An obstacle avoidance method and device for automatic driving

Abstract

This invention provides an obstacle avoidance method and device for autonomous driving, relating to the field of autonomous driving obstacle avoidance technology. It includes a new energy electric vehicle with a mounting base fixed to its roof. A turntable is rotatably mounted on the top of the mounting base, and a sealing box is fixed on the top of the turntable. An observation window is provided at the front end of the sealing box, and a wiping component is located on the turntable at the front end of the observation window. Cleaning components are located on both sides of the sealing box inside the mounting base. When it rains or the annular glass corresponding to the observation window is obscured by dust, a second motor drives the shaft and the annular glass to rotate. The annular glass slides along the side frame and sealing rail to correspond with the observation window, maintaining the clarity of the observation window facing the annular glass. This does not interfere with the signal transmission and reception of the lidar or the image acquisition of the road image acquisition device. Whenever the annular glass retracts into the mounting base, it is cleaned by the side frame, and the cleaned dust falls into the collection box.

Description

Technical Field

[0001] This disclosure relates to the field of obstacle avoidance technology for autonomous driving, and more particularly to an obstacle avoidance method and device for autonomous driving. Background Technology

[0002] The obstacle avoidance method for autonomous driving is a complex systems engineering project that integrates perception, decision-making and control. It mainly relies on multi-sensor fusion, artificial intelligence algorithms and real-time path planning. Autonomous vehicles achieve high-precision detection and localization of obstacles through the collaborative work of various sensors: LiDAR, millimeter-wave radar, cameras and ultrasonic sensors.

[0003] The installation location of LiDAR in a vehicle varies depending on the model, functional requirements, and design philosophy, but it can generally be categorized into several main areas. First, the roof is one of the most common installation locations for LiDAR. The advantage of this location is its wide field of view, allowing for a comprehensive scan of the surrounding environment without blind spots, providing complete environmental perception data for autonomous driving systems. The front bumper or grille area is also a common installation location for LiDAR. This location is closer to the front of the vehicle, helping to detect obstacles ahead in advance, which is crucial for functions such as forward collision warning and adaptive cruise control. Some models may install one or more LiDARs in this area to enhance forward perception capabilities. Furthermore, LiDAR may also be installed near the rearview mirrors or side skirts, primarily for lateral and rearward environmental perception.

[0004] A common problem with roof-mounted lidar devices is that they are affected by the environment. For example, rainy weather can affect the signal reception of lidar, or snow can obscure the radar's operating range, both of which can affect the normal use of obstacle avoidance functions. Summary of the Invention

[0005] This disclosure aims to at least partially address one of the technical problems in the related art.

[0006] Therefore, the purpose of this disclosure is to provide an obstacle avoidance method and obstacle avoidance device for autonomous driving.

[0007] To achieve the above objectives, this disclosure provides an obstacle avoidance device for autonomous driving, comprising: a new energy electric vehicle, wherein a mounting base is fixedly mounted on the roof of the new energy electric vehicle, and a turntable is rotatably mounted on the top of the mounting base; a sealing box is fixedly mounted on the top of the turntable; an observation window is provided at the front end of the sealing box, and a wiping component is provided on the turntable at the front end of the observation window; cleaning components are provided on both sides of the sealing box inside the mounting base; drive components are provided on both sides of the sealing box, and the drive components are mounted on top of the cleaning components; a lidar is fixedly mounted on one side inside the sealing box, and a road image acquisition device is fixedly mounted on the other side inside the sealing box; the output ends of the lidar and the road image acquisition device face the observation window, and the lidar and the road image acquisition device are integrated with the computing system built into the new energy electric vehicle. The analysis module, driving module, and main control module are electrically connected; the road image acquisition device consists of an ultrasonic sensor, an image collector, and a laser rangefinder; the wiping assembly includes side frames, with two sets of side frames fixed to the top of the turntable on both sides of the observation window; annular glass is slidably inserted into the interior of the two side frames, with both ends of the annular glass penetrating into the mounting base and covering the observation window; the cleaning assembly includes vertical rods, with two vertical rods symmetrically slidably inserted into both sides of the turntable located in the packaging box, and a rotating shaft seat fitted onto the surface of the vertical rod; an air outlet ball is fixed to one end of the vertical rod that extends out of the rotating shaft seat, and a groove is formed on the surface of the air outlet ball; a flexible hose is fixed to the bottom of the vertical rod, and the flexible hose is connected to the air conditioning system of the new energy electric vehicle.

[0008] Optionally, the packaging box has air vents on both sides and air inlets on both sides of the bottom. A connecting wire is fixed to the bottom of the packaging box, and the connecting wire is electrically connected to the lidar and road image acquisition device. A fixing ring is fixed at the bottom axis of the mounting base, and the connecting wire slides through the fixing ring. A beveled ring is fixed to the outer ring of the turntable, and the beveled ring slides onto the top outer ring of the mounting base. A limit ring is slidably installed on the top of the fixing ring, and the surface of the connecting wire slides through the limit ring. A fixing base is slidably installed on the top of the limit ring, and a first motor is fixed on the top of the fixing base. The output end of the first motor is fixedly connected to the center of the turntable.

[0009] Optionally, the cleaning assembly further includes: a connecting frame, a spring, a socket, and a plug. The bottom of the four vertical rods is provided with a connecting frame, and the connecting frame is fixed with a socket at the position corresponding to the four vertical rods. The bottom of the vertical rod is fixed with a plug, and the plug slides into the socket. The two sides of the connecting frame are fixed with springs, and the top of the springs is fixedly connected to the turntable. The connecting frame is fixed with a fixing plate on one side of the vertical rod, and the top of the fixing plate is fixedly connected to the rotating shaft seat.

[0010] Optionally, the turntable is fixed with first electric push rods on both sides of the connecting frame, and the extended end of the first electric push rod extends out of the turntable and is fixed with a connecting plate. A baffle is fixed at one end of the connecting plate near the side of the packaging box, and the baffle slides along the outside of the air outlet. A plug is fixed at the bottom of the connecting plate between the first electric push rod and the baffle, and the plug slides through the turntable and presses against the side of the connecting frame.

[0011] Optionally, a base plate is fixed to the bottom of the insertion rod, and an insertion frame is fixed to one side of the connecting frame corresponding to the base plate. An insertion plate is slidably inserted into the insertion frame, and a small electric push rod connected to the insertion plate is fixed inside the base plate. A slot is provided at the center of the rotating shaft seat, and the vertical rod is slidably engaged with the slot of the rotating shaft seat.

[0012] Optionally, a second electric push rod is symmetrically fixed to the outer surface of the baffle, and a top plate is fixed to the extended end of the second electric push rod. Sleeves are fixed at both ends of the top plate corresponding to the top of the vertical rod, and the sleeves are slidably sleeved on the outer surface of the air outlet ball. After the second electric push rod drives the top plate and sleeves to move upward, the air outlet ball is exposed for use.

[0013] Optionally, a gear is rotatably mounted on one end of the rotating shaft seat facing the baffle, and the gear is fixedly connected to the rotating shaft of the rotating shaft seat. A rack is fixed on the top plate at the position corresponding to the gear, and the rack is meshed with the gear. When the top plate moves upward, the rack meshes with the gear, causing the vertical rod to rotate along the inside of the rotating shaft seat, changing from a vertical position to a horizontal position.

[0014] Optionally, the wiping assembly further includes: a second motor, a sealing slide rail, and a shaft bracket. The shaft bracket is rotatably mounted at the bottom of the turntable corresponding to the center of the annular glass, and both ends of the shaft bracket are fixedly connected to both ends of the annular glass. The second motor is fixed at the axis of the turntable corresponding to the shaft bracket, and the output end of the second motor is fixedly connected to the shaft bracket. The sealing slide rail is fixed to the outer and inner rings of the annular glass between the two side frames of the encapsulation box, and the annular glass slides along the inside of the sealing slide rail. A collection box is slidably mounted on the inner wall of the mounting base, and the collection box is located at the bottom of the annular glass.

[0015] Optionally, the drive assembly includes a bidirectional screw, which is rotatably mounted on the outer surface of the baffle. Two screw plates are symmetrically threaded onto the surface of the bidirectional screw, and an electric clamp is fixedly mounted on the bottom of the screw plates. The position of the electric clamp is on the same straight line as the horizontal tail end of the vertical rod.

[0016] An obstacle avoidance method for autonomous driving, the obstacle avoidance method comprising the following steps: (1) The lidar acquires the position information of fixed or moving obstacles around the vehicle that can hinder the vehicle from continuing to drive. The road image acquisition device is used to acquire information on obstacles such as manhole covers and speed bumps on the road ahead of the driving route that affect the vehicle's driving. The ultrasonic sensor detects obstacles ahead and obtains obstacle signals. The image acquisition device identifies and acquires the obstacle signals of the obstacles. The laser rangefinder detects the distance between the obstacle and the vehicle and obtains distance signals. (2) The lidar transmits the obstacle signal and distance signal to the calculation and analysis module in the main control module for calculation, determines the second collision interval information, analyzes and determines the vehicle speed control information for collision avoidance based on the second collision interval information, and transmits the command to the drive module to control the speed driving. (3) The road image acquisition device collects the impact in front of the vehicle and transmits the obtained obstacle signal and distance signal to the calculation and analysis module in the main control module for calculation, determines the first collision interval information, and determines the vehicle speed control information to mitigate the impact of the collision based on the first collision interval information. The main control module transmits the command to the drive module to control the speed. (4) Integrate the collision information range determined by the lidar and the road image acquisition device to determine the comprehensive collision range. Calculate the current suitable driving speed based on the comprehensive collision range, and transmit the command from the main control module to the drive module for control. (5) In rainy conditions or when the annular glass is covered with dust, the annular glass is rotated by wiping the assembly to replace it with a clean and clear annular glass in the observation window; (6) In snowy conditions, the vertical rod is extended and rotated toward the four sides of the device by the cleaning component built into the mounting base. The vehicle air conditioning system is turned on to deliver hot air and the turntable rotates. The vertical rod cleans the snow around the device and speeds up the melting, so as to avoid the snow accumulation affecting the field of view of the lidar and road image acquisition device and being blocked.

[0017] The technical solution provided in this disclosure may include the following beneficial effects: This invention uses a first motor to drive the turntable to rotate, enabling the lidar and road image acquisition device to rotate 360 ​​degrees. At the same time, it can thoroughly clean the vehicle roof. The connecting wire passes through a limiting ring and a fixed ring to connect to the vehicle control system. The top and bottom of the limiting ring are connected to the fixed seat and the fixed ring. It can be understood that the fixed ring and the fixed seat have annular grooves that connect to the limiting ring. Thus, the connecting wire will not be pulled as the turntable rotates. The inclined ring can prevent water from accumulating on the turntable. When the vertical rod is stored inside the mounting base, the insert is inserted into the socket of the connecting frame. The connecting frame is moved by the first electric push rod, and the connecting plate can push the baffle to move, opening the air vents on both sides of the encapsulation box. Here, the encapsulation box is still connected to the vehicle air conditioning system through the air inlet window. With the air outlet of the air outlet ball, hot air will also be discharged from the air outlets on both sides of the encapsulation box, which will accelerate the melting speed of the surrounding snow. The bottom of the insert is connected to the insert frame and the connecting frame. The restriction on the connecting frame can be released by the retraction of the insert plate. Then, under the spring force, when the vertical rod rotates to a horizontal position, it can gradually descend by the spring force and the height of the snow until the surrounding snow is cleared and the melting is accelerated. After the vertical rod is pushed out of the top of the turntable, the second electric push rod drives the top plate to move upward, moving the sleeve away from the air outlet ball. As the top plate moves, the rack and gear mesh, causing the vertical rod to rotate inside the rotating shaft seat, changing from a vertical to a horizontal position. The vertical position facilitates the vertical rod to retract and extend from the mounting base, while the horizontal position facilitates the clearing of snow around the device. The meshing distance between the gear and rack is just enough to allow the vertical rod to rotate 90 degrees. When the vertical rod is retracted, the sleeve can protect the air outlet ball by fitting onto its outer surface. When it rains or the annular glass corresponding to the rain observation window is obscured by dust, the second motor drives the shaft and the annular glass to rotate. The annular glass slides along the side frame and the sealing slide rail to correspond with the observation window, maintaining the clarity of the observation window facing the annular glass. This will not interfere with the signal transmission and reception of the lidar or the image acquisition of the road image acquisition device. Whenever the annular glass retracts into the mounting base, it will be cleaned by the side frame, and the cleaned dust will fall into the inside of the collection box. In this invention, after the vertical rod is pushed out of the mounting base by the first electric push rod, it rotates to a horizontal position as the rotating shaft seat rotates. At this time, the position of the electric clamp corresponds to the tail end of the vertical rod. The electric clamp clamps the tail end of the vertical rod by driving the bidirectional screw through the motor. As the bidirectional screw continues to rotate, the screw plate and the threaded engagement of the bidirectional screw drive the vertical rod through the slot of the rotating shaft seat, thereby adjusting the extension length of the vertical rod. The air outlet ball can be moved to different positions away from the packaging box. The air outlet ball and the hose are connected to the vehicle air conditioning system. The effect of hot air can accelerate the melting of snow. At the same time, with the rotation of the turntable, the rotating rod clears the snow and prevents the surrounding snow from being too high and affecting the field of vision of the lidar and road image acquisition device. At the same time, the electric clamp can pull out the vertical rod, so that the vertical rod can be rotated back to a vertical position and put back into the mounting base.

[0018] Additional aspects and advantages of this disclosure will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this disclosure. Attached Figure Description

[0019] The above and / or additional aspects and advantages of this disclosure will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, in which: Figure 1 This is a schematic flowchart of an obstacle avoidance method for autonomous driving proposed in one embodiment of the present disclosure; Figure 2 This is a schematic diagram of the overall structure of an obstacle avoidance device for autonomous driving according to an embodiment of this disclosure; Figure 3 This is a schematic diagram of the internal structure of a packaging box in an obstacle avoidance device for autonomous driving according to an embodiment of this disclosure; Figure 4 This is a schematic diagram of the internal structure of a mounting base in an obstacle avoidance device for autonomous driving according to an embodiment of this disclosure; Figure 5 This is a schematic diagram of the cleaning component structure in an obstacle avoidance device for autonomous driving according to an embodiment of the present disclosure; Figure 6 This is a schematic diagram of the separation of the inclined ring and the turntable in an obstacle avoidance device for autonomous driving according to an embodiment of this disclosure; Figure 7 This is a schematic diagram of the wiping component structure in an obstacle avoidance device for autonomous driving according to an embodiment of this disclosure; Figure 8 This is a schematic diagram of the connection between the plug and the connecting frame in an obstacle avoidance device for autonomous driving according to an embodiment of this disclosure; Figure 9 This is a schematic diagram of the connection between the top plate and the sleeve in an obstacle avoidance device for autonomous driving according to an embodiment of this disclosure; Figure 10 This is a schematic diagram showing the connection between the drive component and the cleaning component in an obstacle avoidance device for autonomous driving according to an embodiment of this disclosure; Figure 11 This is a schematic diagram of the gear and rack connection in an obstacle avoidance device for autonomous driving according to an embodiment of this disclosure; As shown in the figure: 1. New energy electric vehicle; 2. Mounting base; 21. Encapsulation box; 22. LiDAR; 23. Road image acquisition device; 24. Observation window; 25. Turntable; 26. Inclined ring; 27. Air outlet; 28. Air inlet; 29. ​​Connecting wire; 210. Fixing ring; 211. Fixing base; 212. Limiting ring; 213. First motor; 3. Wiping assembly; 31. Second motor; 32. Side frame; 33. Sealed slide rail; 34. Annular glass; 35. Connecting frame; 36. Collection box; 4. Drive assembly; 41. Bidirectional screw; 42. Screw plate; 43. Electric clamp; 5. Cleaning components; 51. Connecting bracket; 52. Spring; 53. Socket; 54. Insert post; 55. Vertical rod; 56. Fixing plate; 57. Hose; 58. First electric push rod; 59. Insert rod; 510. Base plate; 511. Insert frame; 512. Insert plate; 513. Connecting plate; 514. Baffle; 515. Top plate; 516. Sleeve; 517. Rotary shaft seat; 518. Rack; 519. Air outlet ball; 520. Second electric push rod; 521. Gear; 522. Slot. Detailed Implementation

[0020] Embodiments of this disclosure are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are used only to explain this disclosure, and should not be construed as limiting this disclosure. Rather, embodiments of this disclosure include all variations, modifications, and equivalents falling within the spirit and scope of the appended claims.

[0021] like Figure 1 As shown, an obstacle avoidance method for autonomous driving includes the following steps: (1) The lidar acquires the position information of fixed or moving obstacles around the vehicle that can hinder the vehicle from continuing to drive. The road image acquisition device is used to acquire information on obstacles such as manhole covers and speed bumps on the road ahead of the driving route that affect the vehicle's driving. The ultrasonic sensor detects obstacles ahead and obtains obstacle signals. The image acquisition device identifies and acquires the obstacle signals of the obstacles. The laser rangefinder detects the distance between the obstacle and the vehicle and obtains distance signals. (2) The lidar transmits the obstacle signal and distance signal to the calculation and analysis module in the main control module for calculation, determines the second collision interval information, analyzes and determines the vehicle speed control information for collision avoidance based on the second collision interval information, and transmits the command to the drive module to control the speed driving. (3) The road image acquisition device collects the impact in front of the vehicle and transmits the obtained obstacle signal and distance signal to the calculation and analysis module in the main control module for calculation, determines the first collision interval information, and determines the vehicle speed control information to mitigate the impact of the collision based on the first collision interval information. The main control module transmits the command to the drive module to control the speed. (4) Integrate the collision information range determined by the lidar and the road image acquisition device to determine the comprehensive collision range. Calculate the current suitable driving speed based on the comprehensive collision range, and transmit the command from the main control module to the drive module for control. (5) In rainy conditions or when the annular glass is covered with dust, the annular glass is rotated by wiping the assembly to replace it with a clean and clear annular glass in the observation window; (6) In snowy conditions, the vertical rod is extended and rotated toward the four sides of the device by the cleaning component built into the mounting base. The vehicle air conditioning system is turned on to deliver hot air and the turntable rotates. The vertical rod cleans the snow around the device and speeds up the melting, so as to avoid the snow accumulation affecting the field of view of the lidar and road image acquisition device and being blocked.

[0022] like Figure 2 , Figure 3 , Figure 4 , Figure 6 , Figure 7 and Figure 8As shown in the figure, this disclosure proposes an obstacle avoidance device for autonomous driving, including: a new energy electric vehicle 1, a mounting base 2 fixed to the roof of the new energy electric vehicle 1, and a turntable 25 fixedly and rotatably mounted on the top of the mounting base 2, a sealing box 21 fixed on the top of the turntable 25, an observation window 24 opened at the front end of the sealing box 21, and a wiping component 3 located at the front end of the observation window 24 on the turntable 25, cleaning components 5 located on both sides of the sealing box 21 inside the mounting base 2, and driving components 4 located on both sides of the sealing box 21, the driving components 4 being mounted on the top of the cleaning components 5; a lidar 22 fixed on one side inside the sealing box 21, and the sealing... Inside box 21, on the other side, a road image acquisition device 23 is fixed. The output ends of the lidar 22 and the road image acquisition device 23 face the observation window 24, and the lidar 22 and the road image acquisition device 23 are electrically connected to the built-in computing and analysis module, driving module, and main control module of the new energy electric vehicle 1. The road image acquisition device 23 consists of an ultrasonic sensor, an image acquisition unit, and a laser rangefinder. The wiping assembly 3 includes a side frame 32, and two sets of side frames 32 are provided. The two sets of side frames 32 are fixed to the top of the turntables 25 on both sides of the observation window 24. Annular glass 34 is slidably inserted into the interior of the two side frames 32. Both ends of the annular glass 34 are inserted into the mounting base 2, and the annular glass 34 covers the observation window 24; the cleaning component 5 includes vertical rods 55, and two vertical rods 55 are symmetrically slidably inserted into both sides of the turntable 25 on the packaging box 21, and a rotating shaft seat 517 is sleeved on the surface of the vertical rod 55. An air outlet ball 519 is fixed to one end of the vertical rod 55 that extends out of the rotating shaft seat 517. A groove is opened on the surface of the air outlet ball 519. A hose 57 is fixed to the bottom of the vertical rod 55, and the hose 57 is connected to the air conditioning system of the new energy electric vehicle 1. The lidar 22 acquires the position information of fixed or moving obstacles around the vehicle that can hinder the vehicle's continued movement. The surface image acquisition device 23 is used to acquire information about obstacles affecting vehicle movement, such as manhole covers and speed bumps, on the road surface ahead of the driving route; the ultrasonic sensor detects obstacles ahead and obtains obstacle signals; the image acquisition device identifies and acquires obstacle signals; the laser rangefinder detects the distance between the obstacle and the vehicle and obtains distance signals; the lidar 22 transmits the obstacle signals and distance signals to the calculation and analysis module in the main control module for calculation, determines the second collision interval information, analyzes and determines the vehicle speed control information for collision avoidance based on the second collision interval information, and transmits instructions to the drive module to control the driving speed.The road image acquisition device 23 collects the impact in front of the vehicle and transmits the obtained obstacle and distance signals to the calculation and analysis module in the main control module for calculation to determine the first collision zone information. Based on the analysis of the first collision zone information, the vehicle speed control information for mitigating the collision impact is determined, and the main control module transmits instructions to the drive module to control the driving speed. The collision information zone determined by the lidar 22 and the road image acquisition device 23 is integrated to determine the comprehensive collision zone range. Based on the comprehensive collision zone range, the current suitable driving speed is calculated, and the main control module transmits instructions to the drive module. Control is performed; in rainy conditions or when the annular glass 34 is covered with dust, the wiping assembly 3 rotates the annular glass 34 to replace it with a clean and clear one in the observation window 24; in snowy conditions, the cleaning assembly 5 built into the mounting base 2 extends the vertical rod 55 and rotates it towards the surroundings of the device, turning on the vehicle's air conditioning system to deliver hot air and rotating the turntable 25. The vertical rod 55 cleans the snow around the device and accelerates its melting, preventing snow accumulation from obstructing the view of the lidar 22 and the road image acquisition device 23. This solution can be used for new energy drive methods such as plug-in hybrid drive, pure electric drive, and fuel cell drive.

[0023] like Figure 3 , Figure 5 and Figure 6 As shown, in some embodiments, the packaging box 21 has air vents 27 on both sides and air inlets 28 on both sides of the bottom. A connecting wire 29 is fixed to the bottom of the packaging box 21. The connecting wire 29 is electrically connected to the lidar 22 and the road image acquisition device 23. A fixing ring 210 is fixed at the bottom axis of the mounting base 2, and the connecting wire 29 slides through the fixing ring 210. A beveled ring 26 is fixed to the outer ring of the turntable 25, and the beveled ring 26 is slidably sleeved on the top outer ring of the mounting base 2. A limiting ring 212 is slidably installed on the top of the fixing ring 210. The surface of the connecting wire 29 slides through the limiting ring 212. A fixing base 211 is slidably installed on the top of the limiting ring 212, and a first motor 213 is fixed on the top of the fixing base 211. The output end of the first motor 213 is fixedly connected to the center of the turntable 25.

[0024] Understandably, by driving the turntable 25 to rotate via the first motor 213, the lidar 22 and the road image acquisition device 23 can rotate 360 ​​degrees, while the roof can be thoroughly cleaned. The connecting wire passes through the limiting ring 212 and the fixing ring 210 to connect with the vehicle control system. The top and bottom of the limiting ring 212 are connected to the fixing seat 211 and the fixing ring 210. It can be understood that the fixing ring 210 and the fixing seat 211 have annular grooves that connect with the limiting ring 212. Thus, the connecting wire will not be pulled as the turntable 25 rotates. The inclined ring 26 can prevent water from accumulating on the turntable 25.

[0025] like Figure 3 , Figure 4 , Figure 5 , Figure 8 and Figure 9 As shown, in some embodiments, the cleaning assembly 5 further includes: a connecting frame 51, a spring 52, a socket 53, and a post 54. The bottom of the four vertical rods 55 is provided with a connecting frame 51, and a socket 53 is fixed to the connecting frame 51 corresponding to the position of the four vertical rods 55. A post 54 is fixed to the bottom of each vertical rod 55, and the post 54 is slidably inserted into the socket 53. Springs 52 are fixed to both sides of the connecting frame 51, and the top of the springs 52 is fixedly connected to the turntable 25. A fixing plate 56 is fixed to one side of the connecting frame 51 on the vertical rod 55, and the top of the fixing plate 56 is fixedly connected to the rotating shaft seat 517. First electric push rods 58 are fixed to both sides of the turntable 25 corresponding to the connecting frame 51, and the extended end of the first electric push rod 58 protrudes from the turntable 25 and is fixedly connected to the connecting frame 51. The connecting plate 513 has a baffle 514 fixed at one end near the side of the packaging box 21, and the baffle 514 slides along the outside of the air outlet 27; wherein, the bottom of the connecting plate 513 between the first electric push rod 58 and the baffle 514 is fixed with an insert rod 59, and the insert rod 59 slides through the turntable 25 and presses against the side of the connecting frame 51; the bottom of the insert rod 59 is fixed with a base plate 510; the connecting frame 51 is fixed with an insert frame 511 on one side corresponding to the base plate 510, and an insert plate 512 is slidably inserted into the insert frame 511; a small electric push rod connected to the insert plate 512 is fixed inside the base plate 510; wherein, a slot 522 is opened at the center of the rotating shaft seat 517, and the vertical rod 55 is slidably engaged with the slot 522 of the rotating shaft seat 517.

[0026] Understandably, when the vertical rod 55 is stored inside the mounting base 2, the insert 54 is inserted into the socket 53 of the connecting bracket 51. The first electric push rod 58 drives the connecting bracket 51 to move, and the connecting plate 513 can push the baffle 514 to move, opening the air vents 27 on both sides of the encapsulation box 21. Here, the encapsulation box 21 is still connected to the vehicle air conditioning system through the air intake vent 28. With the air vents 519, the air vents 27 on both sides of the encapsulation box 21 will also discharge hot air, accelerating the melting speed of the surrounding snow. The bottom of the insert 59 is connected to the insert frame 511 and the connecting bracket 51. The restriction on the connecting bracket 51 can be released by the retraction of the insert plate 512. Then, under the elastic force of the spring 52, when the vertical rod 55 rotates to a horizontal position, it can gradually descend by the elastic force of the spring 52 and the height of the snow until the surrounding snow is cleared and the melting is accelerated.

[0027] like Figure 9 , Figure 10 and Figure 11 As shown, in some embodiments, a second electric push rod 520 is symmetrically fixed to the outer surface of the baffle 514, and a top plate 515 is fixed to the extended end of the second electric push rod 520. Sleeves 516 are fixed to both ends of the top plate 515 at positions corresponding to the top of the vertical rod 55. The sleeves 516 are slidably sleeved on the outer surface of the air outlet sphere 519. When the second electric push rod 520 moves the top plate 515 and sleeves 516 upwards, the air outlet sphere 519 is exposed. In this configuration, a gear 521 is rotatably mounted on one end of the rotating shaft seat 517 facing the baffle 514, and the gear 521 is fixedly connected to the rotating shaft of the rotating shaft seat 517. A rack 518 is fixed on the top plate 515 at the position corresponding to the gear 521, and the rack 518 is meshed with the gear 521. When the top plate 515 moves upward, the meshing of the rack 518 and the gear 521 drives the vertical rod 55 to rotate along the inside of the rotating shaft seat 517, changing from a vertical position to a horizontal position.

[0028] It should be noted that after the vertical rod 55 is pushed out of the top of the turntable 25, the second electric push rod 520 drives the top plate 515 to move upward, moving the sleeve 516 away from the air outlet ball 519. As the top plate 515 moves, the rack 518 meshes with the gear 521, causing the vertical rod 55 to rotate inside the rotating shaft seat 517, changing from a vertical position to a horizontal position. The vertical position facilitates the vertical rod 55 to retract and extend from the mounting seat 2, while the horizontal position facilitates the clearing of snow around the device. The meshing distance between the gear 521 and the rack 518 is just enough to allow the vertical rod 55 to rotate 90 degrees. When the vertical rod 55 is retracted, the sleeve 516 is fitted onto the outer surface of the air outlet ball 519 to protect the air outlet ball 519.

[0029] like Figure 5 and Figure 7As shown, in some embodiments, the wiping assembly 3 further includes: a second motor 31, a sealing slide rail 33, and a shaft bracket 35. The shaft bracket 35 is rotatably mounted at the bottom of the turntable 25 corresponding to the center of the annular glass 34, and both ends of the shaft bracket 35 are fixedly connected to both ends of the annular glass 34. The second motor 31 is fixed at the axis of the turntable 25 corresponding to the shaft bracket 35, and the output end of the second motor 31 is fixedly connected to the shaft bracket 35. The sealing slide rail 33 is fixedly mounted on the outer and inner rings of the annular glass 34 between the two side frames 32 of the encapsulation box 21, and the annular glass 34 slides along the inside of the sealing slide rail 33. A collection box 36 is slidably mounted on the inner wall of the mounting base 2, and the collection box 36 corresponds to the bottom of the annular glass 34.

[0030] It should be noted that when it rains or the annular glass 34 corresponding to the observation window 24 is obscured by dust, the second motor 31 drives the shaft bracket 35 and the annular glass 34 to rotate. The annular glass 34 slides along the side frame 32 and the sealing slide rail 33 to correspond with the observation window 24, maintaining the clarity of the observation window 24 facing the annular glass 34. This will not interfere with the signal transmission and reception of the lidar 22 or the image acquisition of the road image acquisition device 23. Whenever the annular glass 34 retracts into the mounting base 2, it will be cleaned by the side frame 32, and the cleaned dust will fall into the collection box 36.

[0031] like Figure 10 As shown, in some embodiments, the drive assembly 4 includes a bidirectional screw 41, which is rotatably mounted on the outer surface of the baffle 514. Two screw plates 42 are symmetrically threaded onto the surface of the bidirectional screw 41, and an electric clamp 43 is fixedly mounted on the bottom of the screw plates 42. The position of the electric clamp 43 is on the same straight line as the horizontal tail end of the vertical rod 55.

[0032] It should be noted that after the vertical rod 55 is pushed out of the mounting base 2 by the first electric push rod 58, it rotates to a horizontal position as the rotating shaft base 517 rotates. At this time, the position of the electric clamp 43 corresponds to the tail end of the vertical rod 55. The electric clamp 43 clamps the tail end of the vertical rod 55 by driving the bidirectional screw 41 to rotate through the motor. As the bidirectional screw 41 continues to rotate, the screw plate 42 and the bidirectional screw 41 are threaded together, causing the vertical rod 55 to pass through the slot 522 of the rotating shaft base 517, thereby adjusting the extension length of the vertical rod 55. The air outlet ball 519 can be moved to different positions away from the encapsulation box 21. It is connected to the vehicle air conditioning system through the air outlet ball 519 and the hose 57. The effect of hot air can accelerate the melting of snow. At the same time, with the rotation of the turntable 25, the rotating rod clears the snow and prevents the surrounding snow from being too high and affecting the field of vision of the lidar 22 and the road image acquisition device 23. Meanwhile, the electric clamp 43 can pull out the vertical rod 55, so that the vertical rod 55 can be rotated back to a vertical position and put into the interior of the mounting base 2.

[0033] Working principle: In use, the lidar 22 acquires the position information of fixed or moving obstacles around the vehicle that can hinder its continued movement; the road image acquisition device 23 acquires information on obstacles affecting the vehicle's movement, such as manhole covers and speed bumps, on the road ahead; the ultrasonic sensor detects obstacles ahead and obtains obstacle signals; the image acquisition device identifies and acquires obstacle signals; and the laser rangefinder detects the distance between the obstacle and the vehicle and obtains distance signals. The lidar 22 transmits the obstacle signals and distance signals to the calculation and analysis module in the main control module for calculation, determining the second collision interval information. Based on the second collision interval information, the system analyzes and determines the vehicle speed control information for collision avoidance, which is then controlled by the main control module. The control module transmits commands to the drive module to control the driving speed; the road image acquisition device 23 acquires images of the front of the vehicle and transmits the obtained obstacle signals and distance signals to the calculation and analysis module in the main control module for calculation to determine the first collision interval information. Based on the analysis of the first collision interval information, the vehicle speed control information to mitigate the impact of the collision is determined, and the main control module transmits commands to the drive module to control the driving speed; the collision information interval determined by the lidar 22 and the road image acquisition device 23 is integrated to determine the comprehensive collision interval range. Based on the comprehensive collision interval range, the current suitable driving speed is calculated, and the main control module transmits commands to the drive module for control;After the vertical rod 55 is pushed out of the mounting base 2 by the first electric push rod 58, it rotates to a horizontal position as the rotating shaft base 517 rotates. At this time, the position of the electric clamp 43 corresponds to the tail end of the vertical rod 55. The electric clamp 43 clamps the tail end of the vertical rod 55 by driving the bidirectional screw 41 to rotate through the motor. As the bidirectional screw 41 continues to rotate, the screw plate 42 and the bidirectional screw 41 are threaded together, causing the vertical rod 55 to pass through the slot 522 of the rotating shaft base 517. This adjusts the extension length of the vertical rod 55, allowing the air outlet ball 519 to be moved to different positions away from the packaging box 21. The air outlet ball 519 and the hose 57 are connected to the vehicle air conditioning system. The hot air effect can accelerate the melting of snow. At the same time, with the rotation of the turntable 25, the rotating rod cleans the snow and prevents it from spreading. Excessive snow accumulation can obstruct the field of view of the lidar 22 and the road image acquisition device 23. Simultaneously, the electric clamp 43 can pull out the vertical rod 55, allowing it to rotate back into a vertical position for retraction into the mounting base 2. After the vertical rod 55 is pushed out from the top of the turntable 25, the second electric push rod 520 moves the top plate 515 upwards, moving the sleeve 516 away from the air outlet ball 519. As the top plate 515 moves, the rack 518 meshes with the gear 521, causing the vertical rod 55 to rotate along the inside of the rotating shaft seat 517, changing it from a vertical to a horizontal position. The vertical position facilitates the retraction and extension of the vertical rod 55 into and out of the mounting base 2, while the horizontal position facilitates clearing snow around the device. The meshing distance between the gear 521 and the rack 518 is precisely sufficient for the vertical rod... When the vertical rod 55 is rotated 90 degrees and retracted, the sleeve 516 can protect the vent ball 519 by fitting onto its outer surface. When the vertical rod 55 is stored inside the mounting base 2, the insert 54 is inserted into the socket 53 of the connecting bracket 51. The first electric push rod 58 drives the connecting bracket 51 to move, and the connecting plate 513 can push the baffle 514 to move, opening the vent windows 27 on both sides of the encapsulation box 21. Here, the encapsulation box 21 is still connected to the vehicle air conditioning system through the air inlet window 28. In conjunction with the air outlet of the vent ball 519, the vent windows 27 on both sides of the encapsulation box 21 will also discharge hot air, accelerating the melting speed of the surrounding snow. The bottom of the insert 59 is connected to the insert frame 511 and the connecting bracket 51, and the retraction of the insert plate 512 can be used to connect the vertical rod 59 to the insert frame 511 and the connecting bracket 51. Releasing the restriction on the connecting frame 51, and then, under the elastic force of the spring 52, when the vertical rod 55 rotates to a horizontal position, it can gradually descend due to the elastic force of the spring 52 and the snow height, until the surrounding snow is cleared and melting is accelerated. When it rains or the annular glass 34 corresponding to the rain observation window 24 is obscured by dust, the second motor 31 drives the shaft frame 35 and the annular glass 34 to rotate. The annular glass 34 slides along the side frame 32 and the sealing slide rail 33 to correspond with the observation window 24, maintaining the clarity of the observation window 24 facing the annular glass 34, and will not interfere with the signal transmission and reception of the lidar 22 and the image acquisition of the road image acquisition device 23. Whenever the annular glass 34 retracts into the mounting base 2, it is cleaned by the side frame 32, and the cleaned dust falls into the collection box 36.

[0034] In the description of this disclosure, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Furthermore, in the description of this disclosure, unless otherwise stated, "a plurality of" means two or more.

[0035] Any process or method description in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing a particular logical function or process, and the scope of preferred embodiments of this disclosure includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the function involved, as will be understood by those skilled in the art to which embodiments of this disclosure pertain.

[0036] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this disclosure. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0037] Although embodiments of the present disclosure have been shown and described above, it is to be understood that the above embodiments are exemplary and should not be construed as limiting the present disclosure. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present disclosure.

Claims

1. An obstacle avoidance device for autonomous driving, characterized in that, include: A new energy electric vehicle (1) has a mounting base (2) fixed on its roof, and a turntable (25) is fixedly and rotatably mounted on the top of the mounting base (2). A packaging box (21) is fixed on the top of the turntable (25). An observation window (24) is opened at the front end of the packaging box (21), and a wiping component (3) is provided at the front end of the turntable (25) near the observation window (24). Cleaning components (5) are provided inside the mounting base (2) on both sides of the packaging box (21). A drive component (4) is provided on both sides of the packaging box (21). The drive component (4) is mounted on the top of the cleaning component (5). A lidar (22) is fixed inside one side of the encapsulation box (21), and a road image acquisition device (23) is fixed inside the other side of the encapsulation box (21). The output ends of the lidar (22) and the road image acquisition device (23) face the observation window (24), and the lidar (22) and the road image acquisition device (23) are electrically connected to the calculation and analysis module, driving module and main control module built into the new energy electric vehicle (1). The road image acquisition device (23) consists of an ultrasonic sensor, an image acquisition unit and a laser rangefinder; The wiping assembly (3) includes a side frame (32), which is provided in two sets. The two sets of side frames (32) are fixed on the top of the turntables (25) on both sides of the observation window (24). Annular glass (34) is slidably inserted into the interior of the two side frames (32). The two ends of the annular glass (34) are inserted into the interior of the mounting base (2). The annular glass (34) covers the observation window (24). The cleaning component (5) includes a vertical rod (55). The turntable (25) is located on both sides of the packaging box (21) and two vertical rods (55) are symmetrically slidably inserted. A rotating shaft seat (517) is sleeved on the surface of the vertical rod (55). An air outlet ball (519) is fixed at one end of the vertical rod (55) that passes through the rotating shaft seat (517). A groove is opened on the surface of the air outlet ball (519). A hose (57) is fixed at the bottom of the vertical rod (55), and the hose (57) is connected to the air conditioning system of the new energy electric vehicle (1).

2. The obstacle avoidance device for autonomous driving according to claim 1, characterized in that, The packaging box (21) has air vents (27) on both sides and air inlets (28) on both sides of the bottom. The bottom of the packaging box (21) is fixed with a connecting wire (29). The connecting wire (29) is electrically connected to the laser radar (22) and the road image acquisition device (23). The bottom axis of the mounting base (2) is fixed with a fixing ring (210), and the connecting wire (29) slides out from the fixing ring (210). The outer ring of the turntable (25) is fixed with a beveled ring (26), and the beveled ring (26) slides on the top outer ring of the mounting base (2). Among them, a limiting ring (212) is slidably installed on the top of the fixing ring (210), the surface of the connecting wire (29) slides through the limiting ring (212), a fixing seat (211) is slidably installed on the top of the limiting ring (212), and a first motor (213) is fixed on the top of the fixing seat (211), and the output end of the first motor (213) is fixedly connected to the center of the turntable (25).

3. The obstacle avoidance device for autonomous driving according to claim 2, characterized in that, The cleaning component (5) also includes: The four vertical rods (55) are provided with a connecting frame (51) at the bottom, and the connecting frame (51) is fixed with a socket (53) at the position corresponding to the four vertical rods (55). The vertical rods (55) are fixed with a plug (54) at the bottom, and the plug (54) is slidably inserted into the socket (53). The two sides of the connecting frame (51) are fixed with springs (52), and the top of the springs (52) is fixedly connected to the turntable (25). The connecting frame (51) is fixed with a fixing plate (56) on one side of the vertical rod (55), and the top of the fixing plate (56) is fixedly connected to the rotating shaft seat (517).

4. The obstacle avoidance device for autonomous driving according to claim 3, characterized in that, The turntable (25) is fixed with a first electric push rod (58) on both sides of the connecting frame (51), and the extended end of the first electric push rod (58) passes through the turntable (25) and is fixed with a connecting plate (513). A baffle (514) is fixed at one end of the connecting plate (513) near the side of the packaging box (21), and the baffle (514) slides along the outside of the air vent (27). The connecting plate (513) is located between the first electric push rod (58) and the baffle (514) with a fixed insert rod (59) at the bottom, and the insert rod (59) slides through the turntable (25) and presses against the side of the connecting frame (51).

5. The obstacle avoidance device for autonomous driving according to claim 4, characterized in that, The bottom of the insert rod (59) is fixed with a base plate (510), and the connecting frame (51) is fixed with a frame (511) on one side of the base plate (510). The frame (511) is slidably inserted with a plate (512), and the base plate (510) is fixed with a small electric push rod connected to the plate (512). The pivot seat (517) has a slot (522) at its center, and the vertical rod (55) is slidably engaged with the slot (522) of the pivot seat (517).

6. The obstacle avoidance device for autonomous driving according to claim 5, characterized in that, The outer surface of the baffle (514) is symmetrically fixed with a second electric push rod (520), and the extended end of the second electric push rod (520) is fixed with a top plate (515). At both ends of the top plate (515) corresponding to the top of the vertical rod (55), a sleeve (516) is fixed. The sleeve (516) is slidably sleeved on the outer surface of the air outlet ball (519). In this process, after the second electric push rod (520) drives the top plate (515) and the sleeve (516) to move upward, the air outlet ball (519) is exposed for use.

7. The obstacle avoidance device for autonomous driving according to claim 6, characterized in that, A gear (521) is rotatably mounted on one end of the rotating shaft seat (517) facing the baffle (514), and the gear (521) is fixedly connected to the rotating shaft of the rotating shaft seat (517). A rack (518) is fixed on the top plate (515) at the position corresponding to the side of the gear (521), and the rack (518) is meshed with the gear (521). When the top plate (515) moves upward, the rack (518) meshes with the gear (521) to drive the vertical rod (55) to rotate inside the rotating shaft seat (517), changing from a vertical position to a horizontal position.

8. The obstacle avoidance device for autonomous driving according to claim 7, characterized in that, The wiping assembly (3) also includes: The second motor (31), the sealing slide rail (33), and the shaft bracket (35) are mounted on the bottom of the turntable (25) at the center of the annular glass (34), and the two ends of the shaft bracket (35) are fixedly connected to the two ends of the annular glass (34). The second motor (31) is fixed at the center of the shaft bracket (35) of the turntable (25), and the output end of the second motor (31) is fixedly connected to the shaft bracket (35). The sealing slide rail (33) is fixed on the outer and inner rings of the annular glass (34) between the two side frames (32) of the packaging box (21), and the annular glass (34) slides along the inside of the sealing slide rail (33). The inner wall of the mounting base (2) is slidably fitted with a collection box (36), and the collection box (36) is located at the bottom of the annular glass (34).

9. The obstacle avoidance device for autonomous driving according to claim 8, characterized in that, The drive assembly (4) includes a bidirectional screw (41), which is rotatably mounted on the outer surface of the baffle (514). Two screw plates (42) are symmetrically threaded on the surface of the bidirectional screw (41), and an electric clamp (43) is fixedly mounted on the bottom of the screw plate (42). The electric clamp (43) is positioned on the same straight line as the horizontal tail end of the vertical rod (55).

10. An obstacle avoidance method for autonomous driving implemented by the device according to claim 1, characterized in that: The obstacle avoidance method includes the following steps: (1) The lidar acquires the position information of fixed or moving obstacles around the vehicle that can hinder the vehicle from continuing to drive. The road image acquisition device is used to acquire information on obstacles such as manhole covers and speed bumps on the road ahead of the driving route that affect the vehicle's driving. The ultrasonic sensor detects obstacles ahead and obtains obstacle signals. The image acquisition device identifies and acquires the obstacle signals of the obstacles. The laser rangefinder detects the distance between the obstacle and the vehicle and obtains distance signals. (2) The lidar transmits the obstacle signal and distance signal to the calculation and analysis module in the main control module for calculation, determines the second collision interval information, analyzes and determines the vehicle speed control information for collision avoidance based on the second collision interval information, and transmits the command to the drive module to control the speed driving. (3) The road image acquisition device collects the impact in front of the vehicle and transmits the obtained obstacle signal and distance signal to the calculation and analysis module in the main control module for calculation, determines the first collision interval information, and determines the vehicle speed control information to mitigate the impact of the collision based on the first collision interval information. The main control module transmits the command to the drive module to control the speed. (4) Integrate the collision information range determined by the lidar and the road image acquisition device to determine the comprehensive collision range. Calculate the current suitable driving speed based on the comprehensive collision range, and transmit the command from the main control module to the drive module for control. (5) In rainy conditions or when the annular glass is covered with dust, the annular glass is rotated by wiping the assembly to replace it with a clean and clear annular glass in the observation window; (6) In snowy conditions, the vertical rod is extended and rotated toward the four sides of the device by the cleaning component built into the mounting base. The vehicle air conditioning system is turned on to deliver hot air and the turntable rotates. The vertical rod cleans the snow around the device and speeds up the melting, so as to avoid the snow accumulation affecting the field of view of the lidar and road image acquisition device and being blocked.

Images