An autonomous vehicle sensor arrangement generation system

Abstract

The present disclosure relates to an automatic driving vehicle sensor arrangement scheme generation system. The automatic driving vehicle sensor arrangement scheme generation system comprises a user option interface, a scheme option interface and a model and parameter export module. The user option interface comprises a vehicle type selection module, a detection range selection module and a perception scheme selection module. The user option interface is configured to receive vehicle basic information submitted by a user based on preset options, and generate a sensor arrangement candidate scheme according to the vehicle basic information. The scheme option interface is configured to display the sensor arrangement candidate scheme to the user, and receive a sensor arrangement scheme selected and confirmed by the user. The present disclosure reduces the time of the scheme design process by providing solutions to the user, provides more comprehensive sensor product documents, and reduces the material collection work in the early stage of the automatic driving vehicle design.

Description

Technical Field

[0001] This disclosure relates to the field of autonomous driving, and more specifically, to a sensor layout scheme generation system for autonomous vehicles. Background Technology

[0002] Autonomous vehicles are complex systems integrating positioning, perception, decision-making, and motion control. The perception system, acting as the "eyes" and "ears" of an autonomous vehicle, is the foundation of the system, responsible for collecting various environmental information for the decision-making module. The perception system primarily consists of various sensors, such as LiDAR, vision sensors, and ultrasonic radar. Currently, autonomous driving system manufacturers select different sensor types and deployment schemes based on the level of autonomous driving, operating environment, and specific functions. They spend a significant amount of time collecting sensor data and simulating deployment schemes, and cannot achieve fully automated intelligent deployment of sensors for autonomous vehicles simply by directly collecting existing user requirements.

[0003] Therefore, one or more methods are needed to solve the above problems.

[0004] It should be noted that the information disclosed in the background section above is only used to enhance the understanding of the background of this disclosure, and therefore may include information that does not constitute prior art known to those skilled in the art. Summary of the Invention

[0005] The purpose of this disclosure is to provide a sensor layout scheme generation system for autonomous vehicles, thereby overcoming, at least to some extent, one or more problems caused by the limitations and defects of related technologies.

[0006] According to one aspect of this disclosure, an autonomous vehicle sensor layout scheme generation system is provided, comprising a user selection interface, a scheme selection interface, and a model and parameter export module, wherein:

[0007] The user option interface includes a vehicle model selection module, a detection range selection module, and a perception scheme selection module. The user option interface is used to provide users with a selection based on preset options, to receive basic vehicle information submitted by the user, and to generate alternative sensor placement schemes based on the basic vehicle information.

[0008] The solution option interface is used to display the alternative sensor layout solutions to the user and receive the sensor layout solution selected and confirmed by the user.

[0009] The parameter export module is used to export the model and sensor parameters in the sensor layout scheme based on a preset format to generate a sensor layout scheme document.

[0010] In one exemplary embodiment of this disclosure, the user options interface of the system includes:

[0011] The vehicle selection module includes a vehicle category selection module, a vehicle subcategory selection module, and a vehicle size selection module. The vehicle selection module is used to receive vehicle vehicle information submitted by the user and to arrange sensors according to the vehicle vehicle information.

[0012] The detection range selection module includes selection modules for different distance scales based on front and rear distances and lateral distances. The detection range selection module is used to select the distance scale according to the different detection requirements of the vehicle and to arrange the sensors according to the distance scale.

[0013] The perception scheme selection module includes a vision scheme selection module, a laser scheme selection module, and a fusion perception scheme selection module. The perception scheme selection module is used to receive the perception scheme selected by the user and to deploy the sensors.

[0014] In one exemplary embodiment of this disclosure, the user option interface of the system is further configured to generate multiple sensor arrangement alternatives based on the sensor arrangement schemes of the vehicle model selection module, the detection range selection module, and the perception scheme selection module.

[0015] In one exemplary embodiment of this disclosure, the user options interface of the system further includes a scene selection module, a network connectivity selection module, a common weather selection module, and a tunnel section selection module, wherein:

[0016] The scenario selection module is used to receive application scenario information of the vehicle selected by the user, and to arrange the sensors according to the preset application scenario and sensor arrangement correspondence based on the application scenario information.

[0017] The connectivity level selection module is used to deploy sensors based on the level of intelligence of vehicle-road-cloud collaboration in the vehicle driving scenario.

[0018] The common weather selection module is used to prevent the vehicle from selecting common weather conditions due to sensor failure in high temperature, low temperature, fog, and rainy weather, and to filter sensor configurations based on the common weather conditions.

[0019] The tunnel section selection module is used to address issues such as lost positioning and abnormal sensor data by deploying sensors specifically for tunnel sections.

[0020] In one exemplary embodiment of this disclosure, the system's scheme option interface further includes:

[0021] The sensor parameter interface is used to display sensor parameters after the user clicks on a sensor in the sensor layout alternatives.

[0022] The model interface is used to display the sensor layout schemes among the alternative sensor layout schemes based on the three-dimensional model of the vehicle.

[0023] In one exemplary embodiment of this disclosure, the parameter export module further includes:

[0024] The parameter export module is used by the user to export parameters in the model interface. If the user selects parameter export, the parameter export module will export the model and sensor parameters in the sensor layout scheme according to a preset format to generate a sensor layout scheme document.

[0025] An exemplary embodiment of this disclosure provides a sensor layout scheme generation system for autonomous vehicles. The system includes a user selection interface, a scheme selection interface, and a model and parameter export module. The user selection interface includes a vehicle model selection module, a detection range selection module, and a perception scheme selection module. The user selection interface provides preset options for the user to choose from, receives basic vehicle information submitted by the user, and generates alternative sensor layout schemes based on the vehicle information. The scheme selection interface displays the alternative sensor layout schemes to the user and receives the user's confirmed sensor layout scheme selection. This disclosure reduces the time required for the scheme design process by providing solutions to users, provides more comprehensive sensor product documentation, and alleviates the material collection work in the early stages of autonomous vehicle design.

[0026] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0027] The above and other features and advantages of this disclosure will become more apparent from the detailed description of exemplary embodiments thereof with reference to the accompanying drawings.

[0028] Figure 1 A block diagram of a sensor arrangement generation system for an autonomous vehicle according to an exemplary embodiment of the present disclosure is shown.

[0029] Figure 2 A schematic diagram of a vehicle model selection module of an autonomous vehicle sensor layout generation system according to an exemplary embodiment of the present disclosure is shown.

[0030] Figure 3A schematic diagram of a detection range selection module of an autonomous vehicle sensor layout generation system according to an exemplary embodiment of the present disclosure is shown.

[0031] Figure 4 A schematic diagram of a scene selection module of an autonomous vehicle sensor layout generation system according to an exemplary embodiment of the present disclosure is shown.

[0032] Figure 5 A schematic diagram of a scheme option interface for an autonomous vehicle sensor layout scheme generation system according to an exemplary embodiment of the present disclosure is shown.

[0033] Figure 6 A schematic diagram of a sensor product document list of an autonomous vehicle sensor layout scheme generation system according to an exemplary embodiment of the present disclosure is shown.

[0034] Figure 7 A schematic diagram of sensor parameters for a sensor arrangement scheme generation system for an autonomous vehicle according to an exemplary embodiment of the present disclosure is shown.

[0035] Figure 8 A schematic diagram of a sensor layout scheme document generated by a parameter export module of an autonomous vehicle sensor layout scheme generation system according to an exemplary embodiment of the present disclosure is shown. Detailed Implementation

[0036] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the embodiments set forth herein; rather, they are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the exemplary embodiments to those skilled in the art. The same reference numerals in the drawings denote the same or similar parts, and therefore repeated descriptions of them will be omitted.

[0037] Furthermore, the described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. Numerous specific details are provided in the following description to give a thorough understanding of embodiments of this disclosure. However, those skilled in the art will recognize that the technical solutions of this disclosure can be practiced without one or more of the specific details described, or other methods, components, materials, apparatuses, steps, etc., can be employed. In other instances, well-known structures, methods, apparatuses, implementations, materials, or operations are not shown or described in detail to avoid obscuring various aspects of this disclosure.

[0038] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities can be implemented in software, or in one or more software-hardened modules, or in different network and / or processor devices and / or microcontroller devices.

[0039] In this example embodiment, an autonomous vehicle sensor layout scheme generation system is first provided; Reference Figure 1 As shown, the autonomous vehicle sensor layout scheme generation system includes a user option interface, a scheme option interface, and a model and parameter export module, wherein:

[0040] The user option interface includes a vehicle model selection module, a detection range selection module, and a perception scheme selection module. The user option interface is used to provide users with a selection based on preset options, to receive basic vehicle information submitted by the user, and to generate alternative sensor placement schemes based on the basic vehicle information.

[0041] The solution option interface is used to display the alternative sensor layout solutions to the user and receive the sensor layout solution selected and confirmed by the user.

[0042] The parameter export module is used to export the model and sensor parameters in the sensor layout scheme based on a preset format to generate a sensor layout scheme document.

[0043] An exemplary embodiment of this disclosure provides a sensor layout scheme generation system for autonomous vehicles. The system includes a user selection interface, a scheme selection interface, and a model and parameter export module. The user selection interface includes a vehicle model selection module, a detection range selection module, and a perception scheme selection module. The user selection interface provides preset options for the user to choose from, receives basic vehicle information submitted by the user, and generates alternative sensor layout schemes based on the vehicle information. The scheme selection interface displays the alternative sensor layout schemes to the user and receives the user's confirmed sensor layout scheme selection. This disclosure reduces the time required for the scheme design process by providing solutions to users, provides more comprehensive sensor product documentation, and alleviates the material collection work in the early stages of autonomous vehicle design.

[0044] The following will further describe an autonomous vehicle sensor layout scheme generation system in this example embodiment.

[0045] The disclosed autonomous vehicle sensor layout scheme generation system includes a user interface, a scheme selection interface, and a model and parameter export module, wherein:

[0046] The user option interface includes a vehicle model selection module, a detection range selection module, and a perception scheme selection module. The user option interface is used to provide users with a selection based on preset options, to receive basic vehicle information submitted by the user, and to generate alternative sensor placement schemes based on the basic vehicle information.

[0047] The solution option interface is used to display the alternative sensor layout solutions to the user and receive the sensor layout solution selected and confirmed by the user.

[0048] The parameter export module is used to export the model and sensor parameters in the sensor layout scheme based on a preset format to generate a sensor layout scheme document.

[0049] In this example embodiment, the system's user options interface includes:

[0050] The vehicle selection module includes a vehicle category selection module, a vehicle subcategory selection module, and a vehicle size selection module. The vehicle selection module is used to receive vehicle vehicle information submitted by the user and to arrange sensors according to the vehicle vehicle information.

[0051] The detection range selection module includes selection modules for different distance scales based on front and rear distances and lateral distances. The detection range selection module is used to select the distance scale according to the different detection requirements of the vehicle and to arrange the sensors according to the distance scale.

[0052] The perception scheme selection module includes a vision scheme selection module, a laser scheme selection module, and a fusion perception scheme selection module. The perception scheme selection module is used to receive the perception scheme selected by the user and to deploy the sensors.

[0053] In the embodiments of this example, as Figure 2 As shown, the vehicle model selection directly determines the placement, number, and detection range of sensors. For example, a single autonomous truck on public roads, due to its height, may require distance sensors to be placed on both the roof and the front to detect obstacles ahead. The roof sensor is responsible for detecting distant obstacles, while the front sensor detects nearby obstacles to supplement the roof's blind spot. Multiple blind spot detection sensors are needed to replace or surpass human vision, ensuring the safety of the vehicle and other road users. The mandatory vehicle model modules include heavy trucks, light trucks, SUVs, and sedans, with each model further divided into different sized vehicle models based on various commonly available vehicles on the market.

[0054] In the embodiments of this example, as Figure 3As shown, the detection range module primarily categorizes the sensor detection ranges required for autonomous vehicles at this stage. Users select the appropriate detection range based on the needs of the autonomous vehicle's usage scenario. Currently, autonomous driving on public roads is still relatively rare; intelligent technologies are more often applied to truck platooning, industrial park logistics, short-distance delivery, and industrial robot scenarios. Considering cost factors, the required detection range for autonomous driving varies in different scenarios. For example, in industrial park logistics, in low-speed scenarios, a detection range of 50m in front and 10m to the side is sufficient, eliminating the need for expensive, long-range, high-precision sensors. Each detection range in the module is divided into five levels, with different forward and backward distances, while the lateral distances are generally the same. The longer the detection distance, the higher the sensor configuration and the higher the cost.

[0055] In this example embodiment, the perception scheme module offers three options: a visual scheme, a laser scheme, and a fusion perception scheme. The visual scheme utilizes a visual camera as the primary sensing element. The system provides both hybrid schemes combining millimeter-wave radar and ultrasonic radar, and pure visual perception schemes. The laser scheme uses lidar as the primary sensing element, with other sensors playing auxiliary roles, such as visual cameras detecting traffic lights and filling blind spots, and millimeter-wave radar and ultrasonic radar filling blind spots. The fusion perception scheme combines the data from lidar and visual sensors as the final perception result, effectively eliminating some of the influence of lighting and visibility on the perception outcome.

[0056] In this example embodiment, the system's user options interface is also used to generate multiple sensor placement alternatives based on the sensor placement schemes of the vehicle model selection module, the detection range selection module, and the perception scheme selection module.

[0057] In this example embodiment, the system can automatically generate a layout plan based on the above three modules. However, the resulting plan is relatively complex, and its functionality may far exceed the user's needs. To address this issue, optional modules are proposed to help users develop simpler plans. These optional modules include a scene selection module, network connectivity level, common weather selection, and tunnel section selection.

[0058] In this example embodiment, the system's user options interface further includes a scene selection module, a connectivity level selection module, a common weather selection module, and a tunnel section selection module, wherein:

[0059] The scenario selection module is used to receive application scenario information of the vehicle selected by the user, and to arrange the sensors according to the preset application scenario and sensor arrangement correspondence based on the application scenario information.

[0060] The connectivity level selection module is used to deploy sensors based on the level of intelligence of vehicle-road-cloud collaboration in the vehicle driving scenario.

[0061] The common weather selection module is used to prevent the vehicle from selecting common weather conditions due to sensor failure in high temperature, low temperature, fog, and rainy weather, and to filter sensor configurations based on the common weather conditions.

[0062] The tunnel section selection module is used to address issues such as lost positioning and abnormal sensor data by deploying sensors specifically for tunnel sections.

[0063] In the embodiments of this example, as Figure 4 As shown, users need to identify the application scenario based on the autonomous vehicle's task and daily working status. If applied to designated lanes for logistics in a park, scenario 1 is selected. In this case, the sensors do not specifically consider lateral perception, and solutions without lateral perception are also listed in the sensor placement options. From scenario 1 to 6, the difficulty of autonomous driving increases sequentially, as do the requirements for the detection range and accuracy of the sensors. Specifically: in scenarios 1 / 3 / 5, the vehicle does not need to be equipped with lateral and rear sensors; in scenarios 2 / 4 / 6, lateral sensors are required to detect whether there are vehicles in adjacent lanes, and rear sensors are required to detect whether there are vehicles behind, to prevent collisions between the autonomous vehicle and vehicles on the side and behind when changing lanes. Scenarios 2 / 3 / 4 / 5 / 6 involve traffic light intersections, requiring the acquisition of traffic light information. The generated solutions include visual sensors or V2X, and the autonomous vehicle then starts and stops before the stop line based on this result.

[0064] In this example embodiment, the level of connectivity is selected based on the level of intelligence in vehicle-road-cloud collaboration within the vehicle's driving scenario. If the use scenario includes roadside units and V2X, the amount of information the vehicle itself needs to perceive decreases, and the number of sensors in the generated solution will decrease accordingly.

[0065] In this example embodiment, the common weather selection is to prevent sensor failure in environments such as high temperature, extreme cold, fog, and rain. The system classifies and sorts the impact levels of each extreme environment based on the sensor parameters and data processing algorithms provided by various sensor manufacturers. When a severe environment is selected in the common weather selection module, the system will prioritize configuring sensors with higher impact levels.

[0066] In this example embodiment, the tunnel section is a module designed to address positioning loss and abnormal sensor data. It only has two options: "Yes" and "No," where "Yes" indicates the presence of a tunnel section. If the user selects this module, the system will recommend sensor solutions involving fusion positioning and lane detection.

[0067] In this example embodiment, the system's scheme option interface further includes:

[0068] The sensor parameter interface is used to display sensor parameters after the user clicks on a sensor in the sensor layout alternatives.

[0069] The model interface is used to display the sensor layout schemes among the alternative sensor layout schemes based on the three-dimensional model of the vehicle.

[0070] In the embodiments of this example, as Figure 5-7 As shown, the solution selection interface is mainly used to display the configuration of the solutions generated by the system. It primarily lists various sensor configurations commonly used in mass-produced or pre-research intelligent driving vehicles. The sensors and model frames in the image are clickable. Clicking the model arrow leads to the 3D model interface, where you can see the vehicle model selected by the user, the sensors selected in the solution selection interface, and their distribution within the model. The sensor positions can be manually dragged.

[0071] In this example embodiment, the parameter export module further includes:

[0072] The parameter export module is used by the user to export parameters in the model interface. If the user selects parameter export, the parameter export module will export the model and sensor parameters in the sensor layout scheme according to a preset format to generate a sensor layout scheme document.

[0073] In the embodiments of this example, as Figure 8 As shown, after entering the 3D model interface, there is an export button on the interface, which can export the model and sensor parameters to a document.

[0074] It should be noted that although several modules or units of an autonomous vehicle sensor layout generation system have been mentioned in the detailed description above, this division is not mandatory. In fact, according to embodiments of this disclosure, the features and functions of two or more modules or units described above can be embodied in one module or unit. Conversely, the features and functions of one module or unit described above can be further divided and embodied by multiple modules or units.

[0075] Furthermore, the above figures are merely illustrative of the processes included in the method according to exemplary embodiments of the present invention, and are not intended to be limiting. It is readily understood that the processes shown in the above figures do not indicate or limit the temporal order of these processes. Additionally, it is readily understood that these processes may be executed synchronously or asynchronously, for example, in multiple modules.

[0076] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and embodiments are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the claims.

[0077] It should be understood that this disclosure is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this disclosure is limited only by the appended claims.

Claims

1. A sensor layout scheme generation system for autonomous vehicles, characterized in that, The system includes a user selection interface, a solution selection interface, and a model and parameter export module, wherein: The user option interface includes a vehicle model selection module, a detection range selection module, and a perception scheme selection module. The user option interface is used to provide users with a selection based on preset options, to receive basic vehicle information submitted by the user, and to generate alternative sensor placement schemes based on the basic vehicle information. The solution option interface is used to display the alternative sensor layout solutions to the user and receive the sensor layout solution selected and confirmed by the user. The parameter export module is used to export the model and sensor parameters in the sensor layout scheme based on a preset format to generate a sensor layout scheme document. In the user options interface of the system: The vehicle selection module includes a vehicle category selection module, a vehicle subcategory selection module, and a vehicle size selection module. The vehicle selection module is used to receive vehicle vehicle information submitted by the user and to arrange sensors according to the vehicle vehicle information. The detection range selection module includes selection modules for different distance scales based on front and rear distances and lateral distances. The detection range selection module is used to select the distance scale according to the different detection requirements of the vehicle and to arrange the sensors according to the distance scale. The perception scheme selection module includes a vision scheme selection module, a laser scheme selection module, and a fusion perception scheme selection module. The perception scheme selection module is used to receive the perception scheme selected by the user and to deploy the sensors accordingly. The system's user interface also includes a scene selection module, a network connectivity selection module, a common weather selection module, and a tunnel section selection module, wherein: The scenario selection module is used to receive different application scenario information of the vehicle selected by the user, and to arrange the sensors according to the preset application scenario and sensor arrangement correspondence based on the application scenario information. The connectivity level selection module is used to deploy sensors based on the level of intelligence of vehicle-road-cloud collaboration in the vehicle driving scenario. The common weather selection module is used to prevent the vehicle from selecting common weather conditions due to sensor failure in high temperature, low temperature, fog, and rainy weather, and to filter sensor configurations based on the common weather conditions. The tunnel section selection module is used to address issues such as lost positioning and abnormal sensor data by deploying sensors specifically for tunnel sections. The system's solution option interface also includes: The sensor parameter interface is used to display sensor parameters after the user clicks on a sensor in the sensor layout alternatives. The model interface is used to display the sensor layout schemes among the sensor layout alternatives based on the three-dimensional model of the vehicle. The parameter export module further includes: The parameter export module is used by the user to export parameters in the model interface. If the user selects parameter export, the parameter export module will export the model and sensor parameters in the sensor layout scheme according to a preset format to generate a sensor layout scheme document.

2. The system as described in claim 1, characterized in that, The system's user options interface is also used to generate multiple sensor placement alternatives based on the sensor placement schemes of the vehicle model selection module, detection range selection module, and perception scheme selection module.

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