Intelligent sensor group for automatic driving vehicle

Abstract

The invention relates to an intelligent sensor group for an automatic driving vehicle, which is applied to the field of electromagnetic waves, and is characterized in that a verification assembly is arranged in the detection direction of a sensor body, so that in the normal driving process of the vehicle, the verification assembly is in an ununfolded state, electromagnetic waves emitted by the sensor body are not shielded, and the sensor body is in a normal detection working state; when a vehicle is in an in-situ idling state, a driver can autonomously perform verification operation according to requirements, at the moment, the verification assembly is unfolded, electromagnetic waves of the sensor body irradiate a reflection detection area on the verification assembly to obtain detection data, and the detection data are compared with normal detection data; whether the detection angle of the sensor body is likely to deviate or not is preliminarily judged, and whether the installation of the verification assembly is loosened or not is effectively judged by comparing another verification assembly, so that the judgment accuracy of the angle deviation of the sensor body is further improved.

Description

Technical Field

[0001] The present invention relates to an intelligent sensor group, and in particular to an intelligent sensor group for an autonomous vehicle applied in the electromagnetic wave field. Background Art

[0002] Autonomous vehicles rely on the collaborative cooperation of artificial intelligence, vision computing, radar, monitoring devices, and the global positioning system, enabling the computer to automatically and safely operate a motor vehicle without any active operation by a human. According to the level of automation, there are four stages of driverless driving: driving assistance, partial automation, highly automated, and fully automated. Among them, the first three categories all require the combination of a driver for assisted control.

[0003] There are various radars on autonomous vehicles, such as lidar, millimeter-wave radar, etc., which are respectively installed at multiple positions on the vehicle body to detect surrounding vehicles, pedestrians, and obstacles. During the driving process of the vehicle, due to factors such as vehicle body vibration and loose installation structure, the installation angle of the radar will change, resulting in a deviation between the target position detected by the radar and the actual position of the target, causing false triggering of functions such as alarm and braking. To solve the above problems, the specification of Chinese Patent CN111226127B discloses a method for calibrating the horizontal installation angle of a radar, a radar, and a vehicle, by obtaining the detection data of a longitudinal obstacle detected by the radar in the driving state of the vehicle; calculating the offset of the horizontal installation angle of the radar according to the detection data; and calibrating the horizontal installation angle of the radar according to the offset. Another example is that the specification of Chinese Patent CN113625234B discloses a method for calibrating the installation angle of a vehicle radar and a vehicle radar, which corrects the radar installation error angle by combining the radar's detection ability for road boundaries and can maximize the use of the FOV range that the design can achieve.

[0004] The radar monitoring angle is an important factor affecting vehicle driving safety, and detecting whether the radar angle is offset is also an important part of ensuring the safe driving of the vehicle. However, most of the existing radar calibration methods require setting detection targets in an external site, which is complex to operate and difficult to perform unscheduled autonomous calibration as needed. There are also some methods that detect road boundaries or longitudinal obstacles during vehicle driving, which are affected by external objects and the vehicle's own position and are prone to inaccuracies. Summary of the Invention

[0005] Aiming at the above-mentioned prior art, the technical problem to be solved by the present invention is that there are certain defects in various existing detection means for the detection angle of vehicle radars, such as complex operation, low result accuracy, and difficulty in autonomous detection.

[0006] To solve the above problems, the present invention provides an intelligent sensor group for an autonomous vehicle, which includes a sensor body installed inside the vehicle body and a calibration component, and the calibration component is located directly in front of the detection direction of the sensor body. The calibration component includes a mounting frame, and a pair of electric rotating shafts are fixedly connected inside the mounting frame, and the pair of electric rotating shafts are respectively located on the left and right sides of the sensor body. One end of a calibration curtain is fixedly connected to the outer end of one of the electric rotating shafts, and the calibration curtain is wound around the outer end of the electric rotating shaft. One end of the calibration curtain far away from the electric rotating shaft is fixedly connected with a pair of pull ropes, and the end of the pull rope far away from the calibration curtain is fixedly connected to the outer end of the other electric rotating shaft; It further includes a calibration system, which includes an activation module, a driving module and a judgment module. The activation module is used to start the detection work of the sensor body when the vehicle is in the in-situ idle state. The electric rotating shaft is electrically connected to the driving module. The judgment module is connected to an initial database, and the initial database stores the normal detection data of the sensor body detecting the calibration curtain without angle deviation. The judgment module compares the actual detection data of the sensor body on the calibration curtain with the normal detection data to judge whether the sensor body has an angle deviation.

[0007] As a further supplement to this application, the calibration system further includes a vibration monitoring module and a prompt module. The vibration monitoring module is connected to a vibration sensor installed in the vehicle body and is used to record the vibration data of the vehicle during driving. The prompt module is used to prompt the driver to perform calibration operations when the vehicle is in the in-situ idle state.

[0008] As a further supplement to this application, the calibration curtain includes a soft cloth, and a plurality of reflectors are fixedly connected to one end surface of the soft cloth facing the sensor body, and the plurality of reflectors form a reflection detection area on the soft cloth.

[0009] As a further supplement to this application, the upper and lower inner walls of the mounting frame are both fixedly connected with limiting plates, and limiting grooves are opened at one ends of the pair of limiting plates close to each other. The pull rope movably penetrates through the inside of the limiting groove.

[0010] An intelligent sensor group for an autonomous vehicle, its usage method includes the following steps: S1. When the vehicle is in the in-situ idle state, the driver starts the calibration operation of the sensor body by himself. At this time, the activation module turns on the sensor body to make it perform detection work. At the same time, the driving module starts a pair of electric rotating shafts to rotate a fixed number of turns M in the set direction, driving the calibration curtain to be fully unfolded directly in front of the sensor body; S2. The electromagnetic wave emitted by the sensor body irradiates the reflection detection area on the soft cloth and receives its echo, thereby obtaining the detection data of the sensor body on the reflection detection area. The detection data includes the height of a plurality of reflectors and the distance from the reflector to the sensor body; S3. Compare the detection data obtained in step S2 with the normal detection data. When the similarity between the two is not lower than the calibration value, it is determined that the detection angle of the sensor body has not shifted significantly. On the contrary, when the similarity between the two is lower than the calibration value, it is determined that there is a significant shift in the detection angle of the sensor body.

[0011] As another improvement of the present application, the number of calibration components is a pair, and there is no contact between them. The pair of calibration components are both located directly in front of the detection direction of the sensor body, and one of the calibration components is located between the sensor body and the other calibration component. In the initial state, the calibration curtains on the pair of calibration components are respectively located on the left and right sides of the sensor body.

[0012] As a supplement to another improvement of the present application, assume that the calibration component started in step S1 is the first calibration part, then the other calibration component is the second verification part. In step S3, when the similarity is lower than the calibration value, no direct determination is made first, and the following secondary calibration operation is adopted: S3-1. First, start the electric rotating shaft on the first calibration part through the driving module to rotate it by a fixed number of turns M, retract the calibration curtain to the initial state, and then start the pair of verification components simultaneously, so that the multiple electric rotating shafts rotate by a fixed number of turns N in the set direction respectively, driving the pair of calibration curtains to be in a semi-unfolded state directly in front of the sensor body; S3-2. The electromagnetic wave emitted by the sensor body irradiates the reflection detection areas on the pair of soft cloths at the same time, and receives the echo of both, thereby obtaining the detection data of the sensor body for the pair of reflection detection areas; S3-3. Compare the detection data obtained in step S3-2 with the normal detection data, and make the following determination: When the similarity between the detection data of the reflection detection areas on the pair of calibration components and the normal detection data is lower than the calibration value, it is determined that there is a significant shift in the detection angle of the sensor body; When the similarity between the detection data of the reflection detection area on the first calibration part and the normal detection data is lower than the calibration value, while the similarity between the detection data of the reflection detection area on the second calibration part and the normal detection data is not lower than the calibration value, it is determined that the detection angle of the sensor body has not shifted significantly, and there is a loose shift in the first calibration part.

[0013] As a supplement to another improvement of the present application, the number of turns N is less than the number of turns M, and the number of turns N is greater than half of the number of turns M.

[0014] In summary, in the present application, a calibration component is provided in the detection direction of the sensor body. During normal driving of the vehicle, the calibration component is in an unfolded state, without blocking the electromagnetic wave emitted by the sensor body, and the sensor body can perform normal detection work on the surrounding of the vehicle. When the vehicle is in an in-situ idling state, the driver can perform a calibration operation independently according to needs. At this time, the calibration component unfolds, and the electromagnetic wave of the sensor body irradiates the reflection detection area on the calibration component to obtain detection data. When the similarity between the detection data and the normal detection data is lower than the calibration value, it is initially determined that there may be an offset in the detection angle of the sensor body. Moreover, by comparing with another calibration component provided, it is possible to effectively determine whether there is any looseness in the installation of the calibration component itself, further improving the determination accuracy of the angle offset of the sensor body. Therefore, the present application provides a calibration method for the radar detection angle that is easy to operate, has high accuracy, and can be detected independently as needed. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 is a three-dimensional Figure 1 ; Figure 2 is a three-dimensional Figure 2 ; Figure 3 is a schematic top view of the sensor body in normal use in the first embodiment of the present application; Figure 4 is a schematic top view of the sensor body during calibration in the first embodiment of the present application; Figure 5 is a three-dimensional view of the sensor body during calibration in the first embodiment of the present application; Figure 6 is a schematic top view of the sensor body in normal use in the second embodiment of the present application; Figure 7 is a schematic side view of the sensor body in normal use in the second embodiment of the present application; Figure 8 is a schematic side view of the sensor body during calibration in the second embodiment of the present application; Figure 9 is a schematic top view of the sensor body during calibration in the second embodiment of the present application; Figure 10 is a three-dimensional view of the sensor body during calibration in the second embodiment of the present application.

[0016] Description of the reference numerals in the drawings: 1 Sensor body, 2 Installation frame, 3 Electric rotating shaft, 4 Calibration curtain, 41 Soft cloth, 42 Reflector, 5 Pull rope, 6 Limit plate, 601 Limit groove. Specific implementation manners

[0017] The following will describe in detail two implementation manners of the present application with reference to the accompanying drawings.

[0018] The first implementation manner: The present invention provides an intelligent sensor group for an autonomous vehicle. Please refer to Figure 1 , which includes a sensor body 1 installed inside the vehicle body and a calibration component, and the calibration component is located directly in front of the detection direction of the sensor body 1. The sensor body 1 in this implementation manner can adopt a millimeter-wave radar. Combining Figure 2 and Figure 3 as shown, the calibration component includes a mounting frame 2. A pair of electric rotating shafts 3 are fixedly connected inside the mounting frame 2, and the pair of electric rotating shafts 3 are respectively located on the left and right sides of the sensor body 1. One end of a calibration curtain 4 is fixedly connected to the outer end of one of the electric rotating shafts 3, and the calibration curtain 4 is wound around the outer end of the electric rotating shaft 3. One end of a pair of pull ropes 5, which is far away from the calibration curtain 4, is fixedly connected to the outer end of the other electric rotating shaft 3; Combining Figure 4 and Figure 5 as shown, the calibration curtain 4 includes a soft cloth 41. A plurality of reflectors 42 are fixedly connected to one end face of the soft cloth 41 facing the sensor body 1. The plurality of reflectors 42 form a reflection detection area on the soft cloth 41. Since metal has a strong reflection ability for electromagnetic waves, the reflectors 42 can adopt metal reflection films, which can not only be detected by the sensor body 1, but also adapt to the winding and unwinding process of the soft cloth 41.

[0019] The intelligent sensor group for the autonomous vehicle further includes a supporting calibration system. The calibration system includes an activation module, a driving module, and a judgment module. The activation module is used to start the detection work of the sensor body 1 when the vehicle is in an in-place idling state. The electric rotating shaft 3 is electrically connected to the driving module. The judgment module is connected to an initial database, and the initial database stores normal detection data of the sensor body 1 detecting the calibration curtain 4 without angular deviation. The judgment module compares the actual detection data of the sensor body 1 on the calibration curtain 4 with the normal detection data to judge whether there is an angular deviation of the sensor body 1.

[0020] The sensor body 1 is fixed on the vehicle body by using existing installation techniques. Subsequently, in the direct front of the detection direction of the sensor body 1, the mounting frame 2 is fixed on the vehicle body by using fasteners (such as bolts). The mounting frame 2 is provided with a plurality of mounting holes (not shown in the figure) matching the fasteners, so as to install the entire calibration component on the vehicle body. Under normal circumstances, the calibration curtain 4 is in a completely wound state, and the inside of the mounting frame 2 is in an unobstructed state and will not block the electromagnetic waves emitted by the sensor body 1 (such asFigure 3 and Figure 7 As shown, the electromagnetic waves generated by the sensor body 1 can completely pass through the inside of the mounting frame 2 and radiate to the outside, detecting objects such as pedestrians, obstacles, and vehicles around the vehicle, and reducing the occurrence of traffic accidents; In this embodiment, the number of verification components is single (such as Figure 3 As shown), after the installation of the sensor body 1 and the verification component is completed and it is confirmed that both the installation position and angle are correct, pre-collection of normal detection data is carried out: the sensor body 1 is activated through the activation module to make it enter the detection work, and a pair of electric rotating shafts 3 are started through the driving module to make the electric rotating shafts 3 rotate a fixed number of turns M in the preset direction, driving the verification curtain 4 to completely unfold in front of the sensor body 1 (such as Figure 4 As shown), that is, the reflection detection area formed by the reflector 42 is completely unfolded. At this time, the sensor body 1 irradiates the reflection detection area to obtain normal detection data, which includes the height, azimuth, and the distance from the reflector 42 to the sensor body 1, etc., so as to compare with the data of actual detection later to judge whether there is an angular deviation of the sensor body 1.

[0021] The verification system further includes a vibration monitoring module and a prompt module. The vibration monitoring module is connected with a vibration sensor installed in the vehicle body and is used to record the vibration data of the vehicle during driving. The prompt module is used to prompt the driver to perform the verification operation when the vehicle is in the in-situ idle state. When the driver starts the car but does not shift gears or step on the accelerator pedal, the vehicle is in the in-situ idle state. At this time, the prompt module will select whether to issue an operation prompt according to the interval time since the last verification operation or the vibration situation of the vehicle during driving (the prompt can be displayed on the control panel inside the vehicle. After the driver touches the screen to confirm, the verification system is started to perform the verification operation). For example: First, when the interval time since the last verification operation exceeds T days, a verification operation prompt is given to the driver in the in-situ idle state after the next vehicle starts; Second, the vibration monitoring module will transmit the obvious vibration signal of the vehicle during driving to the prompt module. Even if the interval time since the last verification operation has not reached T days, but when the vibration data received by the prompt module reaches the set maximum threshold, a verification operation prompt is also given to the driver in the in-situ idle state of the next vehicle, so as to realize the timely verification of the detection angle of the sensor body 1 and effectively improve the driving safety of the vehicle.

[0022] Combined with Figure 1 As shown, limiting plates 6 are fixedly connected to the upper and lower inner walls of the mounting frame 2. Limiting grooves 601 are opened at one ends of the pair of limiting plates 6 close to each other. The pull rope 5 movably penetrates through the inside of the limiting grooves 601, and the limiting plates 6 play a certain limiting role in the movement of the pull rope 5 and the verification curtain 4 during the unwinding process.

[0023] An intelligent sensor group for an autonomous vehicle, and its usage method includes the following steps: S1. When the vehicle is in an in-situ idle state, the driver starts the verification operation of the sensor body 1 by himself. At this time, the activation module turns on the sensor body 1 to make it perform detection work. At the same time, the driving module starts a pair of electric rotating shafts 3 to rotate them a fixed number of turns M in a set direction, driving the verification curtain 4 to fully unfold in front of the sensor body 1; Supplementary note: The in-situ idle state in step S1 refers to the in-situ idle state of the vehicle from inserting the key to start to before formal driving. Generally speaking, the radar on the vehicle does not work in the in-situ idle state. When the vehicle is in reverse gear (R) or drive gear (D), the radar starts to work (of course, there may also be some vehicle models where the radar also works in the in-situ idle state. Therefore, if the sensor body 1 is already in a working state, the activation module does not need to start the sensor body 1 again). In addition, the in-situ idle state in this application does not include the in-situ idle state of the vehicle waiting for a traffic light. Since the waiting time for the traffic light is short, for safety reasons, the verification operation is not performed.

[0024] S2. The electromagnetic wave emitted by the sensor body 1 irradiates the reflection detection area on the soft cloth 41 and receives its echo, thereby obtaining the detection data of the sensor body 1 for the reflection detection area. The detection data includes the height of multiple reflectors 42 and the distance from the reflector 42 to the sensor body 1; S3. Compare the detection data obtained in step S2 with the normal detection data. When the similarity between the two is not less than the calibration value, it is determined that the detection angle of the sensor body 1 has not deviated significantly. On the contrary, when the similarity between the two is lower than the calibration value, it is determined that the detection angle of the sensor body 1 has a significant deviation.

[0025] Supplementary note: If during the verification operation, the vehicle suddenly enters a driving state (which can be monitored by means such as a vehicle speed sensor and a vibration sensor), the verification system immediately stops the verification operation and makes the verification curtain 4 return to the initial retracted state, which is not likely to affect the normal detection and use of the sensor body 1.

[0026] The second implementation method: Please refer to Figure 3 and Figure 6 , in this implementation method, based on the first implementation method, the number of verification components is set to a pair and there is no contact between them. A pair of verification components are both located directly in front of the detection direction of the sensor body 1, and one of the verification components is located between the sensor body 1 and the other verification component. In the initial state, the verification curtains 4 on the pair of verification components are respectively located on the left and right sides of the sensor body 1 and do not block the electromagnetic wave of the sensor body 1.

[0027] If the verification component activated in step S1 is the first verification component (i.e., the verification component close to the sensor body 1), then the other verification component is the second verification component (i.e., the verification component far from the sensor body 1). Correspondingly, the initial database also stores the normal detection data when the sensor body 1 synchronously detects the verification curtains 4 on a pair of verification components without angular deviation. The acquisition method is as follows: After completing the pre-acquisition operation of the first implementation method, first restore the unfolded verification curtain 4 to the initial retracted state, and then start a pair of verification components simultaneously, so that the multiple electric rotating shafts 3 rotate a fixed number of turns N in the preset direction respectively, and at the same time unwind a pair of verification curtains 4. Where the number of turns N is less than the number of turns M, and the number of turns N is greater than half of the number of turns M. Therefore, through the above operations, a pair of verification curtains 4 can be unwound into Figure 9 and Figure 10 the semi-unfolded state shown, at this time the electromagnetic waves of the sensor body 1 will irradiate a pair of verification curtains 4 distributed in a left-right staggered manner respectively, as Figure 7 and Figure 8 shown, so as to obtain the detection data of the local reflection detection area and store it in the initial database for data comparison in step S3-3 below.

[0028] Through the above settings, in step S3, when the similarity is lower than the calibration value, since there is also a situation where the detection data is abnormal due to the loosening of the verification component itself, in order to further improve the determination accuracy, direct determination is not carried out first, and the following secondary verification operation is adopted: S3-1. First, start the electric rotating shaft 3 on the first verification component through the drive module to rotate it back a fixed number of turns M, retract the verification curtain 4 to the initial state, and then start a pair of verification components simultaneously, so that the multiple electric rotating shafts 3 rotate a fixed number of turns N in the set direction respectively, driving a pair of verification curtains 4 to be in a semi-unfolded state in front of the sensor body 1 (as Figure 9 and Figure 10 shown); S3-2. The electromagnetic waves emitted by the sensor body 1 irradiate the reflection detection areas on a pair of soft cloths 41 simultaneously and receive their echo signals, thereby obtaining the detection data of the sensor body 1 for a pair of reflection detection areas; S3-3. Compare the detection data obtained in step S3-2 with the normal detection data and make the following determination: When the similarity of the detection data of the reflection detection areas on a pair of verification components to the normal detection data is lower than the calibration value, that is, the detection data of the sensor body 1 for the local reflection detection area on the second verification component also has an obvious difference from the normal detection data, it can be effectively determined that there is an obvious angular deviation in the detection angle of the sensor body 1; Of course, there is an extreme case mentioned above: a pair of detection components are loose and offset, while the sensor body 1 has no obvious offset, but the probability of this case is low and will not be considered for the time being; or from another perspective, even if such an extreme case exists, it also indicates to a certain extent that the vehicle may have more vibrations or be used for a long time, resulting in a group of detection components being loose. At this time, the sensor body 1 may also have a tendency to be offset. Through the above judgment, personnel can check and repair the sensor body 1 in time, which can also effectively improve the detection accuracy of the sensor body 1 in the later stage and reduce driving accidents caused by the offset of the detection angle of the sensor body 1. When the similarity between the detection data of the reflection detection area on the first verification piece and the normal detection data is lower than the calibration value, and the similarity between the detection data of the reflection detection area on the second verification piece and the normal detection data is not lower than the calibration value, it is determined that the detection angle of the sensor body 1 has not been significantly shifted, and the first verification piece is loose and shifted. Personnel can check and repair the installation of the first verification piece in time.

[0029] In view of current practical needs, the above-mentioned implementation mode adopted in this application is not limited to the scope of protection. Various changes made within the knowledge scope of technical personnel in this field without departing from the concept of this application still fall within the scope of protection of the present invention.

Claims

1. An intelligent sensor group for an autonomous driving vehicle, characterized in that: The invention comprises a sensor body (1) and a calibration component installed inside a vehicle body, wherein the calibration component is located directly in front of the detection direction of the sensor body (1), wherein the calibration component comprises a mounting frame (2), wherein a pair of electric rotating shafts (3) are fixedly connected inside the mounting frame (2), and the pair of electric rotating shafts (3) are respectively located on the left and right sides of the sensor body (1), wherein the outer end of one of the electric rotating shafts (3) is fixedly connected to one end of a calibration curtain (4), and the calibration curtain (4) is wound around the outer end of the electric rotating shaft (3), and the end of the calibration curtain (4) away from the electric rotating shaft (3) is fixedly connected to a pair of pull ropes (5), and the end of the pull rope (5) away from the calibration curtain (4) is fixedly connected to the outer end of the other electric rotating shaft (3); The vehicle also includes a calibration system, the calibration system including an activation module, a drive module and a judgment module. The activation module is used to start the sensor body (1) to perform detection when the vehicle is in an idle state. The electric shaft (3) is electrically connected to the drive module. The judgment module is connected to an initial database. The initial database stores normal detection data of the sensor body (1) detecting the calibration curtain (4) when no angle deviation occurs. The judgment module compares the actual detection data of the sensor body (1) detecting the calibration curtain (4) with the normal detection data to determine whether the sensor body (1) has an angle deviation.

2. The intelligent sensor group for an autonomous driving vehicle according to claim 1, characterized in that: The verification system also includes a vibration monitoring module and a prompt module. The vibration monitoring module is connected to a vibration sensor installed in the vehicle body and is used to record the vibration data of the vehicle during driving. The prompt module is used to prompt the driver to perform verification operations when the vehicle is idling in place.

3. The intelligent sensor group for an autonomous driving vehicle according to claim 1, characterized in that: The calibration curtain (4) comprises a soft cloth (41), and a plurality of dispersed reflectors (42) are fixedly connected to one end surface of the soft cloth (41) facing the sensor body (1), and the plurality of reflectors (42) form a reflection detection area on the soft cloth (41).

4. The intelligent sensor group for an autonomous driving vehicle according to claim 1, characterized in that: The upper and lower inner walls of the installation frame (2) are fixedly connected to the limiting plates (6), and a pair of the limiting plates (6) are provided with limiting grooves (601) at their mutually adjacent ends, and the pull rope (5) movably passes through the inside of the limiting grooves (601).

5. The intelligent sensor group for an autonomous driving vehicle according to claim 3, characterized in that: The method of use includes the following steps: S1. When the vehicle is in an idle state, the driver starts the calibration operation of the sensor body (1) by himself. At this time, the activation module turns on the sensor body (1) to enable it to perform detection work. At the same time, the drive module starts a pair of electric shafts (3) to rotate a fixed number of circles M in a set direction, thereby driving the calibration curtain (4) to be fully unfolded in front of the sensor body (1); S2, the electromagnetic waves emitted by the sensor body (1) illuminate the reflection detection area on the soft cloth (41), and receive the echo, thereby obtaining detection data of the reflection detection area by the sensor body (1), the detection data including the heights of the multiple reflectors (42) and the distances from the reflectors (42) to the sensor body (1); S3. Compare the detection data obtained in step S2 with the normal detection data. When the similarity between the two is not lower than the calibration value, it is determined that the detection angle of the sensor body (1) has not been significantly offset. On the contrary, when the similarity between the two is lower than the calibration value, it is determined that the detection angle of the sensor body (1) has been significantly offset.

6. The intelligent sensor group for an autonomous driving vehicle according to claim 5, characterized in that: The alignment components are in a pair and are not in contact with each other. The pair of alignment components are both located directly in front of the detection direction of the sensor body (1), and one of the alignment components is located between the sensor body (1) and the other alignment component. In an initial state, the alignment curtains (4) on the pair of alignment components are located on the left and right sides of the sensor body (1), respectively.

7. The intelligent sensor group for an autonomous driving vehicle according to claim 6, characterized in that: Assuming that the verification component started in step S1 is the first verification component, the other verification component is the second verification component. In step S3, when the similarity is lower than the calibration value, no direct judgment is performed first, and the following secondary verification operation is adopted: S3-1, firstly, starting the electric rotating shaft (3) on the first verification component through the driving module, causing it to rotate a fixed number of turns M, and rolling up the verification curtain (4) to an initial state, and then simultaneously starting a pair of verification components, causing the multiple electric rotating shafts (3) to rotate a fixed number of turns N in a set direction, respectively, and driving the pair of verification curtains (4) to be in a semi-expanded state and located directly in front of the sensor body (1); S3-2, the electromagnetic waves emitted by the sensor body (1) simultaneously illuminate the reflection detection areas on a pair of soft cloths (41), and receive echoes from the two, thereby obtaining detection data of the sensor body (1) on the pair of reflection detection areas; S3-3, compare the detection data obtained in step S3-2 with the normal detection data, and make the following determination: When the similarity between the detection data of the reflection detection area on a pair of verification components and the normal detection data is lower than the calibration value, it is determined that the detection angle of the sensor body (1) is significantly offset; When the similarity between the detection data of the reflection detection area on the first verification piece and the normal detection data is lower than the calibration value, and the similarity between the detection data of the reflection detection area on the second verification piece and the normal detection data is not lower than the calibration value, it is determined that the detection angle of the sensor body (1) has not significantly deviated, and the first verification piece is loose and deviated.

8. The intelligent sensor group for an autonomous driving vehicle according to claim 7, characterized in that: The number of turns N is smaller than the number of turns M, and the number of turns N is greater than half of the number of turns M.

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