The controller is configured to provide vehicle operating environment information in the following manner:

[0009] When the vehicle is in an unloaded state and the radar device is in a retracted state, record the detection data of the radar device as the unloaded standard data.

[0010] In response to the comparison between the real-time detection data of the radar device and the unloaded standard data, if there are detection data points exceeding the preset number threshold on the outside of the vehicle, send an extension instruction to the driving device.

[0011] Run an automatic calibration program to determine the calibration parameters of the currently extended radar device relative to the vehicle, including: pre-determine the transformation matrix of the initial radar coordinate system where the radar device is located in the retracted state relative to the vehicle coordinate system. Compare the radar detection data in the retracted state with the radar detection data in the currently extended state, apply a point cloud matching algorithm, and calculate the transformation matrix of the current radar coordinate system where the radar device is located in the currently extended state relative to the initial radar coordinate system. Determine that the transformation matrix of the currently extended radar device relative to the vehicle is

[0012] Based on the calibration parameters, the controller provides environmental detection data Pi ′ : Where Pi is the radar detection data in the currently extended state.

[0013] Further, based on any one of the foregoing technical solutions or a combination of multiple technical solutions, before running the automatic calibration program, the controller determines whether the telescopic mechanism reaches the maximum stroke according to the driving stroke of the driving device, or determines whether the real-time detection data of the currently extended radar contains preset vehicle side feature data. If so, send an instruction to the driving device to abort the drive, and obtain the radar detection data in the currently extended state.

[0014] Further, based on any one of the foregoing technical solutions or a combination of multiple technical solutions, before running the automatic calibration program, the controller controls the driving device to drive the radar device to extend a fixed length.

[0015] Further, based on any one of the foregoing technical solutions or a combination of multiple technical solutions, the controller receives the real-time detection data of the radar device, compares it with the no-load standard data, and if the number of detected data points presented outside the vehicle is lower than a preset quantity threshold, sends a retraction instruction to the driving device, thereby returning the radar device to the retracted state.

[0016] Further, based on any one of the foregoing technical solutions or a combination of multiple technical solutions, the telescopic radar detection device further includes an auxiliary sensor, the detection direction of the auxiliary sensor is parallel to the detection direction of the radar device, and the detection data of the auxiliary sensor is converted into environmental detection data in the vehicle coordinate system through the transformation matrix to be converted into environmental detection data in the vehicle coordinate system.

[0017] Further, based on any one of the foregoing technical solutions or a combination of multiple technical solutions, the driving device is a linear motor, a push rod, a worm and worm gear or a displacement stage.

[0018] Further, based on any one of the foregoing technical solutions or a combination of multiple technical solutions, the controller calculates the limit channel width in the current extended state according to the driving stroke of the driving device corresponding to the current extended state, in combination with the width information of the vehicle;

[0019] The controller analyzes the channel point cloud data detected by the forward detection sensor, calculates the actual width of the channel, and if the actual width of the channel is less than the limit channel width, the controller triggers a prompt signal or a parking instruction or an instruction to retract the radar device.

[0020] According to another aspect of the present invention, the present invention provides a telescopic radar detection method for detecting vehicle operating environment information, including the following steps:

[0021] If the loaded goods exceed the width edge of the vehicle or block the field of view of the radar device installed on the vehicle, control the radar device to extend;

[0022] Run an automatic calibration program to determine the calibration parameters of the currently extended radar device relative to the vehicle, including: pre-determining the transformation matrix of the initial radar coordinate system where the radar device is located in the retracted state relative to the vehicle coordinate system Compare the radar detection data in the retracted state with the radar detection data in the current extended state, apply a point cloud matching algorithm, and calculate the transformation matrix of the current radar coordinate system where the radar device is located in the current extended state relative to the initial radar coordinate system Determine the transformation matrix of the currently extended radar device relative to the vehicle as

[0023] Provide environmental detection data Pi based on the calibration parameters ′ : where Pi is the radar detection data in the current extended state.

[0024] According to another aspect of the present invention, the present invention provides an autonomous driving system, including a vehicle, an autonomous driving processor, and the telescopic radar detection device as described above. The autonomous driving processor is configured to control the vehicle to complete driving actions such as acceleration, deceleration, and steering according to the vehicle operation environment information detected by the telescopic radar detection device.

[0025] Further, based on any one of the foregoing technical solutions or a combination of multiple technical solutions, the number of the telescopic radar detection devices is at least two, and they are arranged on both sides of the vehicle.

[0026] The beneficial effects brought by the technical solutions provided by the present invention are as follows:

[0027] a. The retractable nature of the radar device can reduce the detection field of view occlusion caused when an autonomous driving vehicle loads large or extra-wide goods, ensure operation safety, reduce speed reduction for safety reasons, and improve operation efficiency;

[0028] b. Automatic detection of field of view occlusion and driving the radar to extend an appropriate distance according to actual needs can ensure vehicle passability while reducing field of view occlusion and improving operation safety;

[0029] c. The automatic calibration process after the radar extends can ensure the detection accuracy of the sensor and improve the usability of the autonomous driving system. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments recorded in the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0031] Figure 1 Schematic diagram of the structure of the telescopic radar detection device provided for an exemplary embodiment of the present invention;

[0032] Figure 2 Schematic diagram of the state of the telescopic radar detection device installed on a vehicle provided for an exemplary embodiment of the present invention;

[0033] Figure 3 Schematic diagram of the point cloud distribution detected by the radar device in the retracted state provided for an exemplary embodiment of the present invention;

[0034] Figure 4 Schematic diagram of the point cloud distribution detected by the radar device in the extended state provided for an exemplary embodiment of the present invention;

[0035] Figure 5 Schematic flow chart of the telescopic radar detecting the operating environment information of the vehicle provided for an exemplary embodiment of the present invention.

[0036] Among them, the reference numerals include: 1 - base, 2 - radar device, 3 - slider, 4 - vehicle body, 5 - cargo frame, 6 - auxiliary sensor. Detailed implementation manners

[0037] In order to enable those skilled in the art to better understand the solution of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.

[0038] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above drawings are used to distinguish similar objects, and do not necessarily need to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, device, product or equipment comprising a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or equipment.

[0039] In an embodiment of the present invention, a telescopic radar detection device for detecting vehicle operating environment information is provided. The whole device is generally located in the accommodation cavity of the vehicle. Refer to Figure 1 , the detection device includes a base 1, a telescopic mechanism, a radar device 2 and a controller. In the non-telescopic state, the radar device 2 only slightly protrudes from the vehicle surface to reduce the impact of the radar device 2 on the vehicle passability. Among them, the base 1 is configured to be fixedly connected to the vehicle. The telescopic mechanism includes a driving device and a slider 3 slidably connected to the base 1. The radar device 2 is arranged on the slider 3. The driving device is a linear motor, a push rod, a worm and worm gear or a displacement stage. Under the drive of the driving device, the slider 3 drives the radar device 2 to extend or retract in the width direction of the vehicle, as Figure 2As shown in the figure, the number of the base 1, the telescopic mechanism, and the radar device 2 is at least two, which are respectively arranged on both sides of the vehicle body 4 of the vehicle. The telescopic mechanism on the left side is in the retracted state. At this time, the field of view of the radar device 2 on the left side is blocked by the cargo frame 5; while the telescopic mechanism on the right side is in the extended state. At this time, the radar device 2 on the right side protrudes out of the cargo frame 5, and its field of view is complete at this time. Hereinafter, the radar device of the lidar type will be taken as an example for description.

[0040] The driving device and the radar device 2 are both electrically connected to the controller. In this embodiment, the method of automatic detection can be used to determine whether the current lidar meets the extension condition, and can stop extending after extending to an appropriate length, and provide vehicle environment information for the vehicle automatic driving system at the current position. The specific method is as Figure 5 shown:

[0041] Automatically judge whether there is a situation of field of view occlusion according to the lidar detection data. The specific method is as follows: Record the detection data of the radar device 2 as the no-load standard data in advance when the vehicle is in the no-load state and the radar device 2 is in the retracted state; after loading the goods or during the loading process, the radar device 2 detects the data in real time and sends it to the controller. The controller compares the real-time detection data with the no-load standard data. If there are detection data points exceeding the preset quantity threshold on the outside of the vehicle, it means that the current extension condition is met. Therefore, an extension instruction is sent to the driving device to drive the telescopic mechanism to extend the lidar;

[0042] During the extension process, it is judged in real time whether the condition for stopping the extension is met, that is, any one of the following two conditions:

[0043] Condition 1: If the telescopic mechanism has reached the maximum stroke, that is, the remaining distance in the extension direction is insufficient, the condition for continuing to extend the lidar as shown in Figure 5 is not met;

[0044] Condition 2: If the occluded field of view of the lidar is restored due to the current extension of a certain distance; the basis for judging that the field of view is restored can be compared with Figure 3 and Figure 4 , Figure 4 if the real-time detection data of the currently extended radar includes the preset vehicle side characteristic data (the side characteristic data of the loaded goods or the side characteristic data of the vehicle body itself), in this state, the field of view is restored and the condition for stopping the extension is met. On the contrary, Figure 3 as shown in

[0045] the field of view is not restored, unless the telescopic mechanism has reached the maximum stroke, otherwise the telescopic mechanism needs to continue to extend.

[0046] Pre-determine the transformation matrix of the initial radar coordinate system where the radar device 2 is located in the retracted state relative to the vehicle coordinate system Specifically, since in the retracted state, the radar position is relatively fixed with respect to the vehicle position, the lidar data recorded at this initial position is used as standard data. The lidar data is a set of three-dimensional points {p1, p2, …, pN} with the lidar center as the origin. By implementing calibration, the transformation matrix of the lidar coordinate system relative to the vehicle coordinate system in the retracted state can be obtained

[0047] Compare the radar detection data in the retracted state with the radar detection data in the current extended state. Apply the point cloud matching algorithm to calculate the transformation matrix of the current radar coordinate system where the radar device 2 is located in the current extended state relative to the initial radar coordinate system Specifically, after the lidar extends, the received data is compared with the aforementioned lidar standard data. Apply the point cloud matching algorithm, such as the open-source ICP algorithm, to calculate the transformation of the coordinate system where the extended-state lidar is located relative to the coordinate system where the retracted-state lidar is located

[0048] Determine that the transformation matrix of the currently extended radar device 2 relative to the vehicle is

[0049] Based on the calibration parameters obtained from the above automatic calibration procedure, the controller provides environmental detection data Pi ′ : where Pi is the radar detection data in the current extended state, that is, the radar detection data in the extended state is converted into three-dimensional point cloud data in the vehicle coordinate system through the transformation matrix Send this environmental detection data to the autopilot processor of the autonomous vehicle. Then, the autopilot processor controls the vehicle to complete driving actions such as accelerating, decelerating, and steering according to the vehicle operation environment information detected by the telescopic radar detection device

[0050] The controller receives the real-time detection data of the radar device 2 and compares it with the no-load standard data. If the number of detected data points presented outside the vehicle is lower than a preset quantity threshold, such as after the goods unloading is completed, the controller sends a retraction command to the drive device, and then the radar device 2 returns to the initial retracted state

[0051] Although the present invention is not limited to automatically determining a suitable distance detected by the radar device 2 in the above manner, that is, in an embodiment of the present invention, the controller controls the driving device to drive the radar device 2 to extend a fixed length. For example, the maximum stroke of the telescopic mechanism is extended, and then the automatic calibration program is run. Compared with this embodiment, the above embodiment can immediately abort the extension action after the radar device 2 resumes its field of view, so that the extension length of the radar device 2 relative to the vehicle is minimized, preventing the radar device 2 from protruding too far from the vehicle and being easily damaged by collision during vehicle driving.

[0052] In an embodiment of the present invention, the telescopic radar detection device further includes an auxiliary sensor 6, such as Figure 1 As shown, an auxiliary sensor 6 is also provided on the outer protective cover of the radar device 2, such as a camera, whose detection direction is parallel to the detection direction of the radar device 2. Correspondingly, its detection data is converted into Environmental detection data in the vehicle coordinate system can also be converted in the same way.

[0053] In an embodiment of the present invention, the controller calculates the limit channel width in the current extended state based on the driving stroke of the driving device corresponding to the current extended state and combines the width information of the vehicle. For example, in the retracted state, the radar device 2 only slightly protrudes from the vehicle body. The vehicle width at the location of the radar device 2 is d1. In the current extended state, the length that the driving device drives the radar device 2 to protrude is d2. Then the limit channel width in the current extended state is d1 + d2.

[0054] If other forward detection sensors detect point cloud data conforming to the channel characteristics in front of the vehicle and calculate the actual width of the front channel, and if it is less than the limit channel width d1 + d2, the controller triggers a prompt signal or an instruction to retract the radar device; if the calculated actual width of the front channel is less than the width on both sides of the cargo edge, the controller sends a stop instruction to avoid mutual damage between the channel and the cargo.

[0055] In an embodiment of the present invention, a telescopic radar detection method for detecting vehicle operating environment information is provided. Different from the above embodiment where automatically detecting whether the loaded goods block the field of view of the radar device installed on the vehicle is used as the condition for the radar device to conform to the extension condition, this embodiment determines whether to control the extension of the radar device by judging whether the loaded goods exceed the width edge of the vehicle. Specifically, the width information of the loaded goods can be obtained through manual or sensor detection, and then the distance value that the radar device should be driven to extend is directly calculated through the distance value by which the loaded goods exceed the vehicle width;

[0056] After extending to the corresponding position, run the automatic calibration program as in the above embodiment to determine the calibration parameters of the currently extended radar device relative to the vehicle, including: predetermining the transformation matrix of the initial radar coordinate system where the radar device is located in the retracted state relative to the vehicle coordinate system Compare the radar detection data in the retracted state with the radar detection data in the currently extended state, apply the point cloud matching algorithm, and calculate the transformation matrix of the current radar coordinate system where the radar device is located in the currently extended state relative to the initial radar coordinate system Determine that the transformation matrix of the currently extended radar device 2 relative to the vehicle is

[0057] Based on the calibration parameters, provide environmental detection data P′ i : where P i is the radar detection data in the currently extended state.

[0058] When the telescopic radar detection device of the present invention detects that the field of view is blocked, it automatically extends an appropriate length to ensure the integrity of the detection field of view; and after the extension is completed, it automatically completes sensor calibration to provide accurate vehicle environment detection results, which effectively improves the safety of autonomous vehicles when transporting large and over-width goods, reduces the speed reduction for safety reasons, and improves the efficiency of autonomous transportation.

[0059] It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "including a..." does not exclude the existence of additional identical elements in the process, method, article or device including the element.

[0060] The above are only specific embodiments of the present application. It should be pointed out that for those of ordinary skill in the art, without departing from the principle of the present application, several improvements and refinements can be made, and these improvements and refinements should also be regarded as the protection scope of the present application.

Claims

1. A telescopic radar detection device for detecting vehicle running environment information, characterized in that, It includes a base (1), a telescopic mechanism, a radar device (2) and a controller. Among them, the base (1) is configured to be fixedly connected to the vehicle. The telescopic mechanism includes a driving device and a slider (3) slidably connected to the base (1). The radar device (2) is arranged on the slider (3). Driven by the driving device, the slider (3) drives the radar device (2) to extend or retract in the width direction of the vehicle. Both the driving device and the radar device (2) are electrically connected to the controller, and the controller is configured to provide vehicle operation environment information in the following manner: When the vehicle is in an unloaded state and the radar device (2) is in a retracted state, record the detection data of the radar device (2) as the unloaded standard data. In response to the comparison between the real-time detection data of the radar device (2) and the unloaded standard data, if there are more detection data points outside the vehicle than a preset number threshold, send an extension instruction to the driving device. Judge in real time whether the preset condition for aborting the extension is met. If so, abort the extension of the radar device (2). After the retraction, run the automatic calibration program to determine the calibration parameters of the currently extended radar device (2) relative to the vehicle, including: pre-determining the transformation matrix of the initial radar coordinate system where the radar device (2) is located in the retracted state relative to the vehicle coordinate system Compare the radar detection data in the retracted state with the radar detection data in the current extended state, apply the point cloud matching algorithm, and calculate the transformation matrix of the current radar coordinate system where the radar device (2) is located in the current extended state relative to the initial radar coordinate system Determine that the transformation matrix of the currently extended radar device (2) relative to the vehicle is Based on the calibration parameters, the controller provides environmental detection data P i ′ : where P i is the radar detection data in the current extended state.

2. The telescopic radar detection device according to claim 1, wherein Before running the automatic calibration program, the controller judges whether the telescopic mechanism reaches the maximum stroke according to the driving stroke of the driving device, or judges whether the real-time detection data of the currently extended radar contains preset vehicle side feature data. If so, send an instruction to abort the drive to the driving device and obtain the radar detection data in the currently extended state.

3. The telescopic radar detection device according to claim 1, characterized in that, Before running the automatic calibration program, the controller controls the driving device to drive the radar device (2) to extend a fixed length.

4. The telescopic radar detection device according to claim 1, wherein, The controller receives the real-time detection data of the radar device (2) and compares it with the unloaded standard data. If the number of detection data points outside the vehicle is less than the preset number threshold, send a retraction instruction to the driving device, so that the radar device (2) returns to the retracted state.

5. The telescopic radar detection device according to claim 1, characterized in that, It further includes an accessory sensor, the detection direction of the accessory sensor being parallel to the detection direction of the radar device (2), and the detection data of the accessory sensor being converted into environmental detection data in the vehicle coordinate system through the transformation matrix by the transformation matrix 6. The telescopic radar detection device according to claim 1, characterized in that The driving device is a linear motor, a push rod, a worm and worm gear or a displacement table.

7. The telescopic radar detection device according to any one of claims 1 to 6, characterized in that, The controller calculates the limit channel width in the currently extended state according to the driving stroke of the driving device corresponding to the currently extended state and in combination with the width information of the vehicle. The controller analyzes the channel point cloud data detected by the forward detection sensor and calculates the actual width of the channel. If the actual width of the channel is less than the limit channel width, the controller triggers a prompt signal, a stop instruction or an instruction to retract the radar device.

8. A telescopic radar detection method for detecting vehicle operating environment information, characterized in that, Based on the telescopic radar detection device according to any one of claims 1 to 7, the detection method includes the following steps: If the loaded goods exceed the width edge of the vehicle or block the view of the radar device installed on the vehicle, control the radar device to extend. Run the automatic calibration program to determine the calibration parameters of the currently extended radar device relative to the vehicle, including: pre-determining the transformation matrix of the initial radar coordinate system where the radar device is located in the retracted state relative to the vehicle coordinate system Compare the radar detection data in the retracted state with the radar detection data in the current extended state, and apply the point cloud matching algorithm to calculate the transformation matrix of the current radar coordinate system where the radar device is located in the current extended state relative to the initial radar coordinate system Determine that the transformation matrix of the currently extended radar device (2) relative to the vehicle is Based on the calibration parameters, environmental detection data P is provided i ′ : where P i is the radar detection data in the current extended state.

9. An autonomous driving system, characterized in that, It includes a vehicle, an autonomous driving processor and the telescopic radar detection device according to any one of claims 1 to 7. The autonomous driving processor is configured to control the vehicle to complete driving actions such as accelerating, decelerating and steering according to the vehicle operation environment information detected by the telescopic radar detection device.

10. The autonomous driving system according to claim 9, wherein The number of the telescopic radar detection devices is at least two, and they are arranged on both sides of the vehicle.

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