Unmanned logistics vehicle

Abstract

The utility model discloses an unmanned logistics vehicle, and belongs to the technical field of unmanned driving. The unmanned logistics vehicle comprises a vehicle body; the multiple radars are arranged at different positions of the vehicle body at intervals and face different directions; the plurality of cameras are arranged at different positions of the vehicle body at intervals and face different directions; and the controller is electrically connected with the radar and the camera. Through mutual cooperation of detection ranges of the radars and the cameras, 360-degree environment perception around the vehicle body is realized, the advanced automatic driving ability requirement is met, expensive laser radars and ultrasonic radars are replaced, the production cost is effectively reduced, the cost performance and economical efficiency of the unmanned logistics vehicle are improved, and popularization and mass production are facilitated.

Description

Technical Field

[0001] The present application belongs to the field of unmanned driving technology, and in particular, relates to an unmanned logistics vehicle. Background Art

[0002] In today's logistics industry, the "last mile" transportation problem has become an industry pain point. The so-called "last mile" transportation problem is mainly due to the complex road conditions. Specifically, the logistics transportation process involves both standardized urban roads and narrow roads in the streets and alleys. Sometimes, it even has to face indoor scenes, such as shopping malls or large office buildings. Unmanned logistics vehicles have a small and flexible body that can adapt to various road conditions in the city and are gradually becoming an important carrier for solving the "last mile" problem.

[0003] Among them, the most important component of an unmanned logistics vehicle is its environmental perception system, which determines the vehicle's autonomous driving capability. In related technologies, the environmental perception solution used is a combination of lidar, millimeter-wave radar, camera, ultrasonic radar, and GPS antenna. However, with the advancement of sensor technology and data fusion algorithms, this solution has become redundant for unmanned logistics vehicles and is not conducive to cost control.

[0004] In addition, since unmanned logistics vehicles are sensitive to costs, combining the structure of the unmanned logistics vehicles themselves and developing a cost-effective solution through reasonable layout can become the key to solving the problem. Utility Model Content

[0005] The present application aims to solve at least one of the technical problems existing in the prior art. To this end, the present application proposes an unmanned logistics vehicle that realizes 360° environmental perception around the vehicle body, meets the requirements of advanced autonomous driving capabilities, effectively reduces production costs, improves the cost-effectiveness and economy of unmanned logistics vehicles, and is conducive to promotion and mass production.

[0006] In a first aspect, the present application provides an unmanned logistics vehicle, comprising:

[0007] Car body;

[0008] A plurality of radars, wherein the plurality of radars are arranged at different positions of the vehicle body at intervals and face different directions;

[0009] A plurality of cameras, wherein the plurality of cameras are arranged at different positions of the vehicle body at intervals and face different directions;

[0010] A controller is electrically connected to the radar and the camera.

[0011] According to the unmanned logistics vehicle of the present application, the detection range of the above-mentioned multiple 4D millimeter-wave radars and multiple cameras cooperate with each other to achieve 360° environmental perception around the vehicle body, and use neural network algorithms to fuse point cloud information and image information to classify and track various moving or stationary vehicles of all sizes, bicycles, pedestrians and other targets, and provide real-time multi-dimensional information such as the target's position, speed, 3D size and heading, thereby meeting the needs of advanced autonomous driving capabilities. In addition, by replacing expensive lidar and ultrasonic radar, production costs can be effectively reduced, thereby improving the cost-effectiveness and economy of unmanned logistics vehicles, which is conducive to promotion and mass production.

[0012] According to one embodiment of the present application, the cameras are arranged on the front fender, front windshield, rear fender and side of the vehicle body.

[0013] According to one embodiment of the present application, the cameras include first to sixth cameras, wherein the first camera is arranged at the left end portion of the front fender of the vehicle body and facing the left front; the second camera is arranged at the right end portion of the front fender of the vehicle body and facing the right front; the third camera is arranged at the front windshield of the vehicle body and facing the front; the fourth camera is arranged at the left side of the vehicle body and facing the left; the fifth camera is arranged at the right side of the vehicle body and facing the right; the sixth camera is arranged at the rear fender of the vehicle body and facing the rear.

[0014] According to one embodiment of the present application, at least part of the detection range of the fourth camera overlaps with at least part of the detection range of the first camera; at least part of the detection range of the fifth camera overlaps with at least part of the detection range of the second camera.

[0015] According to one embodiment of the present application, the third camera and the sixth camera are located in the middle of the vehicle body along the left-right direction.

[0016] According to one embodiment of the present application, the radar is arranged on the front fender, rear fender and front windshield of the vehicle body.

[0017] According to one embodiment of the present application, the radar includes first to fifth radars, wherein the first radar is arranged at the left end portion of the front fender of the vehicle body and is set toward the left front; the second radar is arranged at the right end portion of the front fender of the vehicle body and is set toward the right front; the third radar is arranged at the front windshield of the vehicle body and is set toward the front; the fourth radar is arranged at the left end portion of the rear fender of the vehicle body and is set toward the left rear; the fifth radar is arranged at the right end portion of the rear fender of the vehicle body and is set toward the right rear.

[0018] According to one embodiment of the present application, the third radar is located in the middle of the vehicle body along the left-right direction.

[0019] According to one embodiment of the present application, a fourth camera suitable for being set toward the left is arranged on the left side of the vehicle body, a first radar suitable for being set toward the left front is arranged on the left end portion of the front fender of the vehicle body, a fourth radar suitable for being set toward the left rear is arranged on the left end portion of the rear fender of the vehicle body, and at least a part of the detection range of the fourth camera overlaps with at least a part of the detection range of the first radar and the fourth radar; a fifth camera suitable for being set toward the right is arranged on the right side of the vehicle body, a second radar suitable for being set toward the right front is arranged on the right end portion of the front fender of the vehicle body, and a fifth radar suitable for being set toward the right rear is arranged on the right end portion of the rear fender of the vehicle body, and at least a part of the detection range of the fifth camera overlaps with at least a part of the detection range of the second radar and the fifth radar.

[0020] According to one embodiment of the present application, the unmanned logistics vehicle further includes:

[0021] A plurality of GPS antennas are arranged on the upper portion of the vehicle body and are electrically connected to the controller.

[0022] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0024] Figure 1 It is a schematic diagram of the detection range of each radar and camera of the unmanned logistics vehicle provided in an embodiment of the present application;

[0025] Figure 2 is a top view of the unmanned logistics vehicle provided in an embodiment of the present application;

[0026] Figure 3 is a front view of the unmanned logistics vehicle provided in an embodiment of the present application;

[0027] Figure 4 It is a right view of the unmanned logistics vehicle provided in an embodiment of the present application;

[0028] Figure 5 This is a rear view of the unmanned logistics vehicle provided in an embodiment of the present application.

[0029] Reference numerals:

[0030] 100 unmanned logistics vehicles;

[0031] Vehicle body 110, front fender 111, front windshield 112, rear fender 113;

[0032] A first radar 121, a second radar 122, a third radar 123, a fourth radar 124, and a fifth radar 125;

[0033] A first camera 131, a second camera 132, a third camera 133, a fourth camera 134, a fifth camera 135, and a sixth camera 136;

[0034] GPS antenna 140. DETAILED DESCRIPTION

[0035] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application.

[0036] The present application discloses an unmanned logistics vehicle 100 .

[0037] Reference below Figure 1-Figure 5 The unmanned logistics vehicle 100 according to an embodiment of the present application is described.

[0038] In some embodiments, Figure 1-Figure 5 As shown, the unmanned logistics vehicle 100 includes: a body 110, a controller, multiple radars and multiple cameras.

[0039] Multiple radars are arranged at different positions of the vehicle body 110 at intervals, and the multiple radars are facing different directions; multiple cameras are arranged at different positions of the vehicle body 110 at intervals, and the multiple cameras are facing different directions; a controller is electrically connected to the radars and cameras, and the controller is used to obtain 360° environmental information around the vehicle body 110 based on information collected by the radars and cameras.

[0040] Multiple radars can be arranged around the entire vehicle body 110. Since the multiple radars are facing different directions, the detection ranges of the various radars do not completely overlap with each other. Multiple cameras can be arranged around the entire vehicle body 110. Since the multiple cameras are facing different directions, the detection ranges of the various cameras do not completely overlap with each other.

[0041] Here, a plurality may represent two or more than two. For example, in some embodiments, Figure 2 As shown, five radars are arranged at different positions of the vehicle body 110 at intervals, and five cameras are arranged at different positions of the vehicle body 110 at intervals.

[0042] In actual implementation, Figure 1 As shown, the bow-shaped pattern in the figure corresponds to the detection range of the camera, and the fan-shaped pattern in the figure corresponds to the detection range of the radar. The detection ranges of multiple radars and multiple cameras cooperate with each other to basically cover the 360° environment around the vehicle body 110. Multiple radars can perform point cloud scanning on the environment within their respective detection ranges and extract feature points. Multiple cameras can acquire image information of the environment within their respective detection ranges. After the controller receives the point cloud information from multiple radars and the image information from multiple cameras, the controller can automatically identify and extract meaningful features from the point cloud data, and fuse the point cloud information and image information through a neural network algorithm to achieve real-time positioning and environmental map construction functions. Specifically, the controller can first perform spatial fusion by matching the coordinate systems of the radar data and the camera data, and calibrating them, and then match the synchronization of the radar data and the camera data to achieve temporal fusion of the radar data and the camera data to obtain a fused image. The controller can calculate the area where the unmanned logistics vehicle can travel and the area that needs to be avoided based on the processed fused image.

[0043] Among them, the spatial fusion of radar data and camera data can be processed by matrix transposition and target point alignment; since the radar and camera have their own independent operating frequencies, the temporal fusion of radar data and camera data can be achieved by taking the shorter sampling period of the two sensors as the final fusion period. For example, the sampling period of the radar is 50ms, while the sampling period of the camera for the lane line is 100ms. The shorter sampling period of the two sensors is taken as the final fusion period, that is, 50ms. Since the sampling period of the camera is long, the image processing module places the data obtained from each sampling point in the buffer for the fusion microprocessor to retrieve; the radar acquisition module runs normally with the radar data acquisition period and records the sampling time on the fusion thread. After determining the sampling time point of the fusion thread, the fusion microprocessor then retrieves the data obtained from a camera sampling point at each fusion thread time point from the buffer, so as to achieve the purpose of collecting data at the same time.

[0044] It should be noted that, considering the normal detection distance of radars and cameras, the multiple radars combined with multiple cameras in the present application can accurately perceive the environment within at least 3m.

[0045] The unmanned logistics vehicle 100 provided in the embodiment of the present application realizes 360° environmental perception around the vehicle body 110 through the mutual cooperation of the detection ranges of the above-mentioned multiple radars and multiple cameras, and utilizes a neural network algorithm to fuse point cloud information and image information to classify and track various moving or stationary vehicles of all sizes, bicycles, pedestrians, and other targets, and provide multi-dimensional information such as the target's position, speed, 3D size, and heading in real time, thereby meeting the requirements of advanced autonomous driving capabilities. In addition, by replacing expensive lidar and ultrasonic radar, production costs can be effectively reduced, thereby improving the cost-effectiveness and economy of the unmanned logistics vehicle 100, which is conducive to promotion and mass production.

[0046] In some embodiments, the radar is a 4D millimeter wave radar.

[0047] It is understandable that 4D millimeter-wave radar can realize information perception in four dimensions: distance, azimuth, altitude and speed, and 4D millimeter-wave radar can effectively analyze the outline and category of the target. 4D millimeter-wave radar also has high angular resolution, which perfectly makes up for the shortcomings of traditional millimeter-wave radar. It can perform high-quality point cloud imaging at long, medium and short distances, and 4D millimeter-wave radar has a greater cost advantage than lidar.

[0048] 4D millimeter-wave radar can distinguish nearby objects, outline the general contours of the target, and accurately classify and identify the target. Its basic functions may include ranging, speed measurement, angle measurement, and height measurement, and the 4D millimeter-wave radar can send the acquired spatial information to the controller in the form of a signal; the camera can optically frame the environment within the detection range, and send the acquired image information to the controller in the form of a signal.

[0049] In some embodiments, Figure 2-Figure 5 As shown, the front fender 111 , the front windshield 112 , the rear fender 113 and the side of the vehicle body 110 may be arranged with cameras.

[0050] In this embodiment, if Figure 2-Figure 5 As shown, at least one camera may be provided on the front fender 111 of the vehicle body 110 to detect the front lower portion of the vehicle body 110; at least one camera may be provided on the front windshield 112 of the vehicle body 110 to detect the front upper portion of the vehicle body 110; at least one camera may be provided on the left side of the vehicle body 110 to detect the left side of the vehicle body 110; at least one camera may be provided on the right side of the vehicle body 110 to detect the right side of the vehicle body 110; and at least one camera may be provided on the rear fender 113 of the vehicle body 110 to detect the rear of the vehicle body 110.

[0051] The unmanned logistics vehicle 100 provided in the embodiment of the present application realizes a 360° surround setting of multiple cameras around the vehicle body 110 through the layout design of the above-mentioned multiple cameras, so that the multiple cameras can cover the front, rear and sides of the vehicle body 110 as much as possible. Combined with the detection range of multiple 4D millimeter-wave radars, it can perceive 360° low-speed or stationary pedestrians, obstacles and vehicles in the surrounding area around the clock, and provide safe driving information for the unmanned logistics vehicle 100 in all weather conditions and all scenarios.

[0052] In some embodiments, Figure 2-Figure 5 As shown, the camera may include first to sixth cameras 136, wherein the first camera 131 may be arranged at the left end of the front fender 111 of the vehicle body 110, and the first camera 131 may be set toward the left front; the second camera 132 may be arranged at the right end of the front fender 111 of the vehicle body 110, and the second camera 132 may be set toward the right front; the third camera 133 may be arranged at the front windshield 112 of the vehicle body 110, and the third camera 133 may be set toward the front; the fourth camera 134 may be arranged at the left side of the vehicle body 110, and the fourth camera 134 may be set toward the left; the fifth camera 135 may be arranged at the right side of the vehicle body 110, and the fifth camera 135 may be set toward the right; the sixth camera 136 may be arranged at the rear fender 113 of the vehicle body 110, and the sixth camera 136 may be set toward the rear.

[0053] In this embodiment, if Figure 2-Figure 5 As shown, the front fender 111 of the vehicle body 110 can be provided with two cameras. Specifically, the left end of the front fender 111 can be provided with a first camera 131, and the first camera 131 can collect left front target video information. The right end of the front fender 111 can be provided with a second camera 132, and the second camera 132 can collect right front target video information; the front windshield 112 of the vehicle body 110 can be provided with a third camera 133, and the third camera 133 can be located above the first camera 131 and the second camera 132, and the third camera 133 can collect front target video information; the left side of the vehicle body 110 can be provided with a fourth camera 134, and the fourth camera 134 can collect left side target video information; the right side of the vehicle body 110 can be provided with a fifth camera 135, and the fifth camera 135 can collect right side target video information; the rear fender 113 of the vehicle body 110 can be provided with a sixth camera 136, and the sixth camera 136 can collect rear target video information.

[0054] It should be noted that, considering that the body 110 of the common unmanned logistics vehicle 100 is relatively small in size, the unmanned logistics vehicle 100 provided in this application is only provided with one camera on the left side and the right side respectively. In the actual layout design, the number and specific positions of the side cameras can be adjusted according to the actual size of the vehicle.

[0055] The unmanned logistics vehicle 100 provided in the embodiment of the present application, through the setting of the above-mentioned first camera 131 to the sixth camera 136, realizes a large-scale coverage of the front, rear and both sides of the vehicle body 110 using only six cameras, thereby minimizing the redundant accumulation of cameras, thereby saving production costs, and at the same time, in actual design, the number and specific positions of the side cameras can be adjusted according to the actual size of the vehicle, thereby increasing the flexibility and diversity of the entire unmanned logistics vehicle 100.

[0056] In some embodiments, Figure 1 As shown, at least a portion of the detection range of the fourth camera 134 may overlap with at least a portion of the detection range of the first camera 131 ; at least a portion of the detection range of the fifth camera 135 may overlap with at least a portion of the detection range of the second camera 132 .

[0057] It can be understood that the specific position of the fourth camera cruises on the left side of the vehicle body along the front-to-back direction. If the fourth camera is too far away from the front of the vehicle, that is, the detection range of the fourth camera does not overlap with the detection range of the first camera at all, a large monitoring blind spot will be generated between the fourth camera and the first camera, resulting in the unmanned logistics vehicle being unable to perceive the surrounding environment near the left side of the front of the vehicle during driving; the specific position of the fifth camera cruises on the right side of the vehicle body along the front-to-back direction. If the fifth camera is too far away from the front of the vehicle, that is, the detection range of the fifth camera does not overlap with the detection range of the second camera at all, a large monitoring blind spot will be generated between the fifth camera and the second camera, resulting in the unmanned logistics vehicle being unable to perceive the surrounding environment near the right side of the front of the vehicle during driving.

[0058] In this embodiment, if Figure 1 As shown, considering that it is much more important for the unmanned logistics vehicle 100 to perceive the surrounding environment near the front side during driving than to perceive the surrounding environment near the rear side, the rear fender 113 of the vehicle body 110 is only provided with one camera, namely, the sixth camera 136, so that at least part of the detection range of the fourth camera 134 overlaps with at least part of the detection range of the first camera 131, and at the same time, at least part of the detection range of the fifth camera 135 overlaps with at least part of the detection range of the second camera 132, so as to reduce the monitoring blind spot between the third camera 133 and the first camera 131 and the monitoring blind spot between the fourth camera 134 and the second camera 132.

[0059] It should be noted that since the unmanned logistics vehicle 100 is extremely sensitive to cost advantages, the unmanned logistics vehicle 100 provided in this application only shows the most streamlined layout scheme. In other design schemes, cameras can also be added to the rear side of the vehicle body 110 to enhance the perception capability of the rear side of the vehicle body 110.

[0060] The unmanned logistics vehicle 100 provided in the embodiment of the present application, through the layout design of the fourth camera 134 and the fifth camera 135, achieves partial overlap of the detection range between the camera located on the side of the vehicle body 110 and the camera located on the front face of the vehicle body 110, thereby minimizing the detection blind spots close to the left front side and the right front side of the vehicle body 110, thereby significantly improving the perception ability of the unmanned logistics vehicle 100 of the surrounding environment in front of the vehicle body 110.

[0061] In some embodiments, Figure 2-Figure 3 and Figure 5 As shown, the third camera 133 and the sixth camera 136 may be located in the middle of the vehicle body 110 along the left-right direction.

[0062] In this embodiment, if Figure 2-Figure 3 and Figure 5 As shown, the first camera 131 and the second camera 132 can be located at the lower front face of the vehicle body 110, and the third camera 133 is located at the upper front face of the vehicle body 110. The first camera 131 and the second camera 132 can be symmetrically arranged about the central axis of the vehicle body 110, the fourth camera 134 and the fifth camera 135 can be symmetrically arranged about the central axis of the vehicle body 110, and the third camera 133 and the sixth camera 136 can both be arranged on the central axis of the vehicle body 110. In other words, the third camera 133 can collect video information of the target directly in front, and the sixth camera 136 can collect video information of the target directly behind.

[0063] The unmanned logistics vehicle 100 provided in the embodiment of the present application, through the layout design of the third camera 133 and the sixth camera 136, can be located directly on the central axis of the vehicle body 110, thereby preventing the third camera 133 and the sixth camera 136 from being offset and affecting the effective detection range of the camera, thereby balancing the visual perception capabilities of the left and right sides of the vehicle body 110, and further improving the 360° environmental perception system of the entire vehicle.

[0064] In some embodiments, Figure 2-Figure 5 As shown, the front fender 111 , the rear fender 113 and the front windshield 112 of the vehicle body 110 may be arranged with radars.

[0065] In this embodiment, if Figure 2-Figure 5As shown, the front fender 111 of the vehicle body 110 can be provided with at least one radar to detect the front lower part of the vehicle body 110; the front windshield 112 of the vehicle body 110 can be provided with at least one radar to detect the front upper part of the vehicle body 110; and the rear fender 113 of the vehicle body 110 can be provided with at least one radar to detect the rear of the vehicle body 110.

[0066] The unmanned logistics vehicle 100 provided in the embodiment of the present application realizes a 360° surround arrangement of multiple radars around the vehicle body 110 through the layout design of the above-mentioned multiple radars, so that the multiple radars can cover the front, rear and both sides of the vehicle body 110 as much as possible to complete medium and short-range environmental detection. In combination with the detection range of multiple cameras, through reasonable selection and arrangement of sensors, it can replace common laser radars and ultrasonic radars, effectively reducing production costs.

[0067] In some embodiments, Figure 2-Figure 5 As shown, the radar may include first to fifth radars 125, wherein the first radar 121 may be arranged at the left end portion of the front fender 111 of the vehicle body 110, and the first radar 121 may be set toward the left front; the second radar 122 may be arranged at the right end portion of the front fender 111 of the vehicle body 110, and the second radar 122 may be set toward the right front; the third radar 123 may be arranged at the front windshield 112 of the vehicle body 110, and the third radar 123 may be set toward the front; the fourth radar 124 may be arranged at the left end portion of the rear fender 113 of the vehicle body 110, and the fourth radar 124 may be set toward the left rear; the fifth radar 125 may be arranged at the right end portion of the rear fender 113 of the vehicle body 110, and the fifth radar 125 may be set toward the right rear.

[0068] In this embodiment, if Figure 2-Figure 5 As shown, the front fender 111 of the vehicle body 110 can be provided with two radars. Specifically, the left end of the front fender 111 can be provided with a first radar 121, which can collect left front target point cloud information, and the right end of the front fender 111 can be provided with a second radar 122, which can collect right front target point cloud information; the front windshield 112 of the vehicle body 110 can be provided with a third radar 123, which can be located above the first radar 121 and the second radar 122, and the third radar 123 can collect front target point cloud information; the left end of the rear fender 113 of the vehicle body 110 can be provided with a fourth radar 124, which can collect left rear target point cloud information; the right end of the rear fender 113 of the vehicle body 110 can be provided with a fifth radar 125, which can collect right rear target point cloud information.

[0069] The unmanned logistics vehicle 100 provided in the embodiment of the present application, through the configuration of the above-mentioned first radar 121 to the sixth radar, achieves a large-scale coverage of the front and rear of the vehicle body 110 using only five radars, minimizes redundant accumulation of radars, thereby saving production costs, and uses a 4D millimeter-wave radar with high angular resolution, which perfectly makes up for the shortcomings of traditional millimeter-wave radars, and can perform high-quality point cloud imaging at long, medium and short distances, and has a greater cost advantage than laser radars.

[0070] In some embodiments, Figure 2-Figure 3 and Figure 5 As shown, the third radar 123 may be located in the middle of the vehicle body 110 in the left-right direction.

[0071] In this embodiment, if Figure 2-Figure 3 and Figure 5 As shown, the first radar 121 and the second radar 122 can be located at the lower front face of the vehicle body 110, and the third radar 123 is located at the upper front face of the vehicle body 110. The first radar 121 and the second radar 122 can be arranged symmetrically about the central axis of the vehicle body 110, the fourth radar 124 and the fifth radar 125 can be arranged symmetrically about the central axis of the vehicle body 110, and the third radar 123 can be arranged on the central axis of the vehicle body 110. In other words, the third radar 123 can collect video information of the target directly in front.

[0072] The unmanned logistics vehicle 100 provided in the embodiment of the present application, through the layout design of the third radar 123, can be located directly on the central axis of the vehicle body 110 to prevent the bias of the third radar 123 from affecting the effective detection range of the radar, and cooperates with the reasonable layout of the first camera 131 to the sixth camera 136, so as to balance the point perception capabilities on the left and right sides of the front of the vehicle, and further improve the 360° environmental perception system of the whole vehicle.

[0073] In some embodiments, Figure 1As shown, the left side of the vehicle body 110 may be arranged with a fourth camera 134 suitable for being set toward the left, the left end portion of the front fender 111 of the vehicle body 110 may be arranged with a first radar 121 suitable for being set toward the left front, the left end portion of the rear fender 113 of the vehicle body 110 may be arranged with a fourth radar 124 suitable for being set toward the left rear, and at least a portion of the detection range of the fourth camera 134 may overlap with at least a portion of the detection range of the first radar 121 and the fourth radar 124; the right side of the vehicle body 110 may be arranged with a fifth camera 135 suitable for being set toward the right, the right end portion of the front fender 111 of the vehicle body 110 may be arranged with a second radar 122 suitable for being set toward the right front, and the right end portion of the rear fender 113 of the vehicle body 110 may be arranged with a fifth radar 125 suitable for being set toward the right rear, and at least a portion of the detection range of the fifth camera 135 may overlap with at least a portion of the detection range of the second radar 122 and the fifth radar 125.

[0074] In this embodiment, if Figure 1 As shown, considering that the fourth camera 134 and the fifth camera 135 are arranged as close to the front of the vehicle as possible, the detection ranges of the fourth camera 134 and the fifth camera 135 do not overlap with the detection range of the sixth camera 136. In order to achieve 360° environmental perception around the vehicle body 110, the fourth radar 124 and the fifth radar 125 are respectively arranged at the left and right ends of the rear fender 113 of the vehicle body 110 to make up for the shortcomings of the camera in the left rear area and the right rear area. At the same time, in order to reduce blind spots and better integrate point cloud information and image information, the fourth camera 134 and the fifth camera 135 need to be arranged as centrally as possible in the front-to-back direction during actual operation, so that at least part of the detection range of the fourth camera 134 overlaps with at least part of the detection range of the first radar 121 and the fourth radar 124 at the same time, and at least part of the detection range of the fifth camera 135 overlaps with at least part of the detection range of the second radar 122 and the fifth radar 125 at the same time.

[0075] It should be noted that since the unmanned logistics vehicle 100 is extremely sensitive to cost advantages, the unmanned logistics vehicle 100 provided in this application only shows the most streamlined layout scheme. In other design schemes, radars can also be added to the side of the vehicle body 110 to enhance the perception capability of the left and right sides of the vehicle body 110.

[0076] The unmanned logistics vehicle 100 provided in the embodiment of the present application, through the layout design of the fourth camera 134 and the fifth camera 135, achieves partial overlap of the detection range between the camera located on the side of the vehicle body 110 and the radar located at the four corners of the vehicle body 110, thereby minimizing the detection blind spots close to the left front side, right front side, left rear side and right rear side of the vehicle body 110, thereby optimizing the fusion effect of the three-dimensional point cloud and the two-dimensional image, and further significantly improving the perception ability of the unmanned logistics vehicle 100 of the surrounding environment to the front side and rear side of the vehicle body 110.

[0077] In some embodiments, Figure 2-Figure 5 As shown, the unmanned logistics vehicle 100 also includes: multiple GPS antennas 140.

[0078] A plurality of GPS antennas 140 are disposed on an upper portion of the vehicle body 110 , and the GPS antennas 140 may be electrically connected to the controller.

[0079] Here, a plurality of means two or more than two, for example, in some embodiments, Figure 2-Figure 5 As shown, the unmanned logistics vehicle 100 also includes two GPS antennas 140 .

[0080] In this embodiment, if Figure 2-Figure 5 As shown, the GPS antenna 140 can be arranged on the upper part of the front of the vehicle. Preferably, the GPS antenna 140 can be arranged at both ends of the upper part of the front of the vehicle in the left and right directions. The GPS antenna 140 can realize the positioning function. Specifically, during the driving of the unmanned logistics vehicle 100, the GPS antenna 140 can estimate the position and speed of the autonomous driving vehicle relative to the map or road, and the GPS antenna 140 can feed back the acquired vehicle position information and speed information to the controller in real time.

[0081] The unmanned logistics vehicle 100 provided in the embodiment of the present application, through the setting of the above-mentioned multiple GPS antennas 140, realizes accurate positioning of the unmanned logistics vehicle 100 during driving, can estimate the position and speed of the autonomous driving vehicle relative to the map or road, and provide real-time feedback to the controller, and compares the vehicle sensing information with the high-precision map information at the centimeter level to accurately determine the vehicle position. At the same time, with the reasonable layout of the above-mentioned multiple 4D millimeter-wave radars and multiple cameras, it can provide safe driving information for the unmanned logistics vehicle 100 in all weather and all scenarios.

[0082] The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first", "second", etc. are generally of one type, and the number of objects is not limited. For example, the first object can be one or more. In addition, "and / or" in the specification and claims represents at least one of the connected objects, and the character " / " generally indicates that the objects associated with each other are in an "or" relationship.

[0083] In the description of the present application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", etc., indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present application.

[0084] In the description of this application, "first feature" or "second feature" may include one or more of the features.

[0085] In the description of the present application, “plurality” means two or more.

[0086] In the description of the present application, a first feature being “on” or “under” a second feature may include that the first and second features are directly in contact with each other, or may include that the first and second features are not in direct contact with each other but are in contact with each other via another feature therebetween.

[0087] In the description of the present application, “above”, “over” and “above” a first feature to a second feature includes the first feature being directly above and obliquely above the second feature, or simply means that the first feature is horizontally higher than the second feature.

[0088] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0089] Although the embodiments of the present application have been shown and described, those skilled in the art will appreciate that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present application, and that the scope of the present application is defined by the claims and their equivalents.

Claims

1. An unmanned logistics vehicle, characterized in that: include: Car body; A plurality of radars, wherein the plurality of radars are arranged at different positions of the vehicle body at intervals and face different directions; A plurality of cameras, wherein the plurality of cameras are arranged at different positions of the vehicle body at intervals and face different directions; A controller, the controller being electrically connected to the radar and the camera; The cameras are arranged on the front fender, front windshield, rear fender and side of the vehicle body.

2. The unmanned logistics vehicle according to claim 1, characterized in that: The cameras include first to sixth cameras, wherein the first camera is arranged at the left end of the front fender of the vehicle body and is set to the left front; the second camera is arranged at the right end of the front fender of the vehicle body and is set to the right front; the third camera is arranged at the front windshield of the vehicle body and is set to the front; the fourth camera is arranged at the left side of the vehicle body and is set to the left; the fifth camera is arranged at the right side of the vehicle body and is set to the right; the sixth camera is arranged at the rear fender of the vehicle body and is set to the rear.

3. The unmanned logistics vehicle according to claim 2, characterized in that: At least a portion of the detection range of the fourth camera overlaps with at least a portion of the detection range of the first camera; at least a portion of the detection range of the fifth camera overlaps with at least a portion of the detection range of the second camera.

4. The unmanned logistics vehicle according to claim 2, characterized in that: The third camera and the sixth camera are located in the middle of the vehicle body along the left-right direction.

5. The unmanned logistics vehicle according to claim 1, characterized in that: The radar is arranged on the front fender, the rear fender and the front windshield of the vehicle body.

6. The unmanned logistics vehicle according to claim 5, characterized in that: The radar includes first to fifth radars, wherein the first radar is arranged at the left end of the front fender of the vehicle body and is set toward the left front; the second radar is arranged at the right end of the front fender of the vehicle body and is set toward the right front; the third radar is arranged at the front windshield of the vehicle body and is set toward the front; the fourth radar is arranged at the left end of the rear fender of the vehicle body and is set toward the left rear; the fifth radar is arranged at the right end of the rear fender of the vehicle body and is set toward the right rear.

7. The unmanned logistics vehicle according to claim 6, characterized in that: The third radar is located in the middle of the vehicle body along the left-right direction.

8. The unmanned logistics vehicle according to claim 1, characterized in that: A fourth camera suitable for being set toward the left is arranged on the left side of the vehicle body, a first radar suitable for being set toward the left front is arranged on the left end portion of the front fender of the vehicle body, a fourth radar suitable for being set toward the left rear is arranged on the left end portion of the rear fender of the vehicle body, and at least a part of the detection range of the fourth camera overlaps with at least a part of the detection range of the first radar and the fourth radar; a fifth camera suitable for being set toward the right is arranged on the right side of the vehicle body, a second radar suitable for being set toward the right front is arranged on the right end portion of the front fender of the vehicle body, and a fifth radar suitable for being set toward the right rear is arranged on the right end portion of the rear fender of the vehicle body, and at least a part of the detection range of the fifth camera overlaps with at least a part of the detection range of the second radar and the fifth radar.

9. The unmanned logistics vehicle according to any one of claims 1 to 8, characterized in that: Also includes: A plurality of GPS antennas are arranged on the upper portion of the vehicle body and are electrically connected to the controller.

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