A new energy vehicle anti-collision safety laser radar system

Abstract

The application provides a new energy vehicle anti-collision safety laser radar system, which is suitable for a new energy vehicle and comprises a first laser radar, a second laser radar, a third laser radar and a controller.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of blockchains, in particular to a new energy vehicle anti-collision safety laser radar system. BACKGROUND

[0002] In recent years, with the continuous development of Internet technology, the automobile industry has also undergone revolutionary development. Intelligent technology is being applied to the automobile industry, and automobile intelligence makes driving more convenient and safe. New energy vehicles use new energy batteries as power and use electric motors to drive wheels to travel, not only have the characteristics of energy saving and environmental protection, but also can use hydroelectric power, wind power, nuclear power, etc. to generate electricity or use the low valley period of the power system to charge the battery, while improving the efficiency of the power grid.

[0003] In recent years, the rapid development of Internet technology has brought revolutionary changes to the automobile manufacturing industry. At the same time, automobile intelligent technology is gradually being widely applied, which simplifies the driving operation of the car and improves the driving safety. And the most typical and hottest future application is the unmanned vehicle. With the help of artificial intelligence technology, unmanned vehicles are developing rapidly and are changing the way people travel, and will change the pattern of related industries on a large scale. The new energy vehicles in the prior art are often equipped with active or auxiliary installation systems, such as emergency braking and lane keeping systems, to avoid safety problems in automatic driving or manual driving mode. The conventional new energy vehicle radar system often uses laser radar or laser radar phased array to realize real-time tracking of the position of the front obstacle or vehicle during the vehicle driving process. When a single laser radar is used, the accuracy and stability of the radar during operation cannot be guaranteed, and when a phased array radar is used on a vehicle with a lower price, the production cost of the vehicle is increased. Therefore, using a radar system with high accuracy and stability is a problem that needs to be solved in the production process of new energy vehicles with lower prices.

[0004] The present application proposes a new energy vehicle anti-collision safety laser radar system to improve the above problems.

[0005] The present application proposes a new energy vehicle anti-collision safety laser radar system, which is suitable for a new energy vehicle, including: a first laser radar, the first laser radar is used to emit a first laser and a second laser, and the direction of the first laser is parallel to the direction of the second laser; a second laser radar, the second laser radar is used to emit a third laser and a fourth laser, and the direction of the third laser is parallel to the direction of the fourth laser, wherein the optical paths of the first laser and the fourth laser intersect at a first intersection, and the optical paths of the second laser and the third laser intersect at a second intersection; a third laser radar, the third laser radar is used to emit a fifth laser, the third laser radar is arranged between the first laser radar and the second laser radar, and the optical path of the fifth laser passes through the first intersection and the second intersection at the same time; and a controller, the controller is used to control the light emission angles of the first laser radar and the second laser radar to adjust the angle between the first laser direction and the fourth laser direction / the second laser direction and the third laser direction.

[0006] As can be understood, the third laser radar emits a unidirectional fifth laser beam in the direction of the vehicle's travel to initially obtain information about obstacles in front of the vehicle during travel and determine the location of the obstacle. Subsequently, the first and second laser radars, located on either side of the third laser radar, simultaneously emit two laser beams toward the location of the obstacle. Because the optical paths of the two laser beams intersect with the fifth laser beam, and the intersection point is located behind the obstacle, the light emitted by the first and second laser radars is blocked by the sides of the obstacle. Using the information fed back by the first and second laser radars and a corresponding algorithm, the distance between the vehicle and the obstacle in front can be obtained. This distance information is more accurate and intuitive than when only a single laser radar is used to obtain information about the obstacle in front. Furthermore, when the obstacle moves relative to the vehicle's direction of travel, it can be identified more quickly, ensuring greater safety for the vehicle when driving according to the radar system. Furthermore, this solution uses fewer laser beams, resulting in lower production costs.

[0007] In some embodiments, the first laser radar includes a first laser and a second laser, the first laser is used to emit a first laser, and the second laser is used to emit a second laser, wherein the wavelength of the first laser is greater than the wavelength of the second laser.

[0008] In some embodiments, the first laser radar includes a third laser and a fourth laser, the third laser is used to emit a third laser, and the fourth laser is used to emit a fourth laser, wherein the wavelength of the first laser is the same as the wavelength of the fourth laser, and the wavelength of the second laser is the same as the wavelength of the third laser.

[0009] It can be understood that the driving environment of the vehicle is affected by environmental factors such as rain, snow, and fog, and therefore, in some embodiments, the first laser radar includes a first laser for emitting first laser light and a second laser for emitting second laser light, wherein the wavelength of the first laser light is greater than the wavelength of the second laser light.

[0010] In some embodiments, the new energy vehicle anti-collision safety laser radar system further includes a first ranging module for receiving laser information fed back by the fifth laser according to the third laser radar, and determining first obstacle distance information, and the controller is further configured to control the light emitting angles of the first laser radar and the second laser radar according to the first obstacle distance information, so that the light path of the fifth laser passes through the first intersection and the second intersection at the same time.

[0011] It can be understood that the first laser radar and the second laser radar can be arranged on a steering engine or a mechanical device capable of moving in the horizontal direction to achieve deflection within a specific angle in the horizontal plane, and specific devices are disclosed in related technologies, which are not limited herein. Since the fifth laser is emitted in the driving direction of the vehicle, when the fifth laser feeds back the information of the first obstacle, the distance between the obstacle and the vehicle can be preliminarily obtained. Then, the controller controls the light emitting direction of the first laser radar and the second laser radar, so that the intersection of the light path is located behind the obstacle, and the first laser radar and the second laser radar can obtain the distance between the obstacle and the vehicle again. Through the data obtained by the first laser radar and the second laser radar and the deflection angle of the first laser radar and the second laser radar, more accurate obstacle information can be further obtained.

[0012] In some embodiments, the new energy vehicle anti-collision safety laser radar system further includes:

[0013] a second ranging module for obtaining a first distance according to the first laser / second laser; and a third ranging module for obtaining a second distance according to the third laser / fourth laser, and the first ranging module is further configured to correct the first obstacle information according to the first distance and the second distance.

[0014] It can be understood that, in the embodiment, the first obstacle information is corrected in the following manner: the second ranging module obtains a first distance between the first radar and the obstacle according to the first laser and the second laser. The third ranging module is configured to obtain a second distance between the second radar and the obstacle according to the third laser and the fourth laser. By obtaining the first distance between the first radar and the obstacle and the second distance between the second radar and the obstacle, and by the angle of deflection of the first radar and the second radar, the first obstacle information can be corrected, and the result of the correction is the second obstacle information.

[0015] In some embodiments, the first ranging module is further configured to receive laser information fed back by the second lidar according to the third laser and the fourth laser, and the light-emitting angles of the first lidar and the second lidar, and determine second obstacle information.

[0016] In some embodiments, the new energy vehicle anti-collision safety laser radar system further comprises a fourth lidar configured to emit a sixth laser, and the controller is further configured to control the light-emitting angle of the fourth lidar according to the second obstacle information, so that the obstacle is located on the light path of the sixth laser.

[0017] In some embodiments, the new energy vehicle further comprises a vehicle control module configured to control the operation of the new energy vehicle according to the second obstacle information.

[0018] In some embodiments, the vehicle controller is further configured to detect an included angle between the direction of the sixth laser and the fifth laser in the horizontal direction, and control the operation of the new energy vehicle according to the included angle.

[0019] In some embodiments, the first lidar, the second lidar, and the third lidar are arranged at a front position of the new energy vehicle or a rear position of the new energy vehicle.

[0020] The proposed new energy vehicle collision avoidance safety laser radar system uses a third laser radar to emit a unidirectional fifth laser beam in the direction of vehicle travel to initially acquire information about obstacles ahead of the vehicle during travel and determine the obstacle's location. Subsequently, a first laser radar and a second laser radar, located on either side of the third laser radar, simultaneously emit two laser beams toward the obstacle. Because the optical paths of the two laser beams intersect with the fifth laser beam at the rear of the obstacle, the light emitted by the first and second laser radars is blocked by the sides of the obstacle. Using the information fed back by the first and second laser radars and a corresponding algorithm, the system can also acquire distance information between the vehicle and the obstacle ahead. This distance information is more accurate and intuitive than when using only a single laser radar to acquire information about the obstacle ahead. Furthermore, when the obstacle moves perpendicular to the vehicle's direction of travel, it can be quickly identified, ensuring greater safety for vehicles operating under the radar system. Furthermore, this solution uses fewer laser beams, resulting in lower production costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0022] Figure 1 This is a schematic diagram of the first state of a new energy vehicle anti-collision safety lidar system during use, as proposed in an embodiment of the present application.

[0023] Figure 2 This is a schematic diagram of the second state during use of a new energy vehicle anti-collision safety laser radar system proposed in an embodiment of the present application.

[0024] Figure 3 This is a structural block diagram of a new energy vehicle anti-collision safety lidar system proposed in an embodiment of the present application. DETAILED DESCRIPTION

[0025] To make the above-mentioned purposes, features, and advantages of this application more clearly understood, the present application is further described in detail below with reference to the accompanying drawings and specific embodiments. It is apparent that the embodiments described are only a portion of the embodiments of this application, not all of them. All other embodiments derived by persons of ordinary skill in the art based on the embodiments in this application without inventive effort are also within the scope of protection of this application.

[0026] It should be noted that, in this document, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that an article or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such article or device. In the absence of further limitations, the elements defined by the phrase "includes..." do not exclude the presence of other identical elements in the article or device comprising the elements.

[0027] In this application, unless otherwise expressly specified or limited, terms such as "mounted," "connected," and "fixed" should be interpreted broadly. For example, these terms may refer to fixed, removable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediary; internal communication between two components; surface contact only; or surface contact through an intermediary. Those skilled in the art will understand the specific meanings of these terms in this application based on the specific circumstances.

[0028] In addition, the terms "first", "second", etc. are only used to distinguish descriptions and should not be understood as specific or special structures. The descriptions of the terms "some embodiments", "other embodiments", etc. mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this application, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine the different embodiments or examples described in this application and the features of the different embodiments or examples, unless they are contradictory.

[0029] New energy vehicles in the existing technology are often equipped with active or auxiliary installation systems, such as emergency braking and lane keeping systems, to avoid safety problems in automatic driving or manual driving modes. Conventional new energy vehicle radar systems often use lidar or lidar phased array in related technologies to achieve real-time tracking of obstacles in front of the vehicle or the position of the vehicle during the vehicle's movement. When a single lidar is used, the accuracy and stability of the radar during operation cannot be guaranteed, and when a phased array radar is used on a lower-priced vehicle, the production cost of the vehicle is increased. Therefore, the use of a radar system with higher accuracy and stability is a problem that needs to be solved in the production process of lower-priced new energy vehicles.

[0030] Based on this, this application proposes a new energy vehicle anti-collision safety lidar system 1000 to improve the above problems.

[0031] The application provides a new energy vehicle anti-collision safety laser radar system 1000, which is suitable for a new energy vehicle and comprises a first laser radar 2000, a second laser radar 3000, a third laser radar 4000 and a controller.

[0032] Please refer to Figure 1 The single-direction fifth laser emitted by the third laser radar 4000 towards the vehicle driving direction can preliminarily acquire the obstacle information in front of the vehicle during driving, and obtain the position of the obstacle. Then, the first laser radar 2000 and the second laser radar 3000 located on both sides of the third laser radar 4000 simultaneously emit two laser beams towards the obstacle, respectively. The two laser beams intersect with the fifth laser due to the light path, and the intersection point is located behind the obstacle, so the light emitted by the first laser radar 2000 and the second laser radar 3000 is blocked by the side of the obstacle. Through the information fed back by the first laser radar 2000 and the second laser radar 3000, the distance information between the vehicle and the front obstacle can also be acquired through the corresponding algorithm. The distance information is more accurate and intuitive than the information of the front obstacle acquired by using a single laser radar. When the obstacle moves relative to the vehicle in a direction perpendicular to the driving direction of the vehicle, please refer to Figure 2 The vehicle can be quickly identified when the obstacle moves relative to the vehicle in a direction perpendicular to the driving direction of the vehicle, so that the safety of the vehicle during driving according to the radar system is higher, and the production cost is lower due to the use of fewer laser beams in the scheme.

[0033] The environment of vehicle driving is affected by environmental factors such as rain, snow and fog, so in some embodiments, the first laser radar 2000 comprises a first laser and a second laser, the first laser is used for emitting a first laser, and the second laser is used for emitting a second laser, wherein the wavelength of the first laser is greater than the wavelength of the second laser.

[0034] As you can understand, because the wavelength of the first laser is longer than that of the second laser, the first laser has greater penetration than the second laser, making the radar signal more accurate than a single beam. The wavelength of the second laser is shorter than that of the first laser. According to the principle of lidar, when environmental factors have less influence, the second laser can return a more accurate signal. The combined use of the first and second lasers ensures the accuracy and wide applicability of lidar.

[0035] For the same reason, in some embodiments, the first laser radar 2000 includes a third laser and a fourth laser, the third laser is used to emit a third laser, and the fourth laser is used to emit a fourth laser, wherein the wavelength of the first laser is the same as the wavelength of the fourth laser, and the wavelength of the second laser is the same as the wavelength of the third laser.

[0036] Please also refer to Figure 3 In order to ensure that when an obstacle appears in the direction of travel of the vehicle, the laser radar can always accurately obtain the direction of the obstacle, in some embodiments, the new energy vehicle anti-collision safety laser radar system also includes: a first ranging module 6000, the first ranging module 6000 is used to receive the laser information fed back by the third laser radar 4000 based on the fifth laser, and determine the first obstacle distance information. The controller is also used to control the light output angles of the first laser radar 2000 and the second laser radar 3000 according to the first obstacle distance information, so that the optical path of the fifth laser passes through the first intersection and the second intersection at the same time.

[0037] It is understood that the first laser radar 2000 and the second laser radar 3000 can be mounted on a horizontally movable servo or mechanical device, enabling deflection within a specific angle in the horizontal plane. The specific device is disclosed in the relevant art and is not limited here. Because the fifth laser is emitted in the direction of the vehicle's travel, when the fifth laser feeds back information about the first obstacle, the distance between the obstacle and the vehicle can be initially determined. The controller then controls the light emission directions of the first laser radar 2000 and the second laser radar 3000 so that the intersection of the light paths is located behind the obstacle. The first laser radar 2000 and the second laser radar 3000 can then again determine the distance between the obstacle and the vehicle. Using the data obtained by the first laser radar 2000 and the second laser radar 3000, as well as the deflection angles of the first laser radar 2000 and the second laser radar 3000, more accurate obstacle information can be obtained.

[0038] Specifically, in this embodiment, the new energy vehicle anti-collision safety laser radar system further includes:

[0039] A second ranging module 7000, the second ranging module 7000 is used to obtain a first distance based on the first laser / second laser; and a third ranging module 8000, the third ranging module 8000 is used to obtain a second distance based on the third laser / fourth laser, and the first ranging module 6000 is further used to correct the first obstacle information based on the first distance and the second distance.

[0040] As will be appreciated, in this embodiment, the first obstacle information is corrected by the second ranging module 7000 using the first / second laser beams to obtain a first distance, i.e., the distance between the first radar and the obstacle. The third ranging module 8000 uses the third / fourth laser beams to obtain a second distance, i.e., the distance between the second radar and the obstacle. By obtaining the distances between the first radar and the obstacle, as well as the distances between the second radar and the obstacle, and using the deflection angles of the first and second radars, the first obstacle information is corrected, resulting in the second obstacle information.

[0041] In some embodiments, the first ranging module 6000 is further used to receive laser information fed back by the second laser radar 3000 based on the third laser and the fourth laser, and the light output angles of the first laser radar 2000 and the second laser radar 3000, to determine second obstacle information.

[0042] In some embodiments, the new energy vehicle anti-collision safety laser radar system also includes: a fourth laser radar 5000, which is used to emit a sixth laser. The controller is also used to control the light output angle of the fourth laser radar 5000 according to the second obstacle information so that the obstacle is located in the optical path of the sixth laser.

[0043] As you can understand, existing cars also have a variety of intelligent driving features. For example, during adaptive cruising on the road, a lidar system is also used to ensure the speed and distance of the vehicle ahead. Due to factors such as curves on the road, the vehicle ahead may not always be directly in front of the vehicle. Therefore, in this embodiment, a fourth lidar 5000 is also included for emitting a sixth laser. The fourth lidar 5000 is an adaptive radar that constantly tracks the vehicle ahead to ensure the distance to the vehicle ahead.

[0044] In some embodiments, the new energy vehicle further includes a vehicle control module 9000, and the vehicle control module 9000 controls the operation of the new energy vehicle according to the second obstacle information.

[0045] In some embodiments, the vehicle controller is further configured to detect an included angle between the sixth laser direction and the fifth laser in a horizontal direction, and to control operation of the new energy vehicle according to the included angle.

[0046] It can be understood that, by making the included angle between the sixth laser and the fifth laser tend to be in a smaller range, or coincide, the front vehicle can be always located in front of the host vehicle. By cooperating with the lane keeping system, the adaptive cruise can be performed in a safer manner.

[0047] In some embodiments, the first laser radar 2000, the second laser radar 3000 and the third laser radar 4000 are arranged at a front position of the new energy vehicle or a rear position of the new energy vehicle.

[0048] It should be noted that, the laser radars mentioned in the present application are all for identifying obstacles located on a road plane. The present application only proposes an embodiment in which the obstacle and the laser radar are located in the same plane. In some other embodiments, due to the influence of the road, the position of the obstacle can not be in the same plane as the laser radar. Therefore, in some other embodiments, the laser radars can also be multiple groups located on multiple vertical planes, to accurately achieve the function of obstacles located at different heights.

[0049] The single-direction fifth laser emitted by the third laser radar 4000 towards the vehicle driving direction can preliminarily obtain the obstacle information of the obstacle located in front of the vehicle during the driving of the vehicle, and obtain the position of the obstacle. Then, the first laser radar 2000 and the second laser radar 3000 located on both sides of the third laser radar 4000 simultaneously emit two lasers towards the position of the obstacle. The two lasers intersect with the fifth laser due to the light path, and the intersection point is located behind the obstacle. Therefore, the light emitted by the first laser radar 2000 and the second laser radar 3000 is blocked by the side of the obstacle. Through the feedback information of the first laser radar 2000 and the second laser radar 3000, and through the corresponding algorithm, the distance information between the vehicle and the front obstacle can also be obtained. The distance information is more accurate and intuitive than the information of the front obstacle obtained by using a single laser radar. At the same time, when the obstacle moves relatively perpendicular to the driving direction of the vehicle, it can also be identified relatively quickly. Therefore, the vehicle has high safety during driving according to the radar system. At the same time, the laser beams used in the present application are less, so that the production cost is low.

[0050] The above is a detailed introduction to the provided new energy vehicle anti-collision safety laser radar system. This article uses specific examples to illustrate the principles and implementation methods of this application. The description of the above embodiments is only used to help understand the core idea of ​​the information push method and device for blockchain clusters of this application; at the same time, for general technical personnel in this field, based on the ideas of this application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on this application.

Claims

1. A new energy vehicle anti-collision safety laser radar system, suitable for a new energy vehicle, characterized by: include: A first laser radar, the first laser radar is used to emit a first laser and a second laser, and the direction of the first laser is parallel to the direction of the second laser; a second laser radar, the second laser radar being configured to emit a third laser and a fourth laser, wherein a direction of the third laser is parallel to a direction of the fourth laser, wherein the optical paths of the first laser and the fourth laser intersect at a first intersection, and the optical paths of the second laser and the third laser intersect at a second intersection; a third laser radar, configured to emit a fifth laser, the third laser radar being disposed between the first laser radar and the second laser radar, wherein the optical path of the fifth laser passes through both the first intersection point and the second intersection point; and a controller for controlling the light output angles of the first laser radar and the second laser radar to adjust the angle between the first laser direction and the fourth laser direction / the second laser direction and the third laser direction.

2. The new energy vehicle anti-collision safety laser radar system according to claim 1 is characterized in that: The first laser radar includes a first laser and a second laser, the first laser is used to emit a first laser, and the second laser is used to emit a second laser, wherein the wavelength of the first laser is greater than the wavelength of the second laser.

3. The new energy vehicle anti-collision safety laser radar system according to claim 2 is characterized in that: The second laser radar includes a third laser and a fourth laser, the third laser is used to emit a third laser, and the fourth laser is used to emit a fourth laser, wherein the wavelength of the first laser is the same as the wavelength of the fourth laser, and the wavelength of the second laser is the same as the wavelength of the third laser.

4. The new energy vehicle anti-collision safety laser radar system according to claim 3 is characterized in that: Also includes: A first ranging module, the first ranging module is used to receive the laser information fed back by the third laser radar based on the fifth laser, and determine the first obstacle distance information. The controller is also used to control the light output angles of the first laser radar and the second laser radar based on the first obstacle distance information, so that the optical path of the fifth laser passes through the first intersection and the second intersection at the same time.

5. The new energy vehicle anti-collision safety laser radar system according to claim 4 is characterized in that: The new energy vehicle anti-collision safety lidar system also includes: a second distance measuring module, configured to obtain a first distance according to the first laser / second laser; and The third ranging module is used to obtain a second distance according to the third laser / fourth laser, and the first ranging module is further used to correct the first obstacle information according to the first distance and the second distance.

6. The new energy vehicle anti-collision safety laser radar system according to claim 5 is characterized in that: The first ranging module is also used to receive the laser information fed back by the second laser radar based on the third laser and the fourth laser, as well as the light output angles of the first laser radar and the second laser radar, to determine the second obstacle information.

7. The new energy vehicle anti-collision safety laser radar system according to claim 6 is characterized in that: The new energy vehicle anti-collision safety lidar system also includes: A fourth laser radar, wherein the fourth laser radar is used to emit a sixth laser, and the controller is further used to control the light emission angle of the fourth laser radar according to the second obstacle information so that the obstacle is located in the optical path of the sixth laser.

8. The new energy vehicle anti-collision safety laser radar system according to claim 7 is characterized in that: The new energy vehicle further includes a vehicle control module, which controls the operation of the new energy vehicle according to the second obstacle information.

9. The new energy vehicle anti-collision safety laser radar system according to claim 8, characterized in that: The controller is further configured to detect an angle between the sixth laser direction and the fifth laser in a horizontal direction, and to control the operation of the new energy vehicle according to the angle.

10. The new energy vehicle anti-collision safety laser radar system according to any one of claims 1 to 9, characterized in that: The first laser radar, the second laser radar and the third laser radar are arranged at the front position of the new energy vehicle or the rear position of the new energy vehicle.

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