CN114563788A - Unmanned system based on single line laser radar and millimeter wave radar - Google Patents
Unmanned system based on single line laser radar and millimeter wave radarDownload PDFInfo
- Publication number
- CN114563788A CN114563788ACN202210147248.5ACN202210147248ACN114563788ACN 114563788 ACN114563788 ACN 114563788ACN 202210147248 ACN202210147248 ACN 202210147248ACN 114563788 ACN114563788 ACN 114563788A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- module
- static
- data
- line laser
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 230000003068static effectEffects0.000claimsabstractdescription101
- 238000004891communicationMethods0.000claimsdescription54
- 238000000034methodMethods0.000claimsdescription14
- 230000008569processEffects0.000claimsdescription12
- 238000001914filtrationMethods0.000claimsdescription8
- 230000001133accelerationEffects0.000claimsdescription4
- 238000005516engineering processMethods0.000claimsdescription3
- 230000008030eliminationEffects0.000abstractdescription4
- 238000003379elimination reactionMethods0.000abstractdescription4
- 230000006872improvementEffects0.000description6
- 230000007547defectEffects0.000description2
- 230000006870functionEffects0.000description2
- 230000008447perceptionEffects0.000description2
- 235000017166Bambusa arundinaceaNutrition0.000description1
- 235000017491Bambusa tuldaNutrition0.000description1
- 241001330002BambuseaeSpecies0.000description1
- 235000015334Phyllostachys viridisNutrition0.000description1
- 230000003044adaptive effectEffects0.000description1
- 239000011425bambooSubstances0.000description1
- 230000009286beneficial effectEffects0.000description1
- 230000005540biological transmissionEffects0.000description1
- 238000010586diagramMethods0.000description1
- 230000000694effectsEffects0.000description1
- 230000002349favourable effectEffects0.000description1
- 238000012986modificationMethods0.000description1
- 230000004048modificationEffects0.000description1
- 230000002265preventionEffects0.000description1
Images
Classifications
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
- G01S13/865—Combination of radar systems with lidar systems
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
- G01S13/867—Combination of radar systems with cameras
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9314—Parking operations
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9319—Controlling the accelerator
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9321—Velocity regulation, e.g. cruise control
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/16—Information or communication technologies improving the operation of electric vehicles
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- Aviation & Aerospace Engineering (AREA)
- Automation & Control Theory (AREA)
- Traffic Control Systems (AREA)
Abstract
Description
Technical Field
The invention relates to the field of unmanned driving, in particular to an unmanned driving system based on a single-line laser radar and a millimeter-wave radar.
Background
In recent years, automobiles with driving assistance functions, such as bamboo shoots in spring after rain, are generally emerging, wherein different manufacturers adopt different schemes for realizing the adaptive cruise control function. The method is realized through vision, millimeter wave radar and multi-line laser radar, wherein the scheme of the vision and millimeter wave radar is a scheme which is commonly used at present. The method has the advantages that the cost is high, the defects that the static object in the front is difficult to identify, the static special-shaped vehicle such as a special-shaped truck cannot be identified, and the judgment reliability is low are overcome, and the main reason is that the millimeter wave radar can remove the Doppler static object from the data in order to reduce the data volume, and the vision of the special-shaped truck cannot be judged. The scheme adopting the multi-line laser radar has the highest reliability, but the cost is too high, so that the push to the market is difficult.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide the unmanned system based on the single-line laser radar and the millimeter wave radar, which can improve the reliability of judging front static objects, particularly static special-shaped trucks and is low in cost.
In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides an unmanned system based on single line laser radar and millimeter wave radar, is including setting up camera module, millimeter wave radar, control module and the driving module on the vehicle, its characterized in that: the wireless driving system also comprises a single-line laser radar;
the camera shooting module is used for shooting the front of the vehicle, generating camera shooting data and sending the camera shooting data to the control module in real time;
the millimeter wave radar is used for detecting the front of the vehicle and generating millimeter wave data, Doppler static object removing is carried out on the millimeter wave data, filtering data are generated and sent to the control module;
the single-line laser radar is used for detecting the front of a vehicle, generating single-line laser data and sending the single-line laser data to the control module;
the control module is connected with the driving module, processes the single-line laser data and judges whether a static or static special-shaped vehicle exists in front of the vehicle, when no static or static special-shaped vehicle exists in front of the vehicle, the control terminal processes the camera data, the filtering data and the single-line laser data to obtain first road information, and the first road information comprises the running condition of a running vehicle in front of the vehicle; when a static object or a static special-shaped vehicle exists in front of the vehicle, the control terminal calls the millimeter wave data and processes the millimeter wave data according to the camera data, the millimeter wave data and the single-line laser data to obtain second road information, the second road information comprises the running condition of the running vehicle in front of the vehicle and the position of the static object or the static special-shaped vehicle in front of the vehicle relative to the vehicle, the control module controls the driving module to carry out running operation according to the first road information and the second road information, and the running operation comprises deceleration running, acceleration running, constant speed running and parking.
As a further improvement of the invention, the unmanned system further comprises a cloud communication module and a positioning module which are arranged on the vehicle, wherein the positioning module determines the current position of the vehicle in real time, and the cloud communication module is connected with the positioning module and the control module;
the cloud communication module is configured with an information sending strategy, the information sending strategy comprises that when a static object or a static special-shaped vehicle is arranged in front of the vehicle, the cloud communication module obtains warning information according to the current position of the vehicle and second road information, the warning information comprises the current position of the static object or the static special-shaped vehicle, and the cloud communication module broadcasts the warning information in a preset first range taking the vehicle as the center through wireless communication signals;
the cloud communication module is also provided with an information receiving strategy, the information receiving strategy comprises that when the cloud communication module receives the warning information, warning adjusting information is determined according to the warning information and the current position of the vehicle and is sent to the control module, and the warning adjusting information comprises the position of a static object or a static special-shaped vehicle relative to the vehicle;
and the control module controls the driving module to carry out driving operation according to the first road information, the second road information and the warning adjustment information.
As a further improvement of the present invention, the unmanned system further includes roadside units located on both sides of the road, the roadside units receive the warning information from the cloud communication modules, and then send the warning information to all of the roadside units located within a second range preset with the current position of a stationary or stationary special-shaped vehicle as the center, and after receiving the warning information, the roadside units send the warning information to all of the cloud communication modules located within a third range preset around, and the coverage area of the third range is smaller than that of the second range.
As a further improvement of the present invention, the cloud communication module is further connected to the driving module and acquires a driving speed of a current vehicle, when the acquired driving speed of the current vehicle is zero, the cloud communication module acquires a current position of the vehicle and generates warning information as a current position of a static object or a static special-shaped vehicle, the cloud communication module broadcasts the generated warning information in a preset first range centering on the vehicle through a wireless signal at preset intervals, and when the acquired driving speed of the current vehicle is not zero, the cloud communication module stops sending the generated warning information.
As a further improvement of the invention, the wireless driving system also comprises a voice prompt module, wherein the voice prompt module is connected with the control module, and when the control module judges that a static object or a static special-shaped vehicle exists in front of the vehicle, the voice prompt module sends out prompt voice.
As a further improvement of the present invention, the communication between the cloud communication module and the roadside unit and between the cloud communication modules are performed by using a V2V communication technology.
As a further improvement of the invention, the camera module is a vehicle-mounted monocular camera.
The invention has the beneficial effects that: the millimeter wave data are subjected to Doppler static object elimination to generate filtering data and then are sent to the control terminal, data processing amount can be reduced in a limited mode, data processing efficiency is improved, and the static objects cannot be identified. Through the setting of single line laser radar, control module can directly judge whether there is quiet thing or special-shaped vehicle in vehicle the place ahead through single line laser data to drive the module through the data control that judgement result and acquireed and go the operation. Therefore, the combination of the single-line laser radar and the millimeter-wave radar can identify the static object or the special-shaped vehicle in front of the vehicle, and meanwhile, the cost is low.
When no static object or static special-shaped vehicle exists in front of the vehicle, the control module acquires filtering data, and the data processing amount is favorably reduced. When a static or static special-shaped vehicle exists in front of the vehicle, the control module acquires millimeter wave data, so that the more accurate position of the static or static special-shaped vehicle relative to the vehicle can be obtained through processing, and the subsequent running operation is safer.
Drawings
FIG. 1 is a schematic diagram of the framework of the present invention;
reference numerals: 1. a camera module; 2. a millimeter wave radar; 3. a control module; 4. a driving module; 5. a single line laser radar; 6. a cloud communication module; 7. a positioning module; 8. a road side unit; 9. and a voice prompt module.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. In which like parts are designated by like reference numerals.
Referring to fig. 1, the unmanned system based on the single-line laser radar and the millimeter-wave radar of the present embodiment includes a camera module 1, a millimeter-wave radar 2, acontrol module 3, adriving module 4, a single-line laser radar 5, acloud communication module 6, a positioning module 7, aroadside unit 8, and avoice prompt module 9, which are arranged on a vehicle;
the camera module 1 is used for shooting the front of the vehicle, generating camera data and sending the camera data to thecontrol module 3 in real time. The camera module 1 is directed directly in front of the vehicle. Camera module 1 is on-vehicle monocular camera, and the monocular camera is with low costs, but the range finding effect is not good, and the range finding is realized by millimeter wave radar 2 and single line laser radar 5. The camera module 1 and thecontrol module 3 are directly provided with a deserializer module, and the deserializer module is used for analyzing the received camera data into mipi data and transmitting the mipi data to thecontrol module 3.
The millimeter wave radar 2 is used for detecting the front of the vehicle and generating millimeter wave data, and the millimeter wave data are subjected to Doppler static object elimination to generate filtering data and are sent to thecontrol module 3. The two sides of the front end of the vehicle are respectively provided with a millimeter wave radar 2. The two millimeter wave radars 2 are used for detecting the road condition in front of the vehicle. The Doppler still object elimination can reduce the data volume and reduce the data transmission burden and the data processing burden.
The single-line laser radar 5 is used for detecting the front of the vehicle, generating single-line laser data and sending the single-line laser data to thecontrol module 3. The singlet lidar 5 is directed directly in front of the vehicle.
Thecontrol module 3 is connected with thedriving module 4, thecontrol module 3 processes the single-line laser data and judges whether a static object or a static special-shaped vehicle exists in front of the vehicle, when no static object or static special-shaped vehicle exists in front of the vehicle, the control terminal processes the camera data, the filter data and the single-line laser data to obtain first road information, and the first road information comprises the running condition of a running vehicle in front of the vehicle; when there is a static object or a static special-shaped vehicle in front of the vehicle, the control terminal calls the millimeter wave data and processes the millimeter wave data according to the camera data, the millimeter wave data and the single-line laser data to obtain second road information, the second road information comprises the running condition of the running vehicle in front of the vehicle and the position of the static object or the static special-shaped vehicle in front of the vehicle relative to the vehicle, and thecontrol module 3 controls thedriving module 4 to carry out running operation according to the first road information and the second road information, wherein the running operation comprises deceleration running, acceleration running, constant speed running and parking.
Specifically, the running condition of the running vehicle ahead of the own vehicle includes the speed, acceleration, and distance from the own vehicle. When the existing radar only provided with the camera and the millimeter wave radar 2 enters an automatic cruise mode, if a static vehicle is encountered, Doppler static object removal can be performed on data when the millimeter wave radar 2 processes the data, so that the static vehicle cannot be identified, and although the camera can identify the vehicle, the perception of the distance is weak, and safety accidents can be caused. If meet static special-shaped vehicle, not only the static special-shaped vehicle of millimeter wave radar 2 unable discernment to the camera can't contain special-shaped vehicle in the perception of image, consequently leads to the incident more easily. In the invention, thecontrol module 3 can directly judge whether a static object or a static special-shaped vehicle exists in front of the vehicle through single-line laser data, so that the safety accidents are avoided. When the judgment result is that no static object or static special-shaped vehicle exists. The control terminal processes the camera data, the filtering data and the single-line laser data and controls the vehicle to run according to the processed first road information. At this time, the filtered data is processed, so that the data processing amount can be reduced. And when the judgment result shows that the vehicle has the static or static special-shaped vehicle, the control terminal processes the camera data, the millimeter wave data and the single-line laser data and controls the vehicle to run according to the second road information obtained by processing, and the millimeter wave data is processed at the moment, so that more accurate information such as the position of the static or static special-shaped vehicle relative to the vehicle can be obtained.
The positioning module 7 determines the current position of the vehicle in real time, and thecloud communication module 6 is connected with the positioning module 7 and thecontrol module 3;
thecloud communication module 6 is configured with an information sending strategy, the information sending strategy includes that when a static object or a static special-shaped vehicle exists in front of the vehicle, thecloud communication module 6 obtains warning information according to the current position of the vehicle and the second road information, the warning information includes the current position of the static object or the static special-shaped vehicle, and thecloud communication module 6 broadcasts the warning information in a preset first range with the vehicle as the center through wireless communication signals. Thecloud communication module 6 is further configured with an information receiving strategy, the information receiving strategy includes that when thecloud communication module 6 receives the warning information, warning adjustment information is determined according to the warning information and the current position of the vehicle and is sent to thecontrol module 3, and the warning adjustment information includes the position of a static object or a static special-shaped vehicle relative to the vehicle. Thecontrol module 3 controls thedriving module 4 to perform driving operation according to the first road information, the second road information and the warning adjustment information.
The preset first range is a range with the radius of 20 meters and the vehicle as the center. When the vehicle detects that a static object or a static special-shaped vehicle exists in front of the vehicle, the current position of the static object or the forbidden special-shaped vehicle is determined and warning information is broadcasted. And the vehicle receiving the warning information determines the position of the static object or the static special-shaped vehicle relative to the vehicle through the warning information, so that the position of the static object or the static special-shaped vehicle is predicted in advance, and the driving safety is further guaranteed.
The unmanned system further comprisesroad side units 8 located on two sides of the road, theroad side units 8 receive the warning information to thecloud communication modules 6, send the warning information to allroad side units 8 located in a preset second range with the current position of a static or static special-shaped vehicle as the center, after receiving the warning information, theroad side units 8 send the warning information to allcloud communication modules 6 located in a preset third range around, and the coverage area of the third range is smaller than that of the second range. Thecloud communication module 6 and theroadside unit 8 and thecloud communication module 6 are communicated through a V2V communication technology. Theroadside units 8 are arranged at intervals on two sides of the road along the length direction of the road, the preset second range is a range with the radius of 1 kilometer, and the preset third range is a range with the radius of 50 meters. The setting ofroadside unit 8 can effectively improve the broadcast distance of warning information to be favorable to earlier making the prevention for quiet thing or static special-shaped vehicle, further improve driving safety.
Thecloud communication module 6 is further connected with thedriving module 4 and acquires the running speed of the current vehicle, when the acquired running speed of the current vehicle is zero, thecloud communication module 6 acquires the current position of the vehicle and generates warning information as the current position of a static or static special-shaped vehicle, the cloud communication module broadcasts the generated warning information in a preset first range with the vehicle as the center through wireless signals at preset intervals, and when the acquired running speed of the current vehicle is not zero, the cloud communication module stops sending the generated warning information.
When the vehicle stops, the vehicle looks like a stationary vehicle to other vehicles, and in order to facilitate the other vehicles to detect the vehicle, the vehicle sends out warning information by itself through thecloud communication module 6, so that the other vehicles receiving the warning information can determine the position of the vehicle, and safety accidents are avoided.
The wireless driving system further comprises a voiceprompt module 9, the voiceprompt module 9 is connected with thecontrol module 3, and when thecontrol module 3 judges that a static object or a static special-shaped vehicle exists in front of the vehicle, the voiceprompt module 9 sends prompt voice. The voice prompt sent by the voiceprompt module 9 is used for showing that there is a static object or a static special-shaped vehicle in front of the driver and reminding the driver to take over the vehicle for manual driving.
The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above-mentioned embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may occur to those skilled in the art without departing from the principle of the invention, and are considered to be within the scope of the invention.
Claims (7)
1. The utility model provides an unmanned system based on single line laser radar and millimeter wave radar, is including setting up camera module, millimeter wave radar, control module and the driving module on the vehicle, its characterized in that: the wireless driving system also comprises a single-line laser radar;
the camera shooting module is used for shooting the front of the vehicle, generating camera shooting data and sending the camera shooting data to the control module in real time;
the millimeter wave radar is used for detecting the front of the vehicle and generating millimeter wave data, Doppler static object removing is carried out on the millimeter wave data, filtering data are generated and sent to the control module;
the single-line laser radar is used for detecting the front of a vehicle, generating single-line laser data and sending the single-line laser data to the control module;
the control module is connected with the driving module, processes the single-line laser data and judges whether a static or static special-shaped vehicle exists in front of the vehicle, when no static or static special-shaped vehicle exists in front of the vehicle, the control terminal processes the camera data, the filtering data and the single-line laser data to obtain first road information, and the first road information comprises the running condition of a running vehicle in front of the vehicle; when a static object or a static special-shaped vehicle exists in front of the vehicle, the control terminal calls the millimeter wave data and processes the millimeter wave data according to the camera data, the millimeter wave data and the single-line laser data to obtain second road information, the second road information comprises the running condition of the running vehicle in front of the vehicle and the position of the static object or the static special-shaped vehicle in front of the vehicle relative to the vehicle, the control module controls the driving module to carry out running operation according to the first road information and the second road information, and the running operation comprises deceleration running, acceleration running, constant speed running and parking.
2. The unmanned system based on single line laser radar and millimeter wave radar of claim 1, characterized in that: the unmanned system also comprises a cloud communication module and a positioning module which are arranged on the vehicle, wherein the positioning module determines the current position of the vehicle in real time, and the cloud communication module is connected with the positioning module and the control module;
the cloud communication module is configured with an information sending strategy, the information sending strategy comprises that when a static object or a static special-shaped vehicle is arranged in front of the vehicle, the cloud communication module obtains warning information according to the current position of the vehicle and second road information, the warning information comprises the current position of the static object or the static special-shaped vehicle, and the cloud communication module broadcasts the warning information in a preset first range taking the vehicle as the center through wireless communication signals;
the cloud communication module is also provided with an information receiving strategy, the information receiving strategy comprises that when the cloud communication module receives the warning information, warning adjusting information is determined according to the warning information and the current position of the vehicle and is sent to the control module, and the warning adjusting information comprises the position of a static object or a static special-shaped vehicle relative to the vehicle;
and the control module controls the driving module to carry out driving operation according to the first road information, the second road information and the warning adjustment information.
3. The unmanned system based on single line laser radar and millimeter wave radar of claim 2, characterized in that: the unmanned system also comprises road side units positioned on two sides of the road, wherein the road side units receive the warning information from the cloud communication module and then send the warning information to all the road side units positioned in a preset second range taking the current position of a static or static special-shaped vehicle as the center, after receiving the warning information, the road side units send the warning information to all the cloud communication modules positioned in a preset third range around, and the coverage area of the third range is smaller than that of the second range.
4. The unmanned system based on single line laser radar and millimeter wave radar of claim 2, characterized in that: the cloud communication module is further connected with the driving module and acquires the running speed of the current vehicle, when the acquired running speed of the current vehicle is zero, the cloud communication module acquires the current position of the vehicle and generates warning information as the current position of a static or static special-shaped vehicle, the cloud communication module broadcasts the generated warning information in a preset first range with the vehicle as the center through wireless signals at preset intervals, and when the acquired running speed of the current vehicle is not zero, the cloud communication module stops sending the generated warning information.
5. The unmanned system based on single line laser radar and millimeter wave radar of claim 1, characterized in that: the wireless driving system further comprises a voice prompt module, the voice prompt module is connected with the control module, and when the control module judges that a static object or a static special-shaped vehicle exists in front of the vehicle, the voice prompt module sends prompt voice.
6. The unmanned system of claim 3, wherein the unmanned system is based on a single line laser radar and a millimeter wave radar, and comprises: the cloud communication module and the road side unit and the cloud communication module are communicated through a V2V communication technology.
7. The unmanned system based on single line laser radar and millimeter wave radar of claim 1, characterized in that: the camera module is a vehicle-mounted monocular camera.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210147248.5ACN114563788B (en) | 2022-02-17 | 2022-02-17 | Unmanned system based on single-line laser radar and millimeter wave radar |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210147248.5ACN114563788B (en) | 2022-02-17 | 2022-02-17 | Unmanned system based on single-line laser radar and millimeter wave radar |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114563788Atrue CN114563788A (en) | 2022-05-31 |
| CN114563788B CN114563788B (en) | 2024-08-27 |
Family
ID=81713210
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210147248.5AActiveCN114563788B (en) | 2022-02-17 | 2022-02-17 | Unmanned system based on single-line laser radar and millimeter wave radar |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114563788B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114872712A (en)* | 2022-06-29 | 2022-08-09 | 小米汽车科技有限公司 | Static vehicle detection method, device, equipment, vehicle and storage medium |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11296789A (en)* | 1998-04-10 | 1999-10-29 | Japan Radio Co Ltd | Speeding vehicle enforcement system |
| US20170132923A1 (en)* | 2015-11-06 | 2017-05-11 | Leauto Intelligent Technology (Beijing) Co. Ltd. | Vehicle data processing system and method |
| US20180067206A1 (en)* | 2015-03-31 | 2018-03-08 | Denso Corporation | Vehicle control apparatus and vehicle control method |
| CN108490941A (en)* | 2018-03-29 | 2018-09-04 | 奇瑞汽车股份有限公司 | Applied to the automated driving system and its control method of road sweeper, device |
| CN110550038A (en)* | 2019-09-30 | 2019-12-10 | 重庆元韩汽车技术设计研究院有限公司 | Intelligent driving decision information acquisition system and method |
| WO2020103533A1 (en)* | 2018-11-20 | 2020-05-28 | 中车株洲电力机车有限公司 | Track and road obstacle detecting method |
| CN111854780A (en)* | 2020-06-10 | 2020-10-30 | 恒大恒驰新能源汽车研究院(上海)有限公司 | Vehicle navigation method, device, vehicle, electronic equipment and storage medium |
| CN113002396A (en)* | 2020-04-14 | 2021-06-22 | 青岛慧拓智能机器有限公司 | A environmental perception system and mining vehicle for automatic driving mining vehicle |
| US20210231811A1 (en)* | 2020-01-29 | 2021-07-29 | Honda Motor Co., Ltd. | Recognition device and method |
- 2022
- 2022-02-17CNCN202210147248.5Apatent/CN114563788B/enactiveActive
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11296789A (en)* | 1998-04-10 | 1999-10-29 | Japan Radio Co Ltd | Speeding vehicle enforcement system |
| US20180067206A1 (en)* | 2015-03-31 | 2018-03-08 | Denso Corporation | Vehicle control apparatus and vehicle control method |
| US20170132923A1 (en)* | 2015-11-06 | 2017-05-11 | Leauto Intelligent Technology (Beijing) Co. Ltd. | Vehicle data processing system and method |
| CN108490941A (en)* | 2018-03-29 | 2018-09-04 | 奇瑞汽车股份有限公司 | Applied to the automated driving system and its control method of road sweeper, device |
| WO2020103533A1 (en)* | 2018-11-20 | 2020-05-28 | 中车株洲电力机车有限公司 | Track and road obstacle detecting method |
| CN110550038A (en)* | 2019-09-30 | 2019-12-10 | 重庆元韩汽车技术设计研究院有限公司 | Intelligent driving decision information acquisition system and method |
| US20210231811A1 (en)* | 2020-01-29 | 2021-07-29 | Honda Motor Co., Ltd. | Recognition device and method |
| CN113002396A (en)* | 2020-04-14 | 2021-06-22 | 青岛慧拓智能机器有限公司 | A environmental perception system and mining vehicle for automatic driving mining vehicle |
| CN111854780A (en)* | 2020-06-10 | 2020-10-30 | 恒大恒驰新能源汽车研究院(上海)有限公司 | Vehicle navigation method, device, vehicle, electronic equipment and storage medium |
Non-Patent Citations (3)
| Title |
|---|
| 刘志强;王盈盈;倪捷;刘恒;: "前方车辆障碍物检测方法的研究", 机械设计与制造, no. 07, 8 July 2018 (2018-07-08)* |
| 吴琼: "自动驾驶汽车变道决策与规划关键技术研究", 中国博士学位论文全文数据库 (信息科技辑), 15 March 2023 (2023-03-15)* |
| 姜灏;: "一种自动驾驶车的环境感知系统", 电子制作, no. 15, 1 August 2018 (2018-08-01)* |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114872712A (en)* | 2022-06-29 | 2022-08-09 | 小米汽车科技有限公司 | Static vehicle detection method, device, equipment, vehicle and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114563788B (en) | 2024-08-27 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107458376B (en) | Self-adaptive cruise control method and device and automobile | |
| CN110497912B (en) | Apparatus and method for controlling distance between vehicles | |
| US11218850B2 (en) | Adaptive early warning method based on vehicle-to-everything and apparatus thereof | |
| CN110155045A (en) | A vehicle emergency acceleration self-protection system and self-protection method | |
| US8996276B2 (en) | Vehicle driving support control apparatus | |
| CN111127920A (en) | Method and system for early warning and control of rear-end collision prevention based on in-vehicle communication | |
| CN114394095A (en) | ACC control method and device based on lane changing intention recognition of side front vehicle | |
| CN105894858B (en) | A kind of vehicle emergency brake early warning system | |
| WO2018056104A1 (en) | Vehicle control device, vehicle control method, and moving body | |
| CN207579859U (en) | A kind of vehicle collision prevention system based on cognition technology | |
| CN103832380A (en) | Dead zone automobile detection and warning system and method based on machine vision | |
| CN110293928B (en) | Intelligent blind area detection method and system for automobile | |
| CN114563788B (en) | Unmanned system based on single-line laser radar and millimeter wave radar | |
| CN110166946B (en) | Highway vehicle information monitoring method and system based on wireless communication | |
| CN111717197A (en) | Rear collision prevention method and device and vehicle | |
| CN112572336A (en) | Driving safety reminding system and method | |
| US12315269B2 (en) | Method and device for determining reliability of visual detection | |
| CN116946129A (en) | Front vehicle fatigue driving safety control system and method and vehicle | |
| CN112874517B (en) | Vehicle AEB brake control method and vehicle | |
| CN214822913U (en) | Blind spot monitoring system and vehicle | |
| CN113060132B (en) | Active safety device of heavy vehicle | |
| CN112542059A (en) | Vehicle early warning method | |
| CN113561895A (en) | Unmanned vehicle early warning method and device, electronic equipment and storage medium | |
| CN105083119A (en) | Automobile high-position safety alarming system | |
| CN111391855A (en) | Auxiliary control method and device for vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |