An unmanned perception system and unmanned vehicle

Abstract

The utility model relates to an unmanned vehicle technical field provides an unmanned perception system and unmanned vehicle, and the unmanned perception system includes: side perception module, including the right side perception module and left side perception module of symmetrical arrangement in the both sides of vehicle, middle part perception module sets up at the top of vehicle, front and back perception module includes respectively arranging in the front side perception module and rear side perception module of vehicle front and back, the utility model will side perception module arrange respectively in the both sides of vehicle, will middle part perception module arrange in the top of vehicle, will front and back perception module arrange respectively in the front and back sides of vehicle, realize the omnidirectional perception of vehicle, simple and reasonable in structure, and the unmanned perception system and vehicle are not one -to -one binding relation, can install to the vehicle according to actual need selectively to each perception individual module, provides the basic condition for unmanned, and the versatility is strong, has improved the use ratio of unmanned perception system, enables more vehicles.

Description

Technical Field

[0001] This utility model relates to the field of unmanned vehicle technology, and in particular provides an unmanned driving perception system and an unmanned vehicle. Background Technology

[0002] To meet the safety, reliability, and stability requirements of autonomous driving, most driverless cars on the market employ multi-sensor fusion technology. This involves distributing multiple sensors at different locations and angles across the vehicle's chassis, front, or cargo box, allowing for multi-level, multi-spatial, and multi-dimensional information complementarity and optimized combination processing. This enables panoramic perception of obstacles at varying distances, and the intelligent controller then makes correct judgments and generates control decisions based on the collected information, thereby controlling the vehicle's movement. However, this approach is largely vehicle-specific, meaning the entire sensor system can only be used on a specific model. If the system is partially embedded in the vehicle body, it cannot be universally applied when changing vehicles, thus affecting the usability of the autonomous driving perception system. Utility Model Content

[0003] The purpose of this utility model is to provide an unmanned driving perception system and an unmanned vehicle. Through modular design, the unmanned driving perception system is divided into multiple directional and independent perception modules. When the vehicle needs to be replaced, it can be directly removed and installed, which has strong versatility and high utilization rate.

[0004] To achieve the above objectives, the technical solution adopted by this utility model is as follows:

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

[0006] The side perception module includes a right-side perception module and a left-side perception module symmetrically arranged on both sides of the vehicle, which are used to perceive the environment on the right side and the environment on the left side of the vehicle, respectively.

[0007] A central sensing module is located on the top of the vehicle and is used to sense the environment in front of the vehicle.

[0008] The front and rear sensing modules include a front sensing module and a rear sensing module respectively arranged at the front and rear of the vehicle, which are used to supplement the sensing of the environment in front of the vehicle and the environment behind the vehicle.

[0009] Furthermore, the right-side sensing module includes:

[0010] Mounting bracket, detachably mounted on the vehicle, for securing the right-side sensing module to the vehicle;

[0011] A surround-view camera assembly is fixedly connected to the mounting bracket on one side, and is used to acquire the environment on the side of the vehicle;

[0012] An antenna assembly, disposed on top of the surround-view camera assembly, is used to locate the vehicle;

[0013] A first radar component, located at the bottom of the surround-view camera component, is used to acquire the distance and speed of objects on the side of the vehicle.

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

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

[0016] Furthermore, the central sensing module includes a central housing, a second radar assembly is disposed at the center of the front end of the central housing, and second camera assemblies are symmetrically disposed on both sides of the front end of the second radar assembly, with both the second radar assembly and the second camera assembly facing forward of the vehicle.

[0017] Furthermore, the front sensing module includes front and rear housings and a third radar assembly fixed to the middle of the front end of the front and rear housings. A camera mounting bracket is also provided on the upper end of the front and rear housings, and a third camera assembly is provided on the camera mounting bracket.

[0018] Furthermore, the mounting angle between the third camera assembly and the horizontal plane is 30° to 60°.

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

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

[0021] This application also provides an unmanned vehicle, including a chassis and an unmanned driving perception system as described above.

[0022] The beneficial effects of this utility model are:

[0023] The autonomous driving perception system provided by this utility model arranges side perception modules on both sides of the vehicle, a central perception module on the top of the vehicle, and front and rear perception modules on the front and rear sides of the vehicle, respectively, to achieve all-round perception of the vehicle. The structure is simple and reasonable. The visual camera and radar sensor complement each other, with good recognition accuracy and high redundancy, ensuring safety. The autonomous driving perception system is not bound to the vehicle in a one-to-one relationship. Each module can be selectively installed on the vehicle according to actual needs. After joint calibration, it can realize the perception of the surrounding environment of the vehicle, providing the basic conditions for autonomous driving. It can be applied to most vehicles on the market, with strong versatility, improving the utilization rate of the autonomous driving perception system and empowering more vehicles.

[0024] The unmanned vehicle provided by this utility model includes the aforementioned unmanned driving perception system, and therefore also has the aforementioned advantages. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 This is a schematic diagram of the structure of an autonomous driving perception system in one embodiment;

[0027] Figure 2 This is a schematic diagram of the right-hand sensing module in one embodiment;

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

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

[0030] Figure 5 This is a schematic diagram of the structure of the central sensing module in one embodiment;

[0031] Figure 6 This is a schematic diagram of the front sensing module in one embodiment;

[0032] Figure 7 This is a schematic diagram of the overall structure of the unmanned vehicle in one embodiment;

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

[0034] The following are the labeling elements in the figure:

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

[0036] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown 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 intended to explain this utility model, and should not be construed as limiting this utility model.

[0037] In the description of this utility model, it should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0038] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0039] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0040] Please refer to Figure 1 The autonomous driving perception system provided in this application embodiment is applicable to various types of manned or autonomous vehicles. It mainly includes a side perception module, a center perception module, and front and rear perception modules. The side perception module includes a right-side perception module 1 and a left-side perception module 2 symmetrically arranged on both sides of the vehicle, used to perceive the environment on the right and left sides of the vehicle, respectively. The detection range of the right-side perception module 1 and the left-side perception module 2 can cover the lower areas of the left and right sides of the vehicle. The center perception module 3 is located on the top of the vehicle and is used to perceive the environment in front of the vehicle. The detection range of the center perception module 3 is a fan-shaped area that can cover the front of the vehicle and the front of both left and right sides. The front and rear perception modules include a front-side perception module 4 and a rear-side perception module 5 respectively arranged at the front and rear of the vehicle, used to supplement the perception of the environment in front of and behind the vehicle, respectively. The detection range of the front-side perception module 4 can cover the lower area in front of the vehicle, supplementing the blind spot perception of the center perception module 3 and improving the comprehensiveness and reliability of the detection. The detection range of the rear-side perception module 5 can cover most of the area behind the vehicle. This achieves panoramic coverage of the vehicle's surroundings, and the overall system structure is simple and rationally laid out.

[0041] In one embodiment, such as Figure 2 As shown, the right-side perception module 1 includes a mounting bracket 11, a surround-view camera assembly 12, an antenna assembly 13, and a first radar assembly 14. The mounting bracket 11 is detachably mounted on the vehicle to fix the right-side perception module 1 to the vehicle. The surround-view camera assembly 12, with one side fixedly connected to the mounting bracket 11, has a built-in camera for identifying obstacles, used to acquire information about the environment on the side of the vehicle. The antenna assembly 13 is located on top of the surround-view camera assembly 12 for vehicle positioning. The first radar assembly 14 is located at the bottom of the surround-view camera assembly 12 for acquiring the distance and speed of objects on the side of the vehicle. The cooperation of the surround-view camera assembly 12 and the first radar assembly 14 enables omnidirectional perception of both sides of the vehicle.

[0042] In one embodiment, such as Figure 3 As shown, the mounting bracket 11 has an L-shaped structure, which includes a horizontal bracket plate 111 and a vertical bracket plate 112 that are perpendicular to each other. The horizontal bracket plate 111 has a waist-shaped groove 113, and the vertical bracket plate 112 has a fixing hole 114. The mounting bracket 11 can be fixed to the vehicle by passing a bolt assembly through the waist-shaped groove 113 of the horizontal bracket plate 111. The right-side sensing module 1 can be fixed to the mounting bracket 11 by passing a bolt assembly through the fixing hole 114 of the vertical bracket plate 112, thereby completing the connection and fixation of the right-side sensing module 1 to the vehicle.

[0043] In one embodiment, such as Figure 4 As shown, the surround-view camera assembly 12 includes a surround-view tower 121 and a first camera assembly 122 arranged around the surround-view tower 121. The first camera assembly 122 is an identification camera for identifying obstacles, and the number is at least one, more preferably two, one horizontally facing the right front and vertically tilted down 25~35°; the other horizontally facing the right rear and vertically tilted down 25~35°.

[0044] In one embodiment, such as Figure 5 As shown, the central sensing module 3 includes a central housing 31. A second radar component 32 is disposed at the center of the front end of the central housing 31, and second camera components 33 are symmetrically disposed on both sides of the front end of the second radar component 32. Both the second radar component 32 and the second camera component 33 are mounted horizontally towards the front of the vehicle. The second camera component 33 is a traffic light camera used to identify traffic lights and lane lines.

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

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

[0047] In one embodiment, the first radar component 14 is a multi-line lidar sensor, such as a 32-line, 64-line, or 128-line lidar sensor, which can be selected and configured according to the required detection accuracy. The multi-line lidar sensor includes multiple transmitters and receivers, and obtains multiple beams of light through the rotation of a motor. The more lines there are, the more complete the surface contour of the object, making it easier to detect vehicles and pedestrians in the surrounding environment. The second radar component 32 is a 4D millimeter-wave radar sensor, which can detect the distance, relative speed, azimuth angle, and height information of objects. It has a detection range of up to 300 meters in highways and complex urban scenes, and can adapt to adverse weather conditions such as rain and fog. It has great advantages in obstacle perception, movement speed, and trajectory judgment. The third radar component 42 is a blind spot radar sensor, which provides additional environmental information in areas that cannot be covered by the first radar component 14 and the second radar component 32. It has a great advantage in short-range obstacle perception, thereby improving the safety and reliability of the autonomous driving system.

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

[0049] The autonomous driving perception system provided in this application arranges side perception modules on both sides of the vehicle, a center perception module on the top of the vehicle, and front and rear perception modules on the front and rear sides of the vehicle, respectively, to achieve all-around perception of the vehicle. The structure is simple and reasonable. The visual camera and radar sensor complement each other, with good recognition accuracy and high redundancy, ensuring safety. The autonomous driving perception system is not bound to the vehicle in a one-to-one relationship. Each module can be selectively installed on the vehicle according to actual needs. After joint calibration, the vehicle can achieve autonomous driving. It is applicable to most vehicles on the market, has strong versatility, and improves the utilization rate of the autonomous driving perception system.

[0050] Please refer to Figures 7 to 8 This application also provides an unmanned vehicle, mainly including a chassis 15 and an unmanned driving perception system as described above, wherein the unmanned driving perception system is detachably mounted on the chassis 15. More specifically, taking the direction of the unmanned vehicle's front as a directional reference, the right-side perception module 1 is mounted on the top right side of the chassis 15, the left-side perception module 2 is mounted on the top left side of the chassis 15, the middle perception module is mounted on the top middle of the chassis 15, the front-side perception module 4 is mounted on the front side of the chassis 15, and the rear-side perception module 5 is mounted on the rear side of the chassis 15.

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

[0052] In practical use, the autonomous driving perception system provided in this application embodiment is installed on the chassis 15. During installation, it should be ensured that each module does not protrude outward relative to the chassis, or protrudes as little as possible. This is to ensure the passage of the autonomous vehicle in narrow situations and to avoid damage caused by protruding sensors and harm to pedestrians. The autonomous driving perception system achieves 360° installation, enabling comprehensive detection and perception of the chassis 15 without blind spots. It has high recognition accuracy, is safe and reliable, and simplifies the layout and wiring, reducing assembly difficulty and providing a foundation for achieving autonomous driving. The autonomous driving perception system is not one-to-one bound to the vehicle. When the vehicle needs to be replaced, each sensor module can be removed from the chassis 15 and reinstalled on another chassis, and then used after joint calibration.

[0053] The above are merely preferred embodiments of the present utility model and are not intended to limit the present utility model. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. An unmanned perception system mounted on a vehicle, characterized by, include: The side perception module includes a right perception module (1) and a left perception module (2) symmetrically arranged on both sides of the vehicle, which are used to perceive the environment on the right side and the environment on the left side of the vehicle, respectively. A central sensing module (3) is installed on the top of the vehicle to sense the environment in front of the vehicle; The front and rear sensing modules include a front sensing module (4) and a rear sensing module (5) respectively arranged at the front and rear of the vehicle, for supplementing the sensing of the environment in front of the vehicle and the environment behind the vehicle; The right-side sensing module (1) includes: Mounting bracket (11) is detachably mounted on the vehicle for securing the right-side sensing module (1) to the vehicle; A surround-view camera assembly (12) is fixedly connected to the mounting bracket (11) on one side for acquiring the environment on the side of the vehicle; Antenna assembly (13) is disposed on top of the surround view camera assembly (12) for positioning the vehicle; A first radar assembly (14) is disposed at the bottom of the surround-view camera assembly (12) for acquiring the distance and speed of objects on the side of the vehicle.

2. The autonomous perception system of claim 1, wherein, The mounting bracket (11) has an L-shaped structure, which includes a bracket horizontal plate (111) and a bracket vertical plate (112) that are perpendicular to each other. The bracket horizontal plate (111) has a waist-shaped groove (113), and the bracket vertical plate (112) has a fixing hole (114).

3. The autonomous perception system of claim 1, wherein, The surround view camera assembly (12) includes a surround view tower (121) and a first camera assembly (122) arranged around the surround view tower (121), wherein the number of the first camera assembly (122) is at least one.

4. The autonomous perception system of claim 1, wherein, The central sensing module (3) includes a central housing (31), a second radar assembly (32) is provided at the center of the front end of the central housing (31), and a second camera assembly (33) is symmetrically provided on both sides of the second radar assembly (32) at the front end. The second radar assembly (32) and the second camera assembly (33) both face the front of the vehicle.

5. The autonomous perception system of claim 4, wherein, The front sensing module (4) includes a front and rear housing (41) and a third radar assembly (42) fixed in the middle of the front end of the front and rear housing (41). A camera mounting bracket (43) is also provided on the upper end of the front and rear housing (41), and a third camera assembly (44) is provided on the camera mounting bracket (43).

6. The autonomous perception system of claim 5, wherein, The mounting angle between the third camera assembly (44) and the horizontal plane is 30°~60°.

7. The unmanned sensing system of claim 5, wherein, The first radar component (14) is a multi-line lidar sensor; the second radar component (32) is a 4D millimeter-wave radar sensor; and the third radar component (42) is a blind spot radar sensor.

8. The driverless perception system of any one of claims 1 to 7, wherein, The left-side sensing module (2) and the right-side sensing module (1) have the same structure; the rear-side sensing module (5) and the front-side sensing module (4) have the same structure.

9. An unmanned vehicle comprising a chassis (15), characterized in that It also includes the autonomous driving perception system as described in any one of claims 1 to 8.

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