Unmanned driving sensing system and unmanned vehicle

Abstract

The invention relates to the technical field of unmanned vehicles, and provides an unmanned driving sensing system and an unmanned vehicle, and the unmanned driving sensing system comprises a side sensing module which comprises a right side sensing module and a left side sensing module which are symmetrically arranged at the two sides of the vehicle; the middle sensing module is arranged at the top of the vehicle; the front-back sensing module comprises a front-side sensing module and a back-side sensing module which are respectively arranged at the front and back of the vehicle; the side sensing modules are arranged on the two sides of the vehicle respectively, the middle sensing module is arranged on the top of the vehicle, the front sensing module and the rear sensing module are arranged on the front side and the rear side of the vehicle respectively, all-directional sensing of the vehicle is achieved, and the structure is simple and reasonable; the unmanned driving sensing system and the vehicle are not in a one-to-one binding relation, each sensing module can be selectively installed on the vehicle according to actual needs, basic conditions are provided for unmanned driving, the universality is high, the utilization rate of the unmanned driving sensing system is increased, and more vehicles are enabled.

Description

Technical Field

[0001] The present invention relates to the technical field of autonomous vehicles, and in particular provides an autonomous driving perception system and an autonomous vehicle. Background Art

[0002] To meet the safety, reliability, and stability of autonomous driving, most autonomous vehicles on the market adopt multi-sensor fusion technology, that is, multiple sensors are distributed at different positions and angles on the chassis, front of the vehicle, or cargo box of the autonomous vehicle, and multi-level, multi-space, and multi-dimensional information complementation and optimization combination processing are performed to achieve panoramic perception of different obstacles at far, medium, and near distances. Then, based on the collected information, the intelligent controller finally makes a correct judgment and generates a control decision, thereby controlling the movement behavior of the autonomous vehicle. However, this method is mostly customized development for vehicles, that is, the entire set of sensor combination systems can only be used on specific vehicle models. For example, part of the system is embedded in the vehicle body. When the vehicle needs to be replaced, it cannot be made universal, which affects the utilization rate of the autonomous driving perception system. Summary of the Invention

[0003] The purpose of the present invention is to provide an autonomous driving perception system and an autonomous vehicle. Through modular design, the autonomous driving perception system is split into multiple independent perception modules in different directions. When the vehicle needs to be replaced, it can be directly removed and installed, with strong universality and high utilization rate.

[0004] To achieve the above purpose, the technical solution adopted by the present invention is:

[0005] The present application provides an autonomous driving perception system, including:

[0006] Side perception modules, including a right perception module and a left perception module symmetrically arranged on both sides of the vehicle, respectively used to perceive the environment on the right side and the left side of the vehicle;

[0007] Middle perception module, arranged on the top of the vehicle, used to perceive the environment in front of the vehicle;

[0008] Front and rear perception modules, including a front side perception module and a rear side perception module arranged at the front and rear of the vehicle respectively, respectively used to supplement the perception of the environment in front of the vehicle and the environment behind the vehicle.

[0009] Further, the right perception module includes:

[0010] Mounting bracket, detachably mounted on the vehicle, used to fix the right perception module on the vehicle;

[0011] Surround view camera assembly, fixedly connected to the mounting bracket on one side, used to obtain the environment on the side of the vehicle;

[0012] An antenna assembly is provided on the top of the surround-view camera assembly for vehicle positioning.

[0013] A first radar assembly is provided at the bottom of the surround-view camera assembly for obtaining the distance and speed of objects on the sides of the vehicle.

[0014] Furthermore, the mounting bracket has an L-shaped structure, which includes a bracket cross plate and a bracket vertical plate that are perpendicular to each other. A waist-shaped groove is provided on the bracket cross plate, and a fixing hole is provided on the bracket vertical plate.

[0015] Furthermore, the surround-view camera assembly includes a surround-view tower and a first camera assembly arranged around the surround-view tower. The number of the first camera assemblies is at least one.

[0016] Furthermore, the middle sensing module includes a middle housing. A second radar assembly is provided in the middle of the front end of the middle housing, and second camera assemblies are symmetrically provided on both sides of the second radar assembly at the front end. Both the second radar assembly and the second camera assemblies face the front of the vehicle.

[0017] Furthermore, the front-side sensing module includes a front-back housing and a third radar assembly fixed in the middle of the front end of the front-back housing. A camera mounting bracket is further provided at the upper end of the front-back housing, and a third camera assembly is provided on the camera mounting bracket.

[0018] Furthermore, the installation angle of the third camera assembly with the horizontal plane is 30° to 60°.

[0019] Furthermore, the first radar assembly is a multi-line lidar sensor; the second radar assembly is a 4D millimeter-wave radar sensor; the third radar assembly is a blind spot supplement radar sensor.

[0020] Furthermore, the left-side sensing module and the right-side sensing module have the same structure; the rear-side sensing module and the front-side sensing module have the same structure.

[0021] This application also provides an autonomous vehicle, which includes a chassis and the above-mentioned unmanned driving sensing system.

[0022] Advantages of the present invention:

[0023] The driverless perception system provided by the present invention arranges the side perception modules on both sides of the vehicle respectively, arranges the middle perception module on the top of the vehicle, and arranges the front and rear perception modules on the front and rear sides of the vehicle respectively, realizing the all-round perception of the vehicle. The structure is simple and reasonable; the vision camera and the radar sensor complement each other, with good recognition accuracy and high redundancy, ensuring safety; the driverless perception system and the vehicle are not in a one-to-one binding relationship. Each module can be selectively installed on the vehicle according to actual needs. After joint calibration, the environmental perception around the vehicle can be realized, providing basic conditions for driverless driving. It can be applied to most vehicles on the market, with strong versatility, improving the utilization rate of the driverless perception system and empowering more vehicles.

[0024] The driverless vehicle provided by the present invention includes the above-mentioned driverless perception system, so it also has the above-mentioned advantages. Brief Description of the Drawings

[0025] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for use in the embodiments or the description of the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0026] Figure 1 It is a schematic structural diagram of the driverless perception system in one embodiment;

[0027] Figure 2 It is a schematic structural diagram of the right-side perception module in one embodiment;

[0028] Figure 3 It is a schematic structural diagram of the mounting bracket in one embodiment;

[0029] Figure 4 It is a schematic structural diagram of the surround-view camera assembly in one embodiment;

[0030] Figure 5 It is a schematic structural diagram of the middle perception module in one embodiment;

[0031] Figure 6 It is a schematic structural diagram of the front-side perception module in one embodiment;

[0032] Figure 7 It is a schematic overall structural diagram of the driverless vehicle in one embodiment;

[0033] Figure 8 For Figure 7 A schematic structural diagram from another perspective;

[0034] Among them, the reference numerals in the drawings:

[0035] 1. Right sensing module; 2. Left sensing module; 3. Middle sensing module; 4. Front sensing module; 5. Rear sensing module; 11. Mounting bracket; 12. Surround-view camera assembly; 13. Antenna assembly; 14. First radar assembly; 15. Chassis; 111. Bracket horizontal plate; 112. Bracket vertical plate; 113. Kidney-shaped slot; 114. Fixing hole; 121. Surround-view tower; 122. First camera assembly; 31. Middle housing; 32. Second radar assembly; 33. Second camera assembly; 41. Front-rear housing; 42. Third radar assembly; 43. Camera mounting bracket; 44. Third camera assembly. Detailed implementation manners

[0036] The embodiments of the present invention will be described in detail below. The examples of the embodiments are shown in the accompanying drawings, in which the same or similar reference numerals indicate the same or similar elements or elements with the same or similar functions throughout. The embodiments described below by referring to the accompanying drawings are exemplary and are intended to explain the present invention, but should not be construed as limiting the present invention.

[0037] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as limiting the present invention.

[0038] In addition, the terms "first" and "second" are only used for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, "a plurality of" means two or more unless otherwise specifically defined.

[0039] In the present invention, unless otherwise clearly specified and defined, the terms "mounted", "connected", "connected", "fixed", etc. should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral body; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0040] Please refer to Figure 1, the driverless perception system provided by the embodiments of the present application is applicable to being installed on various types of manned or unmanned vehicles. It mainly includes a side perception module, a middle perception module, and a front and rear perception module; among them, the side perception module includes a right perception module 1 and a left perception module 2 symmetrically arranged on both sides of the vehicle, which are respectively used to perceive the environment on the right side and the left side of the vehicle, and the detection ranges of the right perception module 1 and the left perception module 2 can cover the lower regions on both the left and right sides of the vehicle; the middle perception module 3 is arranged on the top of the vehicle and is used to perceive the environment in front of the vehicle. The detection range of the middle perception module 3 is in a fan-shaped structural area, which can cover the front of the vehicle and the front on both the left and right sides; the front and rear perception module includes a front side perception module 4 and a rear side perception module 5 respectively arranged at the front and rear of the vehicle, which are respectively used to supplement the perception of the environment in front of the vehicle and the environment behind the vehicle. The detection range of the front side perception module 4 can cover the lower region in front of the vehicle to achieve the perception and supplement of the blind area of the middle perception module 3, improving the comprehensiveness and reliability of detection; the detection range of the rear side perception module 5 can cover most of the area behind the vehicle; realizing the panoramic coverage of the vehicle's surrounding perception, the overall structure of the system is simple and the layout is reasonable.

[0041] In one embodiment, as Figure 2 shown, the right perception module 1 includes a mounting bracket 11, a surround camera assembly 12, an antenna assembly 13, and a first radar assembly 14; among them, the mounting bracket 11 is detachably installed on the vehicle and is used to fix the right perception module 1 on the vehicle; one side of the surround camera assembly 12 is fixedly connected to the mounting bracket 11, and it is internally provided with an identification camera for identifying obstacles and is used to obtain the environment on the side of the vehicle; the antenna assembly 13 is arranged on the top of the surround camera assembly 12 and is used to realize the positioning of the vehicle; the first radar assembly 14 is arranged at the bottom of the surround camera assembly 12 and is used to obtain the distance and speed of the objects on the side of the vehicle. Through the cooperation of the surround camera assembly 12 and the first radar assembly 14, the omnidirectional perception of both sides of the vehicle is realized.

[0042] In one embodiment, as Figure 3 shown, the mounting bracket 11 has an L-shaped structure, which includes a bracket cross plate 111 and a bracket vertical plate 112 that are perpendicular to each other. A waist-shaped groove 113 is opened on the bracket cross plate 111, and a fixing hole 114 is opened on the bracket vertical plate 112. A bolt assembly can be used to pass through the waist-shaped groove 113 of the bracket cross plate 111 to fix the mounting bracket 11 on the vehicle, and then a bolt assembly is used to pass through the fixing hole 114 of the bracket vertical plate 112 to fix the right perception module 1 on the mounting bracket 11, thereby completing the connection and fixation of the right perception module 1 and the vehicle.

[0043] In one embodiment, as Figure 4As shown, the surround camera assembly 12 includes a surround tower 121 and a first camera assembly 122 arranged around the periphery of the surround tower 121. The first camera assembly 122 is an identification camera for identifying obstacles, and the number is at least one, preferably two. One is horizontally oriented towards the right front and is installed with a vertical downward pitch of 25° to 35°; the other is horizontally oriented towards the right rear and is installed with a vertical downward pitch of 25° to 35°.

[0044] In one embodiment, as Figure 5 shown, the middle sensing module 3 includes a middle housing 31. A second radar assembly 32 is provided in the middle of the front end of the middle housing 31, and second camera assemblies 33 are symmetrically arranged on both sides of the second radar assembly 32 at the front end. The second radar assembly 32 and the second camera assemblies 33 are both horizontally oriented towards the front of the vehicle; the second camera assemblies 33 are traffic light cameras for identifying traffic lights and lane lines.

[0045] In one embodiment, as Figure 6 shown, the front side sensing module 4 includes a front and rear housing 41 and a third radar assembly 42 fixed in the middle of the front end of the front and rear housing 41. A camera mounting bracket 43 is further provided at the upper end of the front and rear housing 41, and a third camera assembly 44 is provided on the camera mounting bracket 43.

[0046] In one embodiment, the third camera assembly 44 is a fisheye monitoring camera for real-time monitoring of the background or terminal, and its installation angle with the horizontal plane is 30° to 60°.

[0047] In one embodiment, the first radar assembly 14 is a multi-line lidar sensor, such as a 32-line lidar sensor, a 64-line lidar sensor or a 128-line lidar sensor, which can be selected and configured according to the detection accuracy requirements. The multi-line lidar sensor includes multiple transmitters and receivers. By rotating the motor, multiple beam bundles are obtained. The more the number of lines, the more perfect the surface contour of the object, which is convenient for detecting vehicles and pedestrians in the surrounding environment of the vehicle; the second radar assembly 32 is a 4D millimeter wave radar sensor, which can detect object distance, relative speed, azimuth angle and height information. The detection distance can reach 300 meters on highways and in complex urban scenarios, and it can adapt to bad weather such as rain and fog, and has great advantages in obstacle perception, motion speed and trajectory judgment, etc.; the third radar assembly 42 is a blind spot filling radar sensor, which provides additional environmental information in areas that cannot be covered by the first radar assembly 14 and the second radar assembly 32, especially has great advantages in short-distance obstacle perception, thereby improving the safety and reliability of the autonomous driving system.

[0048] More specifically, the left perception module 2 and the right perception module 1 have the same structure and are symmetrically arranged on both sides of the vehicle; the rear perception module 5 and the front perception module 4 have the same structure and are respectively arranged at the rear and the front of the vehicle, and both can be fixed by bolt connection.

[0049] The driverless perception system provided by this application arranges the side perception modules on both sides of the vehicle respectively, arranges the middle perception module on the top of the vehicle, and arranges the front and rear perception modules on the front and rear sides of the vehicle respectively, realizing the omnidirectional perception of the vehicle. The structure is simple and reasonable; the vision camera and the radar sensor complement each other, with good recognition accuracy and high redundancy, ensuring safety; the driverless perception system and the vehicle are not in a one-to-one binding relationship. Each module can be selectively installed on the vehicle according to actual needs, and the driverless of the vehicle can be realized after joint calibration. It can be applied to most vehicles on the market, with strong versatility and improved utilization rate of the driverless perception system.

[0050] Please refer to Figures 7 to 8 , this application embodiment also provides an autonomous vehicle, which mainly includes a chassis 15 and also includes the driverless perception system as described above. The driverless perception system is detachably installed on the chassis 15. More specifically, taking the head direction of the autonomous vehicle as the direction reference, the right perception module 1 is installed on the top right of the chassis 15, the left perception module 2 is installed on the top left of the chassis 15, the middle perception module is installed in the middle of the top of the chassis 15, the front perception module 4 is installed on the front side of the chassis 15, and the rear perception module 5 is installed on the rear side of the chassis 15.

[0051] It should be noted that: the chassis 15 in this application uses an existing conventional vehicle chassis, such as a household car or a pickup truck, etc., which will not be elaborated here.

[0052] During specific use, install the driverless perception system provided by this application embodiment on the chassis 15. When installing, it should be ensured as much as possible that each module does not protrude outside the chassis or protrudes as little as possible. One is to ensure the passage of the autonomous vehicle in a narrow situation, and the other is to avoid damage and harm to road pedestrians caused by the protrusion of the sensor. Through the 360° installation of the driverless perception system, the chassis 15 can be comprehensively detected and perceived without dead angles, with high recognition accuracy, safety and reliability, and it simplifies the layout and wiring, reduces the assembly difficulty, and provides basic conditions for realizing autonomous driving; the driverless perception system and the vehicle are not in a one-to-one binding relationship. When the vehicle needs to be replaced, each perception module can be removed from the chassis 15 and reinstalled on another chassis, and then it can be used through joint calibration.

[0053] The above are only the preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims

1. An unmanned perception system, installed on a vehicle, characterized in that, Comprising: Side sensing modules, including a right-side sensing module (1) and a left-side sensing module (2) symmetrically arranged on both sides of the vehicle, respectively used to sense the environment on the right side and the left side of the vehicle; A middle sensing module (3) arranged on the top of the vehicle, used to sense the environment in front of the vehicle; Front and rear sensing modules, including a front-side sensing module (4) and a rear-side sensing module (5) arranged at the front and rear of the vehicle respectively, used to supplement the sensing of the environment in front of and behind the vehicle.

2. The driverless perception system according to claim 1, wherein The right-side sensing module (1) includes: A mounting bracket (11), detachably mounted on the vehicle, used to fix the right-side sensing module (1) on the vehicle; A panoramic camera assembly (12), fixedly connected to one side of the mounting bracket (11), used to obtain the environment on the side of the vehicle; An antenna assembly (13) arranged on the top of the panoramic camera assembly (12), used to achieve the positioning of the vehicle; A first radar assembly (14) arranged at the bottom of the panoramic camera assembly (12), used to obtain the distance and speed of the objects on the side of the vehicle.

3. The driverless perception system according to claim 2, wherein The mounting bracket (11) has an L-shaped structure, which includes a bracket cross plate (111) and a bracket vertical plate (112) perpendicular to each other. A waist-shaped slot (113) is provided on the bracket cross plate (111), and a fixing hole (114) is provided on the bracket vertical plate (112).

4. The driverless perception system according to claim 2, wherein The panoramic camera assembly (12) includes a panoramic tower (121) and a first camera assembly (122) arranged on the periphery of the panoramic tower (121), and the number of the first camera assemblies (122) is at least one.

5. The driverless perception system according to claim 2, wherein The middle sensing module (3) includes a middle housing (31). A second radar assembly (32) is arranged in the middle of the front end of the middle housing (31), and second camera assemblies (33) are symmetrically arranged on both sides of the second radar assembly (32) at the front end. Both the second radar assembly (32) and the second camera assemblies (33) face the front of the vehicle.

6. The driverless perception system according to claim 5, wherein The front-side sensing module (4) includes a front and rear housing (41) and a third radar assembly (42) fixed in the middle of the front end of the front and rear housing (41). A camera mounting bracket (43) is further arranged at the upper end of the front and rear housing (41), and a third camera assembly (44) is arranged on the camera mounting bracket (43).

7. The driverless sensing system according to claim 6, wherein the installation angle of the third camera assembly (44) with the horizontal plane is 30° to 60°.

8. The driverless perception system according to claim 6, wherein The first radar assembly (14) is a multi-line lidar sensor; the second radar assembly (32) is a 4D millimeter-wave radar sensor; the third radar assembly (42) is a blind spot supplement radar sensor.

9. The driverless perception system according to any one of claims 1 to 8, characterized in that, The left-side sensing module (2) has the same structure as the right-side sensing module (1); the rear-side sensing module (5) has the same structure as the front-side sensing module (4).

10. An autonomous vehicle, comprising a chassis (15), characterized in that, It further includes the driverless sensing system according to any one of claims 1 to 9.

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