Unmanned vehicle
By setting up a millimeter-wave radar with multi-mode switching on the unmanned vehicle, point cloud data and feature data are obtained, the problem of lidar being unavailable in complex environments is solved, the perception system detection capability of the unmanned vehicle is ensured, and effective perception data for the mine autonomous driving vehicles is provided.
Patent Information
- Application Number
- CN202420908868.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-04-28
- Publication Date
- 2025-06-03
- Estimated Expiration
- 2034-04-28
AI Technical Summary
In complex environments, such as unstructured bumpy roads, rain, snow and foggy days, dust, satellite signal occlusion, cargo loading and discharge impact, the lidar sensor is vulnerable to damage, resulting in a reduced detection capability of the perception system or the inability to perform target perception detection normally.
By setting at least one multi-mode switching millimeter wave radar on the unmanned vehicle, point cloud data and characteristic data of the target object are obtained, ensuring that effective perceptual data is provided when the lidar is unavailable.
It effectively solves the problem of lidar unavailability in complex environments, ensures the perception system detection capabilities of unmanned vehicles in these environments, and provides effective perception data for mine autonomous vehicles.
Smart Images
Figure CN222939417U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the field of autonomous driving, and particularly to an unmanned vehicle. Background Art
[0002] The autonomous driving of unmanned vehicles needs to be based on a comprehensive understanding of the surrounding environment of the vehicle body. That is, before completing the decision-making planning and control execution similar to the human brain, it is necessary to first obtain multiple signal inputs of 360° around the vehicle body from the observable real-time perception system.
[0003] The specific method of environmental observation and perception fusion is usually to design and integrate multi-sensor devices such as lidar, millimeter-wave radar, cameras, and ultrasonic waves on the vehicle to complete the collection of environmental information, and combine the data processing capabilities of the perception fusion algorithm model to identify obstacle information such as road boundaries, vehicles, retaining walls, pedestrians, and falling rocks in the environment, so as to guide the unmanned vehicle to complete a series of actions, such as accelerating straight, avoiding and stopping, parking at a fixed point, bypassing obstacles, and reversing.
[0004] As the core sensor of the perception system of unmanned vehicles, the lidar sensor has high precision and long-range 3D detection capabilities. However, the lidar sensor is vulnerable to the influence of harsh environments such as vibration shock, rain, snow, thick fog, dust, and mud splashing, and is easily damaged when colliding or being impacted, and is not suitable for being installed at the position behind the ore truck cargo box for perception detection. At the same time, the lidar sensor is greatly affected by rain, fog, and snow weather.
[0005] Therefore, how to reduce the impact of damage to the vehicle-mounted perception system caused by collision and shock, and improve the effective perception of the vehicle-mounted perception system in complex environments, is a technical problem that needs to be solved urgently in this field. Summary of the Utility Model
[0006] The unmanned vehicle provided by the utility model obtains the point cloud data and feature data of the target object through at least one millimeter-wave radar arranged on the vehicle. It solves the problem that when the lidar is unavailable in complex environments such as unstructured bumpy roads, rain, snow, fog, dust, satellite signal occlusion, cargo loading and unloading impact, etc., the detection ability of the perception system decreases or the target perception detection cannot be carried out normally, and provides effective perception data for mine autonomous driving vehicles.
[0007] In a first aspect, the utility model provides an unmanned vehicle, comprising:
[0008] A vehicle body;
[0009] A first millimeter-wave radar, arranged on the vehicle body, the first millimeter-wave radar has at least two working modes, and the at least two working modes include a first working mode and a second working mode;
[0010] Among them, the first millimeter-wave radar is used to collect the first point cloud data of the first target in a preset area around the driverless vehicle in the first working mode, and the first millimeter-wave radar is used to collect the first feature data of the first target in a preset area around the driverless vehicle in the second working mode.
[0011] Further, the first millimeter-wave radar is a multi-mode switching millimeter-wave radar, and the multi-mode switching millimeter-wave radar is used to switch to the first working mode in the first case and switch to the second working mode in the second case.
[0012] Further, the first millimeter-wave radar includes a first sub-millimeter-wave radar and a second sub-millimeter-wave radar;
[0013] The first sub-millimeter-wave radar is used to work in the first working mode;
[0014] The second sub-millimeter-wave radar is used to work in the second working mode.
[0015] Further, the installation positions of the first sub-millimeter-wave radar and the second sub-millimeter-wave radar are such that at least part of their sensing ranges overlap.
[0016] Further, the multi-mode switching millimeter-wave radar is used to alternately switch between the first working mode and the second working mode according to a specified period.
[0017] Further, the driverless vehicle further includes: a lidar; among them, the sensing range of the first millimeter-wave radar at least includes part of the area not covered by the sensing range of the lidar.
[0018] Further, the first millimeter-wave radar is installed at the head and / or the tail of the vehicle body.
[0019] Further, when the first millimeter-wave radar is located at the head of the vehicle body, the first millimeter-wave radar is installed on the bumper of the head; and / or,
[0020] When the first millimeter-wave radar is located at the tail of the vehicle body, the first millimeter-wave radar is installed on the cross beam of the tail.
[0021] Further, when the first millimeter-wave radar is located at the head of the vehicle body, the surrounding preset area includes the preset area directly in front of the driverless vehicle; and / or,
[0022] When the first millimeter-wave radar is located at the tail of the vehicle body, the surrounding preset area includes the preset area directly behind the driverless vehicle.
[0023] Further, the first situation represents the normal working condition, and the second situation represents the abnormal working condition.
[0024] The driverless vehicle provided by the present utility model obtains the point cloud data and feature data of the target object through at least one millimeter-wave radar arranged on the vehicle. It solves the problem that when the lidar is unavailable in complex environments such as unstructured bumpy roads, rain, snow, fog, dust, satellite signal occlusion, cargo loading and unloading impacts, etc., the detection ability of the perception system decreases or the target perception detection cannot be carried out normally, and provides effective perception data for the mine autonomous driving vehicle. BRIEF DESCRIPTION OF THE DRAWINGS
[0025] Figure 1 is a schematic structural diagram of the driverless vehicle of the present utility model;
[0026] Figure 2 is Figure 1 a schematic diagram of the installation position of the millimeter-wave radar in
[0027] Figure 3 is Figure 2 a schematic diagram of the split installation of the millimeter-wave radar in
[0028] Figure 4 is Figure 3 a schematic diagram of the millimeter-wave radar installed at the front and rear of the driverless vehicle in
[0029] Figure 5 is Figure 4 a schematic diagram of the actual installation of the millimeter-wave radar at the front and rear of the driverless vehicle in the actual scene. DETAILED DESCRIPTION OF THE EMBODIMENTS
[0030] Here, the exemplary embodiments will be described in detail, and the examples are shown in the drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present utility model.
[0031] The terms used in the present utility model are only for the purpose of describing specific embodiments, and are not intended to limit the present utility model. The singular forms of "a", "the" and "said" used in the present utility model and the appended claims are also intended to include the plural forms, unless the context clearly indicates otherwise. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more of the associated listed items.
[0032] It should be understood that although the terms first, second, third, etc. may be used in the present utility model to describe various information, such information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of the present utility model, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the word "if" as used herein may be interpreted as "when" or "while" or "in response to a determination".
[0033] The following will describe in detail a driverless vehicle of the present utility model with reference to the accompanying drawings.
[0034] An embodiment of the present disclosure provides a driverless vehicle, as Figure 1 shown, including:
[0035] A vehicle body 110;
[0036] A first millimeter-wave radar 120, disposed on the vehicle body 110, and the first millimeter-wave radar 120 has at least two working modes, and the at least two working modes include a first working mode and a second working mode;
[0037] Among them, the first millimeter-wave radar 120 is used to collect first point cloud data of a first target in a preset area around the driverless vehicle 100 in the first working mode, and the first millimeter-wave radar 120 is used to collect first feature data of the first target in the preset area around the driverless vehicle 100 in the second working mode.
[0038] As Figure 1 shown, the positive X direction is the front of the vehicle, the negative X direction is the rear of the vehicle, the driverless vehicle 100 includes a vehicle body 110 and a first millimeter-wave radar 120.
[0039] The vehicle-mounted millimeter-wave radar emits millimeter waves outward through an antenna, receives the target reflection signal, and quickly and accurately obtains the physical environment information around the vehicle body (such as the relative distance, relative speed, angle, movement direction, etc. between the vehicle and other objects) after rear processing, and then performs target tracking and recognition classification according to the detected object information.
[0040] Figure 1 The position of the first millimeter-wave radar 120 in
[0041] In a possible implementation manner, as Figure 2As shown, with the positive X direction being the front of the vehicle and the negative X direction being the rear of the vehicle, the driverless vehicle 200 includes a vehicle body 210. The first millimeter-wave radar 220 can be arranged behind the vehicle body 210. The first millimeter-wave radar 220 is used to output point cloud data of target objects in a preset area around the rear of the vehicle in the first working mode, and is used to output feature data of target objects in a preset area around the rear of the vehicle in the second working mode.
[0042] In another embodiment provided by the present disclosure, the first millimeter-wave radar 220 is a multi-mode switching millimeter-wave radar. The multi-mode switching millimeter-wave radar is used to switch to the first working mode in the first case and switch to the second working mode in the second case.
[0043] In the embodiments of the present disclosure, the multi-mode switching millimeter-wave radar can switch between different working modes. During implementation, different cases can correspond to different working modes.
[0044] In another embodiment provided by the present disclosure, the first case represents a normal working condition, and the second case represents an abnormal working condition.
[0045] In the embodiments of the present disclosure, the first working mode can be set for the normal working condition, and the second working mode can be set for the abnormal working condition. Then, according to the current working mode of the first millimeter-wave radar 220, it can be known whether the current working condition is a normal working condition or an abnormal working condition.
[0046] In another embodiment provided by the present disclosure, the multi-mode switching millimeter-wave radar is used to alternately switch between the first working mode and the second working mode according to a specified period.
[0047] In the embodiments of the present disclosure, when the number of the installed first millimeter-wave radars 220 is 1, the multi-mode switching first millimeter-wave radar 220 can be used. During implementation, a first time period and a second time period can be set, so that the first millimeter-wave radar 220 is used to collect the first point cloud data of the first target object in the first working mode according to the preset alternating first time period and second time period, and collect the first feature data of the first target object in the second working mode in the second time period; and send the first point cloud data and the first feature data collected in different working modes to the computing platform. In this way, only one first millimeter-wave radar 220 can also complete the collection of two different types of data.
[0048] Here, the computing platform can be arranged at the front of the vehicle and is communicatively connected to the first millimeter-wave radar 220, and is used to fuse the first point cloud data and the first feature data to detect the first target object in the preset area monitored by the first millimeter-wave radar 220 of the driverless vehicle.
[0049] In another embodiment provided by the present disclosure, asFigure 3 As shown, the first millimeter-wave radar includes a first sub-millimeter-wave radar 320 and a second sub-millimeter-wave radar 330;
[0050] The first sub-millimeter-wave radar 320 is used to operate in the first operating mode;
[0051] The second sub-millimeter-wave radar 330 is used to operate in the second operating mode.
[0052] In the embodiments of the present disclosure, in order to enable the millimeter-wave radar to operate in different operating modes, the number of millimeter-wave radars can also be increased, so that each millimeter-wave radar fixedly operates in one operating mode without the need to switch the operating mode.
[0053] As Figure 3 shown, with the positive X direction being the front of the vehicle and the negative X direction being the rear of the vehicle. The driverless vehicle includes a vehicle body 310 and two first millimeter-wave radars disposed behind the vehicle body 310 (here, taking the installation of the millimeter-wave radar at the rear as an example), namely the first sub-millimeter-wave radar 320 and the second sub-millimeter-wave radar 330.
[0054] Preferably, the first sub-millimeter-wave radar 320 is used to collect point cloud data of target objects in a preset area around the rear of the vehicle body 310. Exemplarily, the first sub-millimeter-wave radar 320 obtains point cloud data of the reflected target in the first operating mode and re-obtains the above information in each radar measurement cycle.
[0055] Preferably, the second sub-millimeter-wave radar 330 is used to collect characteristic data of target objects in a preset area around the rear of the vehicle body 310, including information such as the acceleration, length, and width of the target objects. Exemplarily, the second sub-millimeter-wave radar 330 obtains information such as the acceleration, length, and width of the reflected target in the second operating mode.
[0056] In another embodiment provided by the present disclosure, the installation positions of the first sub-millimeter-wave radar 320 and the second sub-millimeter-wave radar 330 are such that at least part of their sensing ranges overlap.
[0057] In the embodiments of the present disclosure, at least part of the sensing ranges of the first sub-millimeter-wave radar 320 and the second sub-millimeter-wave radar 330 overlap, so that point cloud data and characteristic data can be obtained for the same preset area, thereby analyzing the target objects existing in the preset area.
[0058] In another embodiment provided by the present disclosure, the driverless vehicle further includes: a lidar; wherein, the sensing range of the first millimeter-wave radar at least includes an area not covered by the sensing range of the lidar.
[0059] In the embodiments of the present disclosure, the first millimeter-wave lidar can cooperate with the lidar to detect areas not covered by the lidar.
[0060] In another embodiment provided by the present disclosure, the first millimeter-wave radar is installed at the head and / or tail of the vehicle body.
[0061] In the embodiments of the present disclosure, as Figure 2 and Figure 3 shown, the first millimeter-wave radar can be installed at the tail of the vehicle body, or the first millimeter-wave radar (one or two) can be installed at the head of the vehicle body (not shown in the figure), or the first millimeter-wave radar can be installed at both the head and tail of the vehicle body.
[0062] As Figure 4 shown, with the positive X direction being the front of the vehicle and the negative X direction being the rear of the vehicle, the unmanned vehicle 400 includes a vehicle body (not marked in the figure), a front first sub-millimeter-wave radar 410 disposed in front of the vehicle body, a front second sub-millimeter-wave radar 420 disposed in front of the vehicle body, a rear first sub-millimeter-wave radar 430 disposed behind the vehicle body, and a rear second sub-millimeter-wave radar 440 disposed behind the vehicle body.
[0063] Among them, the front first sub-millimeter-wave radar 410 and the front second sub-millimeter-wave radar 420 are used to sense the target objects in front of the vehicle body, and the rear first sub-millimeter-wave radar 430 and the rear second sub-millimeter-wave radar 440 are used to sense the target objects behind the vehicle body.
[0064] Alternatively, the front first sub-millimeter-wave radar 410 and the front second sub-millimeter-wave radar 420 can be replaced by one millimeter-wave radar, and the rear first sub-millimeter-wave radar 430 and the rear second sub-millimeter-wave radar 440 can be replaced by one millimeter-wave radar. The method for the above millimeter-wave radars 410, 420, 430, and 440 to sense the target objects is the same as the sensing method in the foregoing embodiments, and will not be elaborated here. At the same time, it should be noted that those skilled in the art can set the number and position of the millimeter-wave radar according to actual needs, and the embodiments of the present disclosure do not make specific limitations in this regard.
[0065] The present utility model provides sensing data for autonomous driving by setting millimeter-wave radars at different positions of the vehicle to sense target objects in different directions of the vehicle.
[0066] In another embodiment provided by the present disclosure, when the first millimeter-wave radar is located at the head of the vehicle body, the first millimeter-wave radar is installed on the bumper at the head; and / or,
[0067] When the first millimeter-wave radar is located at the rear of the vehicle body, the first millimeter-wave radar is installed on the crossbeam at the rear.
[0068] See Figure 5 , for Figure 4 the actual scene diagram of the millimeter-wave radar installed in the front and rear of the vehicle.
[0069] Among them, the front first sub-millimeter-wave radar 410 and the front second sub-millimeter-wave radar 420 are arranged on the front bumper of the vehicle body frame, and the rear first sub-millimeter-wave radar 430 and the rear second sub-millimeter-wave radar 440 are arranged on the crossbeam behind the vehicle body frame. The front first sub-millimeter-wave radar 410 and the front second sub-millimeter-wave radar 420 are used to sense the target in front of the vehicle body, and the rear first sub-millimeter-wave radar 430 and the rear second sub-millimeter-wave radar 440 are used to sense the target behind the vehicle body.
[0070] Alternatively, the front first sub-millimeter-wave radar 410 and the front second sub-millimeter-wave radar 420 can be replaced by one millimeter-wave radar, and the rear first sub-millimeter-wave radar 430 and the rear second sub-millimeter-wave radar 440 can be replaced by one millimeter-wave radar.
[0071] In another embodiment provided by the present disclosure, when the first millimeter-wave radar is located at the head of the vehicle body, the surrounding preset area includes the preset area directly in front of the driverless vehicle; and / or,
[0072] When the first millimeter-wave radar is located at the rear of the vehicle body, the surrounding preset area includes the preset area directly behind the driverless vehicle.
[0073] In the embodiment of the present disclosure, when the first millimeter-wave radar is located at the head of the vehicle body, the first millimeter-wave radar can be installed at a position close to the middle (bumper), so that the detection area of the first millimeter-wave radar includes the preset area directly in front of the driverless vehicle; similarly, when the first millimeter-wave radar is located at the rear of the vehicle body, the first millimeter-wave radar can be installed at a position close to the middle (crossbeam), so that the detection area of the first millimeter-wave radar includes the preset area directly behind the driverless vehicle.
[0074] The methods by which the above millimeter-wave radars 410, 420, 430, and 440 sense the target object are the same as those in the foregoing embodiments, and will not be elaborated here. At the same time, it should be noted that those skilled in the art can, according to actual needs, set the front first sub-millimeter-wave radar 410 and the front second sub-millimeter-wave radar 420 at positions on the vehicle body or frame that can sense the front target object, and set the rear first sub-millimeter-wave radar 430 and the rear second sub-millimeter-wave radar 440 at positions on the vehicle body or frame that can sense the rear target object, as long as it is ensured that the acquisition range of the radar can cover the azimuth that needs to be environmentally sensed. The embodiments of the present disclosure do not make specific limitations on this.
[0075] The driverless vehicle provided by the present utility model obtains the point cloud data and feature data of the target object through at least one millimeter-wave radar provided on the vehicle. It solves the problem that when the lidar is unavailable in complex environments such as unstructured bumpy roads, rain, snow, fog, dust, satellite signal occlusion, cargo loading and unloading impacts, etc., the detection ability of the perception system decreases or the target perception detection cannot be normally carried out, and provides effective perception data for mine autonomous driving vehicles.
[0076] In the embodiments provided by the present utility model, it should be understood that the disclosed device / electronic device The device / electronic device embodiments described above are only illustrative. For example, the division of modules or units is only a logical function division. In actual implementation, there may be other division methods. Multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed mutual coupling or direct coupling or communication connection may be through some interfaces, and the indirect coupling or communication connection of the device or unit may be in electrical, mechanical or other forms.
[0077] The unit described as a separated component may or may not be physically separated, and the component displayed as a unit may or may not be a physical unit, that is, it may be located in one place, or it may be distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.
[0078] In addition, each functional unit in the various embodiments of the present utility model can be integrated in one processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit. The above integrated unit can be implemented in the form of hardware or in the form of a software functional unit.
[0079] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the various embodiments of the present invention, and should all be included within the protection scope of the present invention.
Claims
1. An unmanned vehicle, characterized in that: include: Vehicle body; A first millimeter wave radar, disposed on the vehicle body, wherein the first millimeter wave radar has at least two working modes, wherein the at least two working modes include a first working mode and a second working mode; The first millimeter-wave radar is used to collect first point cloud data of a first target object in a preset area around the unmanned vehicle in the first working mode, and the first millimeter-wave radar is used to collect first feature data of a first target object in a preset area around the unmanned vehicle in the second working mode; The first millimeter-wave radar includes a first sub-millimeter-wave radar and a second sub-millimeter-wave radar; the first sub-millimeter-wave radar is used to work in the first working mode; the second sub-millimeter-wave radar is used to work in the second working mode.
2. The unmanned vehicle according to claim 1, characterized in that: The installation positions of the first sub-millimeter-wave radar and the second sub-millimeter-wave radar satisfy that their perception ranges at least partially overlap.
3. The unmanned vehicle according to claim 1, characterized in that: The unmanned vehicle also includes: a laser radar; wherein the sensing range of the first millimeter-wave radar includes at least part of the area not covered by the sensing range of the laser radar.
4. The unmanned vehicle according to claim 1, characterized in that: The first millimeter-wave radar is installed at the head and / or the tail of the vehicle body.
5. The unmanned vehicle according to claim 4, characterized in that: In the case where the first millimeter-wave radar is located at the head of the vehicle body, the first millimeter-wave radar is installed on the bumper of the head; and / or, When the first millimeter-wave radar is located at the rear of the vehicle body, the first millimeter-wave radar is installed on a cross beam at the rear.
6. The unmanned vehicle according to claim 4, characterized in that: In the case where the first millimeter-wave radar is located at the head of the vehicle body, the surrounding preset area includes a preset area directly in front of the unmanned vehicle; and / or, When the first millimeter-wave radar is located at the rear of the vehicle body, the surrounding preset area includes a preset area directly behind the unmanned vehicle.