Intelligent driving system for vehicle

Abstract

According to the vehicle intelligent driving system provided by the invention, the environment where the tractor and the trailer are located can be obtained in real time through the sensing module, and the positions where the tractor and the trailer are located can be positioned in real time through the positioning module; the control module generates decision control information according to the environment information sent by the sensing module and the position information sent by the positioning module and then sends the decision control information to the execution module corresponding to the vehicle, the execution module correspondingly controls the vehicle to act, and then intelligent driving of the tractor and the trailer is achieved. Compared with an existing intelligent driving system only provided with a sensor for the tractor, the intelligent driving system has the advantages that the environment information of the environment where the whole tractor and the trailer are located can be acquired, so that the tail of the trailer does not have a blind area, and the control module can be effectively guaranteed to provide a better intelligent driving control strategy for the tractor.

Description

Technical Field

[0001] This invention relates to the field of vehicles, specifically to an intelligent driving system for vehicles. Background Technology

[0002] Tractor-trailers, as the main equipment for road transportation, are widely used due to their advantages of high specialization, large loading capacity, and fast transportation. However, tractor-trailers usually require drivers to drive long distances, and driver fatigue can easily lead to safety accidents. Therefore, intelligent driving technology is increasingly being applied to tractor-trailers, which involves installing corresponding sensors on the tractor-trailer and controlling the tractor-trailer to perform corresponding actions based on the data collected by these sensors.

[0003] However, since the tractor unit needs to be combined with the trailer, and the sensors on the tractor unit cannot cover the blind spots of the trailer, the existing intelligent driving system cannot provide a good intelligent driving control strategy for the tractor unit. Summary of the Invention

[0004] In view of this, embodiments of the present invention provide a vehicle intelligent driving system to solve the problem that existing intelligent driving systems cannot take into account the blind spots of the trailer after the tractor and trailer are combined, thus failing to provide a good intelligent driving control strategy for the tractor.

[0005] To achieve the above objectives, the embodiments of the present invention provide the following technical solutions:

[0006] A vehicle intelligent driving system, the vehicle including a tractor, a trailer and an execution module, the vehicle intelligent driving system including: a perception module, a positioning module, a control module and an execution module;

[0007] The sensing module is connected to the control module. The sensing module is used to acquire environmental information of the environment in which the tractor and trailer are located in real time and send the environmental information to the control module.

[0008] The positioning module is connected to the control module. The positioning module is used to detect the position information of the tractor and trailer in real time and send the position information to the control module.

[0009] The control module generates decision control information based on environmental and location information, and sends the decision control information to the execution module.

[0010] Preferably, the sensing module includes: a radar component and a camera component;

[0011] The radar component is used to detect the distance to targets in real time, including lane lines, pedestrians, obstacles, and vehicles;

[0012] The camera component is used to acquire real-time environmental images of the environment in which the tractor and trailer are located. The environmental images include road condition information images and target object images, including signs.

[0013] Preferably, the radar assembly includes: a lidar, a millimeter-wave radar array, and an ultrasonic radar array;

[0014] The lidar is installed on the tractor unit to detect the distance to lane lines and / or pedestrians in real time;

[0015] The millimeter-wave radar array is installed on the tractor unit to detect the distance to other vehicles on the road in real time;

[0016] The ultrasonic radar unit is installed on the tractor unit to detect the distance to obstacles in real time.

[0017] Preferably, the millimeter-wave radar group includes: a long-range millimeter-wave radar, a first medium-range millimeter-wave radar, a second medium-range millimeter-wave radar, a third medium-range millimeter-wave radar, a fourth medium-range millimeter-wave radar, a first angular millimeter-wave radar, and a second angular millimeter-wave radar.

[0018] The long-range millimeter-wave radar is mounted on the front bumper of the tractor unit.

[0019] The first and second mid-range millimeter-wave radars are symmetrically positioned on both sides of the front bumper.

[0020] The third and fourth mid-range millimeter-wave radars are symmetrically arranged on both sides of the tractor and located between the front bumper and the trailer.

[0021] The first and second millimeter-wave radars are respectively installed on both sides of the rear of the trailer.

[0022] Preferably, the ultrasonic radar array includes: multiple forward-facing ultrasonic radars and multiple lateral ultrasonic radars;

[0023] Multiple forward-facing ultrasonic radars are installed on the front bumper of the tractor.

[0024] Multiple lateral ultrasonic radars are symmetrically arranged on both sides of the front of the tractor.

[0025] Preferably, the camera assembly includes: an angle monitoring camera, a front-view telephoto camera, a front-view wide-angle camera, a rear-view wide-angle camera, a first fisheye camera, multiple side-view wide-angle cameras, and multiple second fisheye cameras;

[0026] An angle monitoring camera is installed on the rear window of the tractor's cab, and the optical axis of the angle monitoring camera is aligned with the centerline of the tractor, in order to acquire real-time angle images of the trailer.

[0027] Both the forward-looking telephoto camera and the forward-looking wide-angle camera are installed at the front of the tractor, and the optical axes of the forward-looking telephoto camera and the forward-looking wide-angle camera coincide with the central axis of the tractor. The forward-looking telephoto camera and the forward-looking wide-angle camera are used to acquire real-time road condition information images and target object images in front of the tractor.

[0028] The rear-view wide-angle camera and the first fisheye camera are located at the rear of the trailer, and the optical axes of the rear-view wide-angle camera and the first fisheye camera coincide with the central axis of the trailer. The rear-view wide-angle camera and the first fisheye camera are used to acquire real-time environmental images behind the trailer.

[0029] Multiple side-view wide-angle cameras are respectively set on both sides of the front of the tractor to obtain real-time images of the trailer's attitude;

[0030] Multiple second fisheye cameras are respectively installed on the hood and both sides of the cab of the tractor unit to acquire real-time environmental images of the tractor unit.

[0031] Preferably, the radar assembly includes: a lidar, a millimeter-wave radar array, and an ultrasonic radar array;

[0032] The lidar is installed on the tractor unit to detect the distance to lane lines and / or pedestrians in real time;

[0033] The millimeter-wave radar array is installed on the tractor unit to detect vehicles ahead on the road in real time;

[0034] The ultrasonic radar system is installed on the tractor unit for real-time obstacle detection;

[0035] The millimeter-wave radar group includes: a long-range millimeter-wave radar, a first medium-range millimeter-wave radar, a second medium-range millimeter-wave radar, a third medium-range millimeter-wave radar, a fourth medium-range millimeter-wave radar, a first angular millimeter-wave radar, and a second angular millimeter-wave radar.

[0036] The long-range millimeter-wave radar is mounted on the front bumper of the tractor unit.

[0037] The first and second mid-range millimeter-wave radars are symmetrically arranged on both sides of the front bumper of the tractor.

[0038] The third and fourth mid-range millimeter-wave radars are symmetrically arranged on both sides of the tractor, and are located between the front bumper of the tractor and the trailer.

[0039] The first and second millimeter-wave radars are respectively located on both sides of the rear of the vehicle.

[0040] The ultrasonic radar array includes: multiple forward-facing ultrasonic radars and multiple lateral ultrasonic radars;

[0041] Multiple forward-facing ultrasonic radars are installed on the front bumper of the tractor.

[0042] Multiple lateral ultrasonic radars are symmetrically arranged on both sides of the front of the tractor.

[0043] The camera assembly includes: an angle monitoring camera, a front-view telephoto camera, a front-view wide-angle camera, a rear-view wide-angle camera, a first fisheye camera, multiple side-view wide-angle cameras, and multiple second fisheye cameras;

[0044] An angle monitoring camera is installed on the rear window of the tractor's cab, and the optical axis of the angle monitoring camera is aligned with the centerline of the tractor, in order to acquire real-time angle images of the trailer.

[0045] Both the forward-looking telephoto camera and the forward-looking wide-angle camera are installed at the front of the tractor, and the optical axes of the forward-looking telephoto camera and the forward-looking wide-angle camera coincide with the center axis of the tractor. The forward-looking telephoto camera and the forward-looking wide-angle camera are used to acquire real-time images of road conditions and target objects in front of the tractor.

[0046] The rear-view wide-angle camera and the first fisheye camera are located at the rear of the trailer, and the optical axes of the rear-view wide-angle camera and the first fisheye camera coincide with the central axis of the trailer. The rear-view wide-angle camera and the first fisheye camera are used to acquire real-time environmental images behind the trailer.

[0047] Multiple side-view wide-angle cameras are respectively set on both sides of the front of the tractor to obtain real-time images of the trailer's attitude;

[0048] Multiple second fisheye cameras are respectively installed on the hood and both sides of the cab of the tractor unit to acquire real-time environmental images of the tractor unit.

[0049] Preferably, the control module includes: a first computing unit, a second computing unit, a third computing unit, a fourth computing unit, and an intelligent driving domain controller;

[0050] The first computing unit is used to process the distance data transmitted by the lidar and millimeter-wave radar array, as well as the angle images transmitted by the angle monitoring camera.

[0051] The second computing unit is used to process road condition information images and target images transmitted by the forward-looking telephoto camera and the forward-looking wide-angle camera, as well as to process distance data transmitted by the ultrasonic radar group.

[0052] The third computing unit is used to process image data transmitted by the side-view wide-angle camera;

[0053] The fourth computing unit is used to process the distance data transmitted by the first and second angle millimeter-wave radars, as well as the image data transmitted by the rear-view wide-angle camera and the first fisheye camera.

[0054] The intelligent driving domain controller is used to process image data transmitted from the second fisheye camera and location information transmitted from the positioning module, and to generate decision control information.

[0055] Preferably, the positioning module includes: a combined inertial navigation sensor, a multi-functional fusion antenna, and a map module;

[0056] Combined inertial navigation sensors are used to monitor the status of the tractor and trailer in real time;

[0057] The multi-functional fusion antenna and combined inertial navigation sensor work in conjunction with the map module to transmit the current location information of the tractor and / or trailer in real time.

[0058] Preferably, it also includes: a cooling module;

[0059] The cooling module is used to cool the control module.

[0060] Based on the above, the intelligent driving system for vehicles provided by this invention acquires environmental information of the vehicle's surroundings in real time through a perception module and sends this information to a control module. It also detects the vehicle's location information in real time through a positioning module and sends this information to the control module. The control module generates decision control information based on the environmental and location information and sends this information to an execution module. Through this disclosed intelligent driving system, the perception module can acquire the environment of the tractor and trailer in real time, and the positioning module can locate the positions of the tractor and trailer in real time. The control module then generates decision control information based on the environmental and location information sent by the perception and positioning modules, and sends this information to the corresponding execution modules of the tractor and trailer. The execution modules then control the tractor and trailer to perform actions accordingly, thus achieving intelligent driving. Compared to existing intelligent driving systems that only have sensors on the tractor, this application, by acquiring environmental information of both the tractor and trailer, eliminates blind spots at the rear of the trailer, effectively ensuring that the control module can provide better intelligent driving control strategies for the tractor. Attached Figure Description

[0061] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0062] Figure 1 This is a schematic diagram of the vehicle structure provided in an embodiment of the present invention;

[0063] Figure 2A schematic diagram showing the radar assembly and camera assembly provided in an embodiment of the present invention positioned in front of a tractor.

[0064] Figure 3 A schematic diagram showing an angle monitoring camera positioned behind a tractor unit, as provided in an embodiment of the present invention.

[0065] Figure 4 A schematic diagram showing the radar assembly and camera assembly provided in an embodiment of the present invention positioned at the rear of the tractor.

[0066] Figure 5 A schematic diagram illustrating the control module configuration provided in an embodiment of the present invention;

[0067] Figure 6 This is a schematic diagram illustrating the setup of the second fisheye camera provided in an embodiment of the present invention;

[0068] Figure 7 This is a schematic diagram showing the distribution of the camera components in a vehicle according to an embodiment of the present invention;

[0069] Figure 8 This is a schematic diagram showing the distribution of radar components in a vehicle according to an embodiment of the present invention;

[0070] Figure 9 This is a schematic diagram illustrating the data processing of various modules in the intelligent driving system for vehicles provided in an embodiment of the present invention.

[0071] The system includes: a tractor unit 1-1, a trailer unit 1-2; a perception module 1, consisting of a radar assembly 11, a lidar unit 111, a millimeter-wave radar assembly 112, an ultrasonic radar assembly 113; a camera assembly 12, consisting of an angle monitoring camera 121, a forward-looking telephoto camera 122, a forward-looking wide-angle camera 123, a rear-looking wide-angle camera 124, a first fisheye camera 125, a side-looking wide-angle camera 126, and a second fisheye camera 127; a positioning module 2, consisting of a combined inertial navigation sensor 21, a multi-functional fusion antenna 22, and a map module 23; a control module 3, consisting of a first computing unit 31, a second computing unit 32, a third computing unit 33, a fourth computing unit 34, and an intelligent driving domain controller 35; a water tank 41, a radiator 42, a water pump 43, and a control water-cooling plate 44.

[0072] Millimeter-wave radar group 112: long-range millimeter-wave radar 1121, first medium-range millimeter-wave radar 1122, second medium-range millimeter-wave radar 1123, third medium-range millimeter-wave radar 1124, fourth medium-range millimeter-wave radar 1125, first angular millimeter-wave radar 1126, second angular millimeter-wave radar 1127;

[0073] Ultrasonic radar group 113: forward ultrasonic radar 1131, lateral ultrasonic radar 1132. Detailed Implementation

[0074] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0075] In this application, the terms "comprising," "including," or any other variations thereof are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0076] This invention provides a vehicle intelligent driving system, see [link to relevant documentation]. Figure 1 and combined Figures 2 to 9 , Figure 1 This is a structural diagram of a vehicle intelligent driving system, which includes: a perception module 1, a positioning module 2, and a control module 3;

[0077] The sensing module 1 is connected to the control module. The sensing module is used to acquire environmental information of the environment where the tractor 1-1 and the trailer are located in real time, and send the environmental information to the control module 3.

[0078] The positioning module 2 is connected to the control module. The positioning module is used to detect the position information of the tractor 1-1 and the trailer in real time and send the position information to the control module 3.

[0079] The control module 3 generates decision control information based on environmental and location information, and sends the decision control information to the execution module.

[0080] It should be noted that the vehicles in this application are mainly as follows: Figure 1 The truck consisting of the tractor 1-1, trailer 1-2, and execution module shown in the diagram can monitor the surrounding environment of the tractor 1-1 and trailer 1-2 in real time by setting up an environmental sensing module 1 in the tractor 1-1 and trailer 1-2 to avoid blind spots. Furthermore, by setting up a positioning module 2 in the tractor 1-1 and trailer 1-2 to detect the location information of the tractor 1-1 and trailer 1-2 in real time, the position information of the tractor 1-1 and trailer 1-2 can be obtained in real time. Then, the control module 3 generates decision control information based on the environmental and position information and sends the decision control information to the execution module to perform corresponding actions.

[0081] It should also be noted that the execution module of this application includes a chassis domain controller and a body domain controller. The chassis domain controller is used to control drive, braking and steering, while the body domain controller is used to control lighting, vehicle locks, etc. Drive is the driving power of tractor 1-1 and trailer 1-2, braking is the braking and parking of tractor 1-1 and trailer 1-2, steering is the control of tractor 1-1 and trailer 1-2 turning, and lighting is the turn signals, fog lights, high beam headlights, low beam headlights, warning lights and other lights of tractor 1-1 and trailer 1-2.

[0082] In this embodiment of the invention, the sensing module 1 acquires the environmental information of the environment in which the tractor 1-1 and trailer 1-2 are located in real time and sends the environmental information to the control module 3. The positioning module 2 detects the position information of the tractor 1-1 and trailer 1-2 in real time and sends the position information to the control module 3. The control module 3 generates decision control information based on the environmental information and position information and sends the decision control information to the execution module. The intelligent driving system disclosed above can acquire the environment of the tractor 1-1 and trailer 1-2 in real time through the perception module 1, and can also locate the positions of the tractor 1-1 and trailer 1-2 in real time through the positioning module 2. Then, the control module 3 generates decision control information based on the environmental information sent by the perception module 1 and the position information sent by the positioning module 2, and then sends the decision control information to the execution module. The execution module controls the tractor 1-1 and trailer 1-2 to perform actions accordingly, thereby realizing intelligent driving of the tractor 1-1 and trailer 1-2. Compared with the existing intelligent driving system that only sets sensors on the tractor 1-1, this application can acquire the environmental information of the entire environment of the tractor 1-1 and trailer 1-2. Therefore, there is no blind spot at the rear of the trailer 1-2, which can effectively ensure that the control module 3 can provide better intelligent driving control strategy for the tractor 1-1.

[0083] Specifically, the perception module 1 includes: a radar component 11 and a camera component 12;

[0084] Radar component 11 is used to detect the distance to targets in real time, including lane lines, pedestrians, obstacles and vehicles;

[0085] The camera component 12 is used to acquire environmental images of the environment in which the tractor 1-1 and trailer 1-2 are located in real time. The environmental images include road condition information images and target object images, and the target object images include signs.

[0086] It should be noted that lane lines, pedestrians, obstacles, other vehicles, road condition information, and target objects all belong to environmental information. The radar component 11 detects the distance to the target object in real time, and the camera component 12 acquires environmental images of the environment in which the tractor 1-1 and trailer 1-2 are located in real time. This can provide the intelligent driving system with more environmental information about the tractor 1-1 and trailer 1-2, and can further provide the tractor 1-1 with better intelligent driving control strategies.

[0087] It should also be noted that the radar component 11 can determine the current position of the tractor 1-1 and trailer 1-2 in the lane by detecting the distance to the target object in real time, such as the distance to the lane line. The distance to pedestrians, obstacles and vehicles can provide more information to the control module 3, thereby enabling the control module 3 to provide a better intelligent driving control strategy for the tractor 1-1.

[0088] Furthermore, the radar assembly 11 includes: a lidar 111, a millimeter-wave radar group 112, and an ultrasonic radar group 113;

[0089] LiDAR 111 is installed on tractor 1-1 to detect the distance to lane lines and / or pedestrians in real time.

[0090] Millimeter-wave radar group 112 is installed on tractor 1-1 to detect the distance to other vehicles on the road in real time;

[0091] The ultrasonic radar group 113 is installed on the tractor 1-1 and is used to detect the distance to obstacles in real time.

[0092] It should be noted that the lidar 111 has the characteristics of high distance detection accuracy and high recognition of close objects. However, the lidar 111 cannot recognize colors, and its performance is affected in severe weather conditions such as heavy rain, heavy snow, and heavy fog. Therefore, the lidar 111 of this application is mainly used for real-time detection of distances to lane lines and / or pedestrians.

[0093] Since the millimeter-wave radar array 112 has difficulty detecting pedestrians, but has strong resistance to environmental interference, the millimeter-wave radar array 112 of this application is mainly used for distance detection with other vehicles on the road.

[0094] By setting up a lidar 111 and a millimeter-wave radar group 112, the lidar 111 and the millimeter-wave radar group 112 complement each other, enabling them to acquire more environmental information on the road, and further enabling the control module 3 to provide a better intelligent driving control strategy for the tractor 1-1.

[0095] The ultrasonic radar group 113 of this application can supplement the detection blind zone of the millimeter-wave radar group 112, and the ultrasonic radar is not affected by the external environment. However, since the detection range of the ultrasonic radar group 113 is small, by setting up the ultrasonic radar group 113, it is possible to detect obstacles in close proximity around the tractor 1-1 and trailer 1-2 in real time. The control module 3 generates decision control information by receiving the data sent by the ultrasonic radar in real time, which can effectively avoid collisions between the vehicle and obstacles in close proximity.

[0096] It is worth noting that by setting up the ultrasonic radar group 113, a redundant design is formed relative to the lidar group 111 and the millimeter-wave radar group 112, which improves fault tolerance and enables the control module 3 to continuously provide better intelligent driving control strategies for the tractor 1-1.

[0097] Specifically, the millimeter-wave radar group 112 includes: a long-range millimeter-wave radar 1121, a first medium-range millimeter-wave radar 1122, a second medium-range millimeter-wave radar 1123, a third medium-range millimeter-wave radar 1124, a fourth medium-range millimeter-wave radar 1125, a first angular millimeter-wave radar 1126, and a second angular millimeter-wave radar 1127.

[0098] The long-range millimeter-wave radar 1121 is installed on the front bumper of the tractor 1-1;

[0099] The first mid-range millimeter-wave radar 1122 and the second mid-range millimeter-wave radar 1123 are symmetrically arranged on both sides of the front bumper;

[0100] The third mid-range millimeter-wave radar 1124 and the fourth mid-range millimeter-wave radar 1125 are symmetrically arranged on both sides of the tractor 1-1 and are located between the front bumper and the trailer 1-2.

[0101] The first-angle millimeter-wave radar 1126 and the second-angle millimeter-wave radar 1127 are respectively installed on both sides of the rear of the trailer 1-2.

[0102] It should be noted that the long-range millimeter-wave radar 1121 is installed on the front bumper of the tractor 1-1; the first mid-range millimeter-wave radar 1122 and the second mid-range millimeter-wave radar 1123 are symmetrically installed on both sides of the front bumper; the third mid-range millimeter-wave radar 1124 and the fourth mid-range millimeter-wave radar 1125 are symmetrically installed on both sides of the tractor 1-1, located between the front bumper and the trailer 1-2; the first angular millimeter-wave radar 1126 and the second angular millimeter-wave radar 1127 are respectively installed on both sides of the rear of the trailer 1-2; and the long-range millimeter-wave radar 1121, the first mid-range millimeter-wave radar 1122, the second mid-range millimeter-wave radar 1123, the third mid-range millimeter-wave radar 1124 and the fourth mid-range millimeter-wave radar 1125 are symmetrically installed on both sides of the tractor 1-1, located between the front bumper and the trailer 1-2; the first angular millimeter-wave radar 1126 and the second angular millimeter-wave radar 1127 are respectively installed on both sides of the rear of the trailer 1-2. Millimeter-wave radar 1123, third mid-range millimeter-wave radar 1124, fourth mid-range millimeter-wave radar 1125, first-angle millimeter-wave radar 1126, and second-angle millimeter-wave radar 1127 can not only detect the distance to vehicles in front of the tractor 1-1 in real time, but also detect the distance to vehicles behind the trailer 1-2 in real time. Then, the control module 3 generates decision control information based on the received data. The control module 3 can generate decision control information in real time based on the distance between the vehicles in front and behind, such as controlling the tractor 1-1 and trailer 1-2 to change lanes or brake, thus protecting the user's tractor 1-1 and trailer 1-2.

[0103] Specifically, the ultrasonic radar group 113 includes: multiple forward ultrasonic radars 1131 and multiple lateral ultrasonic radars 1132;

[0104] Multiple forward-facing ultrasonic radars 1131 are installed on the front bumper of the tractor 1-1.

[0105] Multiple lateral ultrasonic radars 1132 are symmetrically arranged on both sides of the front of the tractor 1-1.

[0106] It should be noted that multiple forward ultrasonic radars 1131 are installed on the front bumper of the tractor 1-1, and multiple side ultrasonic radars 1132 are symmetrically arranged on both sides of the front of the tractor 1-1. The multiple forward ultrasonic radars 1131 and multiple side ultrasonic radars 1132 can detect obstacles in the vicinity of the tractor 1-1 and trailer 1-2 in real time, effectively avoiding blind spots. Then, the control module 3 generates decision control information by receiving the data sent by the ultrasonic radar in real time, which can further effectively prevent the tractor 1-1 and trailer 1-2 from colliding with obstacles in the vicinity.

[0107] Specifically, the camera assembly 12 includes: an angle monitoring camera 121, a front-view telephoto camera 122, a front-view wide-angle camera 123, a rear-view wide-angle camera 124, a first fisheye camera 125, multiple side-view wide-angle cameras 126 and multiple second fisheye cameras 127.

[0108] An angle monitoring camera 121 is installed on the rear window of the cab of the tractor 1-1, and the optical axis of the angle monitoring camera 121 is coincident with the central axis of the tractor 1-1, so as to acquire the angle image of the trailer 1-2 in real time.

[0109] Both the forward-looking telephoto camera 122 and the forward-looking wide-angle camera 123 are installed at the front of the tractor 1-1, and the optical axes of the forward-looking telephoto camera 122 and the forward-looking wide-angle camera 123 coincide with the central axis of the tractor 1-1. The forward-looking telephoto camera 122 and the forward-looking wide-angle camera 123 are used to acquire real-time road condition information images and target object images in front of the tractor 1-1.

[0110] The rear-view wide-angle camera 124 and the first fisheye camera 125 are located at the rear of the trailer 1-2, and the optical axis of the rear-view wide-angle camera 124 and the first fisheye camera 125 coincides with the central axis of the trailer 1-2. The rear-view wide-angle camera 124 and the first fisheye camera 125 are used to acquire environmental images behind the trailer 1-2 in real time.

[0111] Multiple side-view wide-angle cameras 126 are respectively installed on both sides of the front of the tractor 1-1 to acquire real-time posture images of the trailer 1-2;

[0112] Multiple second fisheye cameras 127 are respectively installed on both sides of the hood and cab of the tractor 1-1 to acquire environmental images of the tractor 1-1 in real time.

[0113] It should be noted that the angle monitoring camera 121 is set at the rear window of the cab of the tractor 1-1, and the optical axis of the angle monitoring camera 121 is coincident with the central axis of the tractor 1-1, so that the angle image of the trailer 1-2 can be obtained in real time, which helps the control module 3 to determine the current attitude of the trailer 1-2, thereby enabling the control module 3 to generate correct decision control information.

[0114] When the centerline of trailer 1-2 coincides with the centerline of tractor 1-1, the position of trailer 1-2 at angle monitoring camera 121 is fixed. When the position of trailer 1-2 at angle monitoring camera 121 changes, it indicates that the centerline of trailer 1-2 does not coincide with the centerline of tractor 1-1. At this time, control module 3 can determine the angle between the centerline of trailer 1-2 and the centerline of tractor 1-1 through the image of angle monitoring camera 121. Therefore, control module 3 can determine the attitude of trailer 1-2 through angle monitoring camera 121 to generate correct decision control information, thereby bringing a better intelligent driving control strategy to tractor 1-1.

[0115] The forward-looking telephoto camera 122 and the forward-looking wide-angle camera 123 are positioned at the front of the tractor 1-1, with their optical axes coinciding with the central axis of the tractor 1-1. This allows the tractor 1-1 to acquire real-time images of road conditions and objects in front of it, maximizing the detection of these features. This enables the control module 3 to make advance predictions and plans, effectively ensuring the driving safety of both the tractor 1-1 and the trailer 1-2.

[0116] It should also be noted that by setting multiple side-view wide-angle cameras 126 on both sides of the front of the tractor 1-1, not only can the real-time posture image of the trailer 1-2 be obtained, but also the real-time image of the side and rear. The image is transmitted to the multimedia display and can also replace the rearview mirror. This effectively avoids the problem of not being able to see the side and rear of the trailer 1-2 due to water droplets on the glass in rainy weather. Furthermore, replacing the rearview mirror with the side-view wide-angle cameras 126 can also reduce the wind resistance of the tractor 1-1 and trailer 1-2 when they are moving and achieve weight reduction.

[0117] The first fisheye camera 125 and the second fisheye camera 127 mentioned above have large horizontal and vertical field of view and can focus on objects within a 1-meter range. Therefore, they can compensate for the detection blind spots of the forward-looking wide-angle camera 123 and the rear-looking wide-angle camera 124. Thus, by setting the first fisheye camera 125 and the second fisheye camera 127, complete detection of the tractor 1-1 and trailer 1-2 around them can be further achieved.

[0118] Specifically, radar component 11 includes: lidar 111, millimeter-wave radar group 112, and ultrasonic radar group 113;

[0119] LiDAR 111 is installed on tractor 1-1 to detect the distance to lane lines and / or pedestrians in real time.

[0120] Millimeter-wave radar module 112 is installed on tractor 1-1 and is used to detect vehicles ahead of the road in real time.

[0121] The ultrasonic radar group 113 is installed on the tractor 1-1 for real-time obstacle detection;

[0122] The millimeter-wave radar group 112 includes: a long-range millimeter-wave radar 1121, a first medium-range millimeter-wave radar 1122, a second medium-range millimeter-wave radar 1123, a third medium-range millimeter-wave radar 1124, a fourth medium-range millimeter-wave radar 1125, a first angular millimeter-wave radar 1126, and a second angular millimeter-wave radar 1127.

[0123] The long-range millimeter-wave radar 1121 is installed on the front bumper of the tractor 1-1;

[0124] The first mid-range millimeter-wave radar 1122 and the second mid-range millimeter-wave radar 1123 are symmetrically arranged on both sides of the front bumper of the tractor 1-1;

[0125] The third mid-range millimeter-wave radar 1124 and the fourth mid-range millimeter-wave radar 1125 are symmetrically arranged on both sides of the front of the vehicle, and are located between the front bumper of the tractor 1-1 and the trailer 1-2.

[0126] The first-angle millimeter-wave radar 1126 and the second-angle millimeter-wave radar 1127 are respectively installed on both sides of the rear of the trailer 1-2;

[0127] The ultrasonic radar group 113 includes: multiple forward ultrasonic radars 1131 and multiple lateral ultrasonic radars 1132;

[0128] Multiple forward-facing ultrasonic radars 1131 are installed on the front bumper of the tractor 1-1.

[0129] Multiple lateral ultrasonic radars 1132 are symmetrically arranged on both sides of the front of the tractor 1-1;

[0130] The camera assembly 12 includes: an angle monitoring camera 121, a front-view telephoto camera 122, a front-view wide-angle camera 123, a rear-view wide-angle camera 124, a first fisheye camera 125, multiple side-view wide-angle cameras 126 and multiple second fisheye cameras 127.

[0131] An angle monitoring camera 121 is installed on the rear window of the cab of the tractor 1-1, and the optical axis of the angle monitoring camera 121 is coincident with the central axis of the tractor 1-1, so as to acquire the angle image of the trailer 1-2 in real time.

[0132] Both the forward-looking telephoto camera 122 and the forward-looking wide-angle camera 123 are installed at the front of the tractor 1-1, and the optical axes of the forward-looking telephoto camera 122 and the forward-looking wide-angle camera 123 coincide with the central axis of the tractor 1-1. The forward-looking telephoto camera 122 and the forward-looking wide-angle camera 123 are used to acquire real-time images of road conditions and target objects in front of the tractor 1-1.

[0133] The rear-view wide-angle camera 124 and the first fisheye camera 125 are located at the rear of the trailer 1-2, and the optical axis of the rear-view wide-angle camera 124 and the first fisheye camera 125 coincides with the central axis of the trailer 1-2. The rear-view wide-angle camera 124 and the first fisheye camera 125 are used to acquire environmental images behind the trailer 1-2 in real time.

[0134] Multiple side-view wide-angle cameras 126 are respectively installed on both sides of the front of the tractor 1-1 to acquire real-time posture images of the trailer 1-2;

[0135] Multiple second fisheye cameras 127 are respectively installed on both sides of the hood and cab of the tractor 1-1 to acquire environmental images of the tractor 1-1 in real time.

[0136] It should be noted that the radar component 11 and the camera component 12 are based on the same principle as the radar component 11 and the camera component 12 in the above embodiments, and will not be described in detail here.

[0137] Furthermore, the control module 3 includes: a first computing unit 31, a second computing unit 32, a third computing unit 33, a fourth computing unit 34, and an intelligent driving domain controller 35;

[0138] The first computing unit 31 is used to process the distance data transmitted by the lidar 111 and the millimeter-wave radar group 112, as well as the angle images transmitted by the angle monitoring camera 121.

[0139] The second computing unit 32 is used to process road condition information images and target images transmitted by the forward-looking telephoto camera 122 and the forward-looking wide-angle camera 123, as well as to process distance data transmitted by the ultrasonic radar group 113.

[0140] The third computing unit 33 is used to process image data transmitted by the side-view wide-angle camera 126;

[0141] The fourth computing unit 34 is used to process the distance data transmitted by the first angle millimeter-wave radar 1126 and the second angle millimeter-wave radar 1127, as well as the image data transmitted by the rear-view wide-angle camera 124 and the first fisheye camera 125.

[0142] The intelligent driving domain controller 35 is used to process the image data transmitted by the second fisheye camera 127 and the position information transmitted by the positioning module 2, and to generate decision control information.

[0143] It should be noted that the first computing unit 31 processes the distance data transmitted by the lidar 111 and the millimeter-wave radar group 112, as well as the angle images transmitted by the angle monitoring camera 121; the second computing unit 32 processes the road condition information images and target object images transmitted by the forward-looking telephoto camera 122 and the forward-looking wide-angle camera 123, as well as the distance data transmitted by the ultrasonic radar group 113; the third computing unit 33 processes the image data transmitted by the side-looking wide-angle camera 126; the fourth computing unit 34 processes the distance data transmitted by the first-angle millimeter-wave radar 1126 and the second-angle millimeter-wave radar 1127, as well as the image data transmitted by the rear-looking wide-angle camera 124 and the first fisheye camera 125; and the intelligent driving domain controller 35 processes the image data transmitted by the second fisheye camera 127 and the position information transmitted by the positioning module 2, and generates decision control information. This can improve the control module 3's processing of environmental and position information, thereby ensuring that the control module 3 can quickly generate decision control information so that the execution module can take timely actions.

[0144] Preferably, the fourth calculation unit 34 is located at the front end of the trailer 1-2.

[0145] It should be noted that the fourth computing unit 34 can be set at the front end of the trailer 1-2 or at the tractor 1-1. Those skilled in the art can set it according to their needs. However, in this application, it is preferred to set the fourth computing unit 34 at the front end of the trailer 1-2. This not only protects the fourth computing unit 34, but also enables the fourth computing unit 34 to quickly receive and process the distance data transmitted by the first angle millimeter-wave radar 1126 and the second angle millimeter-wave radar 1127, as well as process the image data transmitted by the rear-view wide-angle camera 124 and the first fisheye camera 125.

[0146] Specifically, the positioning module 2 includes: a combined inertial navigation sensor 21, a multi-functional fusion antenna 22, and a map module 23;

[0147] The combined inertial navigation sensor 21 is used to monitor the status of the tractor 1-1 and trailer 1-2 in real time;

[0148] The multi-functional fusion antenna 22 and the combined inertial navigation sensor 21 work together with the map module 23 to transmit the current location information of the tractor 1-1 and / or trailer 1-2 in real time.

[0149] It should be noted that the multi-functional fusion antenna 22 and the combined inertial navigation sensor 21, together with the map module 23, can obtain the vehicle's current location information. The control module 3 can generate corresponding decision control information based on the location information and send it to the execution module, enabling the execution module to perform corresponding control based on the decision control information.

[0150] Furthermore, the vehicle's intelligent driving system also includes: a cooling module;

[0151] The cooling module is used to cool the control module 3.

[0152] It should be noted that by setting up a cooling module for cooling the control module 3, the temperature of the control module 3 can be effectively controlled, ensuring the calculation and decision-making speed and stability of the control module 3.

[0153] Preferably, the cooling module includes a water tank 41, a radiator 42, a water pump 43, a control water cooling plate 44, and several connecting pipes;

[0154] The water tank 41, radiator 42, water pump 43 and control water cooling plate 44 are all located on the rear panel or the back of the floor of the cab.

[0155] It should be noted that when connecting the various parts of the cooling module through the connecting pipe, effectively shortening the length of the connecting pipe can avoid excessive flow resistance and pressure drop, and can improve the cooling performance of the control module 3, thereby improving the working stability of the control module 3.

[0156] It should also be noted that by placing the water tank 41, radiator 42, water pump 43 and control water cooling plate 44 on the rear panel or the back of the floor of the cab, the problem of loosening or disconnection of the connecting pipes caused by lifting the cab can be avoided.

[0157] Preferably, the combined inertial navigation sensor 21, multi-functional fusion antenna 22, map module 23 and control module 3 are located in the driver's cab.

[0158] It should be noted that placing the combined inertial navigation sensor 21, multi-functional fusion antenna 22, map module 23 and control module 3 in the cab can not only avoid electromagnetic interference from the chassis's high and low voltage devices, but also ensure that the above components are in a waterproof and dustproof environment. Furthermore, it can shorten the wiring harness length between the tractor 1-1 and each sensor, effectively reducing the problem of data transmission loss caused by excessive wiring harness length.

[0159] It is worth noting that the connection lines between the above-mentioned components and the control module 3 can be routed through the cab sheet metal and interior panels, which can effectively improve the aesthetics of the cab.

[0160] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on its differences from other embodiments. In particular, for system or system embodiments, since they are basically similar to method embodiments, the description is relatively simple; relevant parts can be referred to the descriptions in the method embodiments. The systems and system embodiments described above are merely illustrative. Units described as separate components may or may not be physically separate. Components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without creative effort.

[0161] Those skilled in the art will further recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0162] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A vehicle intelligent driving system, the vehicle comprising a tractor, a trailer and an execution module, characterized in that, The vehicle intelligent driving system comprises a perception module, a positioning module and a control module; The perception module is in communication connection with the control module, and is configured to acquire environmental information of an environment in which the tractor and the trailer are located in real time, and send the environmental information to the control module; The positioning module is in communication connection with the control module, and is configured to detect position information of the tractor and the trailer in real time, and send the position information to the control module; The control module generates decision control information according to the environmental information and the position information, and sends the decision control information to the execution module.

2. The vehicle intelligent driving system of claim 1, wherein, The perception module comprises a radar assembly and a camera assembly; The radar assembly is configured to detect distances to target objects in real time, the target objects including lane lines, pedestrians, obstacles and vehicles; The camera assembly is configured to acquire environmental images of an environment in which the tractor and the trailer are located in real time, wherein the environmental images include road condition information images and target object images, and the target object images include signboards.

3. The vehicle intelligent driving system of claim 2, wherein, The radar assembly comprises a laser radar, a millimeter wave radar group and an ultrasonic wave radar group; The laser radar is arranged on the tractor and is configured to detect distances to lane lines and / or pedestrians in real time; The millimeter wave radar group is arranged on the tractor and is configured to detect distances to other vehicles on the road in real time; The ultrasonic wave radar group is arranged on the tractor and is configured to detect distances to obstacles in real time.

4. The vehicle intelligent driving system of claim 3, wherein, The millimeter wave radar group comprises a long-distance millimeter wave radar, a first medium-distance millimeter wave radar, a second medium-distance millimeter wave radar, a third medium-distance millimeter wave radar, a fourth medium-distance millimeter wave radar, a first angle millimeter wave radar and a second angle millimeter wave radar; The long-distance millimeter wave radar is arranged on the front bumper of the tractor; The first medium-distance millimeter wave radar and the second medium-distance millimeter wave radar are symmetrically arranged on the two sides of the front bumper; The third medium-distance millimeter wave radar and the fourth medium-distance millimeter wave radar are symmetrically arranged on the two sides of the tractor and are located between the front bumper and the trailer; The first angle millimeter wave radar and the second angle millimeter wave radar are respectively arranged on the two sides of the tail of the trailer.

5. The vehicle intelligent driving system of claim 3, wherein, The ultrasonic wave radar group comprises a plurality of forward ultrasonic wave radars and a plurality of lateral ultrasonic wave radars; The plurality of forward ultrasonic wave radars are arranged on the front bumper of the tractor; The plurality of lateral ultrasonic wave radars are symmetrically arranged on the two sides of the head of the tractor.

6. The vehicle intelligent driving system of claim 2, wherein, The camera assembly comprises an angle monitoring camera, a forward long-focus camera, a forward wide-angle camera, a rear wide-angle camera, a first fisheye camera, a plurality of side-view wide-angle cameras and a plurality of second fisheye cameras; The angle monitoring camera is arranged on the rear window of the cab of the tractor, and the optical axis of the angle monitoring camera coincides with the center axis of the tractor, and is configured to acquire an angle image of the trailer in real time; The front view long-focus camera and the front view wide-angle camera are arranged on the front of the tractor, and the optical axes of the front view long-focus camera and the front view wide-angle camera coincide with the central axis of the tractor, and the front view long-focus camera and the front view wide-angle camera are used to acquire the road condition information image and the target object image in front of the tractor in real time; The rear view wide-angle camera and the first fisheye camera are arranged on the tail of the trailer, and the optical axes of the rear view wide-angle camera and the first fisheye camera coincide with the central axis of the trailer, and the rear view wide-angle camera and the first fisheye camera are used to acquire the environment image behind the trailer in real time; A plurality of side view wide-angle cameras are arranged on the two sides of the front of the tractor respectively, and are used to acquire the attitude image of the trailer in real time; A plurality of second fisheye cameras are arranged on the two sides of the hood and the cab of the tractor respectively, and are used to acquire the environment image of the tractor in real time.

7. The vehicle intelligent driving system of claim 2, wherein, The radar assembly comprises a laser radar, a millimeter wave radar group and an ultrasonic wave radar group; The laser radar is arranged on the tractor and is used to detect the distance from the lane line and / or the pedestrian in real time; The millimeter wave radar group is arranged on the tractor and is used to detect the vehicle in front of the road in real time; The ultrasonic wave radar group is arranged on the tractor and is used to detect the obstacle in real time; The millimeter wave radar group comprises a long-distance millimeter wave radar, a first medium-distance millimeter wave radar, a second medium-distance millimeter wave radar, a third medium-distance millimeter wave radar, a fourth medium-distance millimeter wave radar, a first angle millimeter wave radar and a second angle millimeter wave radar; The long-distance millimeter wave radar is arranged on the front bumper of the tractor; The first medium-distance millimeter wave radar and the second medium-distance millimeter wave radar are symmetrically arranged on the two sides of the front bumper of the tractor; The third medium-distance millimeter wave radar and the fourth medium-distance millimeter wave radar are symmetrically arranged on the two sides of the tractor and are located between the front bumper of the tractor and the trailer; The first angle millimeter wave radar and the second angle millimeter wave radar are arranged on the two sides of the tail of the trailer respectively; The ultrasonic wave radar group comprises a plurality of front-facing ultrasonic wave radars and a plurality of side-facing ultrasonic wave radars; A plurality of front-facing ultrasonic wave radars are arranged on the front bumper of the tractor; A plurality of side-facing ultrasonic wave radars are symmetrically arranged on the two sides of the front of the tractor; The camera assembly comprises an angle monitoring camera, a front view long-focus camera, a front view wide-angle camera, a rear view wide-angle camera, a first fisheye camera, a plurality of side view wide-angle cameras and a plurality of second fisheye cameras; The angle monitoring camera is arranged on the rear window of the cab of the tractor, and the optical axis of the angle monitoring camera coincides with the central axis of the tractor, and is used to acquire the angle image of the trailer in real time; The front view long-focus camera and the front view wide-angle camera are arranged on the front of the tractor, and the optical axes of the front view long-focus camera and the front view wide-angle camera coincide with the central axis of the tractor, and the front view long-focus camera and the front view wide-angle camera are used to acquire the road condition information image and the target object image in front of the tractor in real time; The rear-view wide-angle camera and the first fisheye camera are arranged at the tail of the trailer, and the optical axes of the rear-view wide-angle camera and the first fisheye camera coincide with the center axis of the trailer, and the rear-view wide-angle camera and the first fisheye camera are used to acquire the environment image behind the trailer in real time; A plurality of side-view wide-angle cameras are arranged on both sides of the head of the tractor, and are used to acquire the posture image of the trailer in real time; A plurality of second fisheye cameras are arranged on both sides of the hood and the cab of the tractor, and are used to acquire the environment image of the tractor in real time.

8. The vehicle intelligent driving system of claim 7, wherein, The control module comprises a first computing unit, a second computing unit, a third computing unit, a fourth computing unit and an intelligent driving domain controller; The first computing unit is used to process the distance data transmitted by the laser radar and the millimeter wave radar group, and the angle image transmitted by the angle monitoring camera; The second computing unit is used to process the road condition information image and target object image transmitted by the front-view long-focus camera and the front-view wide-angle camera, and process the distance data transmitted by the ultrasonic wave radar group; The third computing unit is used to process the image data transmitted by the side-view wide-angle camera; The fourth computing unit is used to process the distance data transmitted by the first angular millimeter wave radar and the second angular millimeter wave radar, and process the image data transmitted by the rear-view wide-angle camera and the first fisheye camera; The intelligent driving domain controller is used to process the image data transmitted by the second fisheye camera and the position information transmitted by the positioning module, and generate the decision control information.

9. The vehicle intelligent driving system of claim 1, wherein, The positioning module comprises a combined inertial navigation sensor, a multifunctional fusion antenna and a map module; The combined inertial navigation sensor is used to monitor the state of the tractor and the trailer in real time; The multifunctional fusion antenna and the combined inertial navigation sensor cooperate with the map module to transmit the current position information of the tractor and / or the trailer in real time. 10.The intelligent driving system of a vehicle according to claim 1, characterized in that, Further comprising: A cooling module; The cooling module is used to cool the control module.

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