WO2018077263A1 - Capteur destiné à la conduite automatique - Google Patents

Capteur destiné à la conduite automatique Download PDF

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Publication number
WO2018077263A1
WO2018077263A1 PCT/CN2017/108342 CN2017108342W WO2018077263A1 WO 2018077263 A1 WO2018077263 A1 WO 2018077263A1 CN 2017108342 W CN2017108342 W CN 2017108342W WO 2018077263 A1 WO2018077263 A1 WO 2018077263A1
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Prior art keywords
linear laser
laser emitting
emitting device
vehicle
line
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Ceased
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PCT/CN2017/108342
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English (en)
Chinese (zh)
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张舒怡
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Individual
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Individual
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Publication of WO2018077263A1 publication Critical patent/WO2018077263A1/fr
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095—Predicting travel path or likelihood of collision

Definitions

  • the present invention relates to a sensor for automatic driving, which is mainly used for detecting an obstacle that may be encountered on the entire front projection surface in an automatic driving process or an assist driving system, and is also applicable to a train, a ship, etc. In the automatic driving or assisted driving of the vehicle.
  • LIDAR is also called laser radar sensor. Driving the eyes of the car. LIDAR is a compound word taken from "lig ht" (light) and "mdar” (radar).
  • the present invention proposes a method for low-cost detection of non-structural roads (non-cooperative targets), non-structural obstacles (non-cooperative targets) into structural roads, and structural obstacles (cooperative targets).
  • a low-cost, wide-ranging obstacle detection sensor is designed.
  • the present invention is designed in such a way that:
  • a sensor for automatic driving characterized in that at least one linear laser emitting device 1 facing the front ground is provided on a vehicle, and is disposed at a position lower or higher than a linear laser emitting device at the front of the vehicle
  • At least one digital imaging module 2 the digital imaging module 2 is mainly used to place the linear laser line 1 in front of the vehicle
  • the projection line of the square projection position is taken into the CCD or CMOS photosensitive element of the imaging module, and according to the position shape of the laser line on the photosensitive element, it can be discriminated whether the projection line of the laser line on the ground is blocked by other objects (obstacle). Live, in addition to the laser line (cooperative target), imaging of other objects (non-cooperative targets) on the photosensitive element can be ignored. Because the general obstacles are all landing (with feet), especially the wheels of the car.
  • the linear laser emitting device 1 is a plurality of word line laser emitting heads 11 arranged side by side on the same plane, and the line angle of each word line laser emitting head 11 is the same. Towards, these juxtaposed one-line laser emitting heads 11 are disposed on a casing 10 or a frame.
  • the linear laser emitting device 1 further includes an up-and-down angle deflecting mechanism 5, and the deflecting mechanism 5 rotates to direct the linear laser light emitted from the linear laser device 1 to a different horizontal angle in front.
  • the linear laser emitting device 1 further includes an elevating mechanism 9, and the elevating mechanism 9 can adjust the height of the linear laser emitting device 1 on the vehicle.
  • the linear laser emitting device 1 can also be mounted at a fixed height on a vehicle.
  • the substantially set position of the digital imaging module 2 is a half-height position of the vehicle, which can take into account the viewing angle of the imaging module.
  • a general linear laser emitting device 1 is disposed on the top of the vehicle, and the emitted linear laser light is directed toward the front lower side of the traffic tool, and the projection surface is perpendicular to the plane in which the central axis of the vehicle is located.
  • a plurality of word line laser emitting heads having a small opening angle can not only lengthen a word line, but also improve the brightness of each line of linear laser light, and ensure the same angle of the entire line laser beam.
  • the laser line can also be seen in the digital imaging module 2 at a distance.
  • FIG. 1 (a, b, c, d) is a schematic diagram of the front obstacle discrimination (where a', b', c', d' are respectively a, b
  • FIG. 2 is a schematic diagram of the distance calculation of the front obstacle in the present invention.
  • 3 is a schematic view showing the mounting structure of the sensor of the self-driving sensor of the present invention on a passenger car, wherein FIG. 3a is a side view of the structure, and FIGS. 3b and 3c are top views of the two structures.
  • FIG. 4 is a schematic view showing the installation of a linear laser emitting device with a lifting rod on a car (a partial enlarged view in a circle).
  • FIG. 5 (a, b, c, d, e, f) is a schematic view of a linear laser emitting device with an upper and lower angle deflection mechanism
  • FIG. 6 (a, b) ⁇ 7 (a, b, c) is a schematic diagram of the working of the lifting rod (7c is a partial enlarged view).
  • FIG. 8 is a schematic view of a lifting frame.
  • At least one linear laser emitting device 1 facing the front ground is disposed on the vehicle, and at least one digital imaging module 2 is disposed at a position lower or higher than the linear laser emitting device near the front panel of the vehicle, substantially disposed It is the half-height position of the vehicle, which can take into account the angle of view of the imaging module.
  • the digital imaging module is mainly used to ingest the projection line of the linear laser line at the projection position in front of the vehicle into the CCD of the imaging module.
  • CMOS complementary metal-oxide-semiconductor
  • the linear laser emitting device 1 is a combination of a plurality of juxtaposed laser beam emitting heads 11 arranged side by side on the same plane, and these juxtaposed in-line laser emitting heads 11 are disposed in a casing 10.
  • each of the word line laser emitting heads 11 may be parallel to each other, or slightly inclined outward (fan-shaped), and the opening angle of each of the word line laser emitting heads 11 is the same direction (the sides of the opening angle are in the same plane)
  • the general linear laser emitting device 1 is disposed on the top of the vehicle, and the linear laser emitted is directed toward the front and the lower side of the vehicle, and the projection surface is perpendicular to the plane of the central axis of the vehicle, as shown in FIG.
  • the laser line on the ground is stably projected at a fixed position (because the road has a certain slope, the projected laser line is not necessarily a straight line), as shown in Figure la/la', there are obstacles ⁇ A part of the laser line shines on the raised obstacle, and its projection on the imaging module moves up (recording the first time moving up the )), as shown in Figure lb/lb', lc/lc', according to the upward shift Transfer, can calculate the distance of the obstacle, and according to the traffic
  • the moving speed of the tool can calculate how long the vehicle will encounter the obstacle, how should the vehicle move, if there is a pit (step) on the road ahead, then the laser line that should be in the expected position will move down or see No, as shown in Figure ld/ld', this situation also indicates that there is an obstacle in front and cannot be crossed (it can also be determined by calculating the offset of the downward movement according to the empirical value).
  • the oblique downward angle of the linear laser emitting head and the linear laser line projection position on the photosensitive element it is even possible to calculate the position of the obstacle from the vehicle, as shown in FIG. 2 of the linear laser emitting device.
  • the light exit is A (the height from the ground is AB), and the emitted light shines on the road at point D. Once it encounters an obstacle on the road (such as a roadblock), part of the light will be blocked, and a bright spot (line segment) appears at L.
  • the center point of the lens E of the imaging device is 0, the height of the point from the ground is OG; the horizontal direction of the photosensitive element C (CCD) corresponds to the Q point at 0 o'clock, the imaging point of the D point at C is the R point, and the L point is at the C point.
  • the upper imaging point is P point (in fact, D, L, N, R, and P points are not in a plane, the projection plane of these points in the figure), and the DR intersects the obstacle LM (takes its height) at the N point.
  • the angle between AD and the ground is ⁇ , and the angle between DR and the ground is .
  • the magnification ratio calculated according to the focal length and the magnification is k, where AB, OG, GB, OQ are known (fixed value), RQ, PQ are based on the density of the pixel points (and the distance between pixel points), on C
  • the absolute length can be calculated.
  • the actual length (substituting the formula ⁇ ) is also multiplied by the magnification ratio k, which can be seen as known (known). It is assumed that the distance of the obstacle LM from D is x, that is, the length of the DM is X.
  • the default magnification ratio k is 1:
  • .-.x RP*OG*OQ/(RQ*(AB*OQ/(OG*OQ/RQ+GB)-PQ))
  • DG-x is OG*OQ/RQ-RP*OG*OQ/(RQ*(AB*OQ/(OG*OQ/RQ+GB)-PQ)) is an obstacle from the front end of the vehicle (lens) the distance.
  • the digital imaging module 2 is generally disposed at a half-height position of the vehicle, and the linear laser emitting device 1 can be placed on the top of the car, which can take into account the viewing angle of the imaging module.
  • the proximity detection does not necessarily make sense (can't stop), and the digital imaging module 2 can be placed even at the top, and the linear laser emitting device 1 is placed close to the ground (or water surface). The place.
  • a plurality of one-line laser emitting heads 11 may also be disposed on different planes (at different positions of the vehicle), and the one-line laser emitting heads 11 are directed in the same direction or different directions, directly toward the front and the lower sides of the vehicle.
  • This setting method is used to process the data on the imaging module, and the calculation amount is large; it may not necessarily be a word line, such as " ⁇ " word line, "three” word line (three-layer one-word line), etc., oblique The next illumination or small angle rotates back and forth.
  • the laser signal in the far side is weak, and it is not necessarily able to be projected on the photosensitive element.
  • the green laser is relatively bright, and the linear laser emitting head with higher brightness can be used.
  • Variable power amplifiers power the laser emitters, boost power in strong sunlight, enhance the brightness of linear lasers, or provide multiple laser heads with different powers in parallel, with strong sunlight and maximum brightness (power) Laser head operation, generally strong ⁇ , brightness (power) medium laser head operation, no sunlight ⁇ , brightness (power) minimum laser head operation, can be manually selected or automatically selected (via sensitized sensor) to image module sensitization The component can feel the shadow of the linear laser.
  • the linear laser emitting device 1 is composed of at least one layer of a plurality of word line laser emitting heads 11 and a long strip-shaped housing 10 on which the one-line laser emitting head 11 is mounted, and one layer is a case 10 .
  • Each or the entire inline laser emitting head 11 faces the housing 10 of the laser emitting device 1 to be open or provided with a light transmissive panel (such as glass or resin), on the one hand, dustproof, another Aspects can reduce drag, this
  • the panels can also be convex lenses in the up and down direction (thickness in the left and right direction, aspherical mirror), which can further focus the linear laser (thinning the line instead of shortening the line).
  • the linear laser emitting device 1 can be provided with an up-and-down angle deflecting mechanism 5, and the deflecting mechanism 5 rotates to direct the linear laser light emitted from the linear laser device 1 to different angles in front.
  • the horizontal angle of the linear laser emitting device 1 (between the ground) is automatically controlled. The faster the vehicle speed is, the smaller the angle is.
  • the angle deflecting mechanism can be the up and down rotating mechanism 5 Or swing mechanism.
  • the drive shaft 51 that drives the deflection (rotation) can be driven by a stepper motor or servo motor (steering gear) with or without a speed reduction mechanism.
  • the angle deflecting mechanism can also be fixed in a circular (one-way) circular rotation mode, and the other end (or middle) can be lifted and lowered by a screw driven by a nut.
  • This method can be driven by a common DC motor plus a disc drive or a stepper motor.
  • the rotating mechanism or the swinging mechanism 5 can rotate the linear laser to some angles, and by rotating, the linear laser is transmitted to different angles in the front horizontal direction, for example, the vehicle according to the speed and the safe braking distance according to the speed of the automatic driving (or the assisting driving device) Detecting distant obstacles (such as 100 meters outside) or medium distance (30 50 meters), near (within 10 meters) different obstacles, this turning (pendulum) moving direction is to rotate the laser line from near to far, this The direction of rotation (pendulum) is upward (swinging) to the range where the linear laser can be irradiated to the front of the vehicle. This turn (pendulum) can be used to detect whether there is a beam or branch below the height of the vehicle. Waiting for obstacles.
  • the linear laser emitting device 1 may not be provided with the upper and lower angle deflection mechanism 5, and the linear laser emitting device faces a fixed angle, and a plurality of layers of laser light emission 11 directed in different directions may be disposed, as shown in FIG. Four layers, respectively facing forward (detecting whether the highest point of the vehicle will collide with the bridge, tunnel, etc. in front), front down (100 meters or so distance), medium distance (about 50 meters), front lower (close distance) .
  • the rotating shaft 50 of the left and right ends (or at least one end) of the linear laser emitting device 1 (that is, the plurality of one-line laser emitting heads 11 and the housing in which the one-line laser emitting 11 is disposed) is supported by the arm 59 clamping (can be clamped by a copper sleeve or bearing), a gear is arranged on the rotating shaft 50 of the intermediate position (or another section), and meshes with the gear on the driving shaft 51 through a transition gear 52, as shown in Fig. 5 (a).
  • the drive shaft is driven by a servo motor, a stepping motor or a DC motor with a reduction gear (which can be a motor shaft of a stepper motor); the rotary shaft 50 of the housing 10 can also be the output shaft of the motor, or there is only one between gear.
  • the tail portion of the linear laser emitting device may also be provided with an arc-shaped rack 53 that meshes with the gear driven by the driving shaft 51, and is driven to rotate by a certain angle by a rack and pinion, as shown in FIG. 5(b);
  • Set the arc worm The toothed teeth mesh with a motor-driven turbine and are driven to rotate at a certain angle by means of a worm gear.
  • the advantage of the worm gear is the self-locking and large reduction ratio.
  • the linear laser emitting device can also perform a reciprocating (oscillating) motion by the rotation of the cam 54 (eccentric wheel) and the spring 55, as shown in FIG. 5(c).
  • the linear laser emitting device can also be driven to reciprocate by means of the crank 56 link 57, as shown in Fig. 5(d), which shows the two positions of the casing 10 after reciprocating motion.
  • the reciprocating (oscillating) motion of the linear laser emitting device can also be controlled by the on and off of the electromagnet 58 as shown in FIG. 5(e), and the electromagnet 58 is disposed on one of the left and right sides of the bottom of the case (or The two sides are arranged), the electric ⁇ electromagnet 58 sucks the iron block at the bottom of the box body 10, and the power-off ⁇ linear laser emitting device is pulled back by the spring 55; or the electromagnet 58 is disposed above the linear laser emitting device, such as In Fig.
  • the electromagnet 58 is energized to suck the iron block (plate) 60 above the linear laser emitting device, and the electromagnet 58 is deenergized, and the linear laser emitting device rotates back due to gravity.
  • the electromagnet 58 attracts the iron block 60.
  • the rotating mechanism 5 is rotatable in the casing 10 of the linear laser emitting device 1, and of course, the bottom plate of the entire in-line laser emitting head 11 is also rotatable, and the entire rotating mechanism 5 is also located in the casing 10. .
  • the driving portion of the rotating shaft 50 may also be provided with one end of the left and right ends of the linear laser emitting device 1, and the other end of the rotating shaft is fixed by a bearing.
  • the linear laser emitting device 1 can be disposed on the top cover of the vehicle, or can be supported by a bracket (jack), or can be driven up and down by a rack and pinion, and the entire set of linear laser emitting devices ( Including the drive mechanism) fixed on the top cover of the vehicle (or car), and for the aerodynamic performance of the car, the shape of the side of the box 10 or the windward (or air leakage) of the frame should be aerodynamic.
  • the horizontal tilt angle to be applied to the linear laser emitting device loaded on the lifting mechanism 9 before and after the lifting can be adjusted by the level and the motor-driven angular rotation adjusting device or by a mechanical gyroscope, regardless of whether the top of the lifting rod is tilted or lifted.
  • the lifting rod can be disposed in the A-pillar (or B, C-pillar) of the automobile, and can be disposed in one column on one side, and the lifting rod itself has an inverted "L" shape, or is disposed in two In the two columns on the side (the drive shaft of the lifting mechanism 9 extends from one side to the other side, or the drive motor that rotates synchronously on both sides), the lifting rod itself has an "n" shape, and can also be a single rod “T "Shaping, lifting from the generator box or the trunk (this pole can be as thin as possible, to a minimum, does not affect the horizon), the lifting rod itself has teeth or threads, and the lifting mechanism 9 is a motor-driven gear or screw can be like a microscope stage ( Or lens) The height of the linear laser emitting device 1 is raised and lowered.
  • the bracket can also be set as an electric (or hydraulic or pneumatic) lifting bracket, such as an electric lifting antenna or a lifting mast, at a high speed of the vehicle, in order to The signal is very far (about 100 meters) ⁇ , in the imaging module to clearly distinguish the point on the road or the point on the obstacle, in order to widen the distance between the LN points, the linear laser emitting device can be lifted and lowered greatly improve.
  • Electric lifting antennas or lifting masts have mature technology, but motor-driven lifting rafts are best to use a code wheel or a hole type (using photoelectric pair tube or mechanical check).
  • Winding This space-saving way, know
  • the height of the linear laser emitting device can be directly raised and lowered to the maximum height (fixed value) by detecting the shutoff, and the drop is also detected by the shutoff.
  • the mast can be lowered and lowered on the roof of the car at low and medium speeds (to reduce driving resistance, lower the height of the car and easy to enter the garage, etc.).
  • the mast passes through one or two (one on each side)
  • the top 92 is jacked up, and the jack 92 can be electrically or pneumatically or hydraulically driven.
  • the gear 91 (partial tooth) at the bottom of the mast is driven by a gear with a large reduction ratio as shown in Fig.
  • the mast can be either one ("T" shape) or two "n" shapes (in order not to obstruct the sunroof).
  • FIG. 1 It is also possible to provide a platform-type overall ascending or descending lifting platform (frame) on the top of the vehicle, and the linear laser emitting device is arranged above the lifting platform (or under the top), as shown in FIG.
  • the driving motor (with housing) 96 drives a lead screw 93, the distal end of the screw rod 93 is a polished rod, one side of the lifting platform is fixed by a bearing 97, and the proximal end is driven by a nut 94 disposed on the other side of the lifting platform ( Racking or lowering, the advantage of this lifting mechanism is that the orientation of the linear laser emitting device 1 does not need to be changed, and it has a self-locking function.
  • the so-called digital imaging module is mainly composed of a camera, a digital imaging component (CCD or CMOS array), an input and output circuit, a digital processing module (DSP) and other components integrated camera system, typical Applications such as cameras, optical mouse imaging and processing systems, mobile phone camera systems, etc., the camera is best to use a wide-angle camera, at the front of the imaging module can also be equipped with filters, polarizers, of course, filters, polarizers can also be used Integrated in the imaging module (behind the camera), this digital imaging module can also be placed on the same plane, such as one on each side to expand the viewing angle.
  • a digital imaging component CCD or CMOS array
  • DSP digital processing module
  • the digital imaging module is not necessarily located on the vehicle housing, but can also be boring (window) on the housing, and the imaging device is retracted a distance from the interior of the vehicle.
  • the lens can be shielded by a light-transmissive glass (or resin), or it can be shielded by a filter or a polarizer.
  • the filter can also be used in the window mode (hiccup or close) or lift or pan, usually used at night, that is, the filter is removed during the day and moved in at night.
  • the imaging device 2 may be provided in plurality, such as a telephoto 21, a wide angle, a telephoto at a medium and a long distance, and a wide angle at a near distance, and a telephoto camera 21 (imaging device) is disposed at a height near the chassis, and the wide angle is set at a wide angle.
  • the car is near half height.
  • an imaging device can be set for each of the distant (about 100 meters), medium distance (about 50 meters), and near (about 10 meters), each imaging The device separately tracks the changes of the laser beam in the far, middle and near distances, because the range of laser line imaging can be roughly defined on the sensitized sensor according to the empirical value, and because of the fixed distance (such as 50 meters)
  • the fixed viewing angle ⁇ , the distance RQ between the projections R and Q of the imaging sensor is fixed, and the illumination point L of the laser on the obstacle is only below the R point at the projection point of the imaging sensor, from the R point
  • the Q point moves until the Q point continues to go down or disappears during the move (below the angle of view or out of the monitored road range), then the DSP can primarily handle a small imaging sensor monitoring between R to Q (line) Area, of course, in order to balance the inclination of the road and monitor the depression on the road, or the imaging position caused by the jitter during the driving of the car
  • CMOS complementary metal-oxide-semiconductor
  • CMOS complementary metal-oxide-semiconductor
  • Long-distance imaging assuming a height of 1.6 m at the exit of the laser line, a height of 0.3 m at the imaging device, and a focal length of about 36 cm
  • the laser line encounters a raised obstacle, and its imaging position is only shifted upward.
  • the laser line on the object and the laser line on the ground can be separately on the imaging sensor, and some measures need to be taken, such as increasing the focal length of the imaging device, and increasing the distance between the imaging device and the light exiting portion of the linear laser emitting device, especially the line shape.
  • the height of the light exiting portion of the laser emitting device is raised by the lifting device, which is the reason for adding the lifting device to the linear laser emitting device 1.
  • the position of the imaging module can also be lowered, close to the ground, but the dust near the ground is large, which has a catastrophic effect on the imaging device.
  • the lens of the imaging module originally installed at the front of the car also needs to be cleaned frequently, and can be used in the lens.
  • Install a scrubbing device such as a lifting or wiper-like deflection roller or brush, with a flexible material (brush or brush) to avoid major damage to the lens; or install a flat glass in front of the lens for It is ash-proof and easy to clean and wear-resistant.
  • the imaging of a linear laser line on a CMOS or CCD pixel point is not a simple straight line.
  • the road has a certain slope (middle height, low on both sides), and the linear laser emitted by rotation or shaking is a circle.
  • Arc, in image information processing such line segments should also be recognized as a cooperative target in the knowledge base, including pits on the road, range of deviations that can be allowed by automatic driving within the speed range of the car, etc. These values need to be tested and built into the knowledge base of autonomous driving. Even with lasers, there is a situation of edge blurring after imaging.
  • the imaging features of the laser lines at various fixed distances are constructed, taking into account the weather conditions (brightness), extracting relevant empirical values, and obtaining an approximate centroid (connection) based on the knowledge base.
  • the car will shake during driving, but the anti-shake in image processing has mature technology (such as camera), and the body is shaken, and the imaging module and the linear laser emitting device are synchronously shaken.
  • the lens of the telephoto camera is usually composed of multiple optical lenses, which cannot be simply calculated based on similar triangles (the previous calculation method is only for explaining the principle), and has a certain proportional relationship (related to the focal length and magnification of the camera).
  • the ratio can be calculated in practical applications based on data provided by the camera supplier or empirical data obtained by measuring a fixed length.
  • the projection position of the linear laser projected line segment on the imaging module is fixed at different distances, but when the road surface is uneven, the slope is not in front of the starting point of the uphill or downhill slope or the slope is not fixed. ⁇ , the projection position will deviate.
  • the linear laser light emitted by the same linear laser emitting device 1 has different lengths of laser lines projected at different distances, and the longer the distance, the longer the laser line is, and a virtual border can be set on the imaging original to represent the vehicle.
  • the width is similar to the trapezoidal frame showing the width of the car body on the rear view reversing video.
  • the deformation of the laser line outside the frame can be neglected. Of course, it can measure whether the deformation of the laser line outside the frame has a tendency to move inside the frame. If there is, it indicates that the obstacle may collide with the vehicle, and the vehicle should slow down or warn; for the vehicle, it is to establish a projection frame in the direction of the vehicle.
  • two sides of the linear laser emitting device may be respectively arranged according to two sets of laser emitting heads facing the boundary between the two sides of the vehicle (or a linear laser emitting device with a large beam expanding angle), In the vicinity of the vehicle, there are no people, animals and other objects moving quickly in the lane of the vehicle, or only when the vehicle turns, and predicting whether there is an obstacle in the lane that has passed.
  • the entire system of the present invention is installed not only toward the front of the vehicle, but also toward the rear of the vehicle (assisted reverse or backward warning) or toward the left and right (or left front, right front, left rear, right rear) directions of the vehicle. Assist in overtaking or turning. It is also possible to vertically install a linear laser toward the front on the side of the car (such as on both sides of the car body or on the mirror bracket (not rotating) to indicate the width of the car, and to illuminate and detect both sides of the imaging module. Make sure there is nothing in front of you (or people, animals or branches in the air) into the driveway of the vehicle. Also, in the same way, it can be launched parallel to the chassis near the chassis of the vehicle (parallel ground or forward or above the wheel) The laser line below) further detects the anterior obstacle by imaging or reflection (ranging or signal only).
  • the projection is not a straight line in front, and a certain offset can be set according to the height of the waves for comparison; for the train, because of the relationship between the roadbed and the track
  • the projection line is not a straight line, and can be compared according to the virtual frame established by the height and width of the chassis of the entire train.

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Traffic Control Systems (AREA)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

L'invention concerne un capteur destiné à la conduite automatique, au moins un dispositif d'émission laser linéaire (1), tourné vers le sol à l'avant, étant disposé sur un véhicule et au moins un module d'imagerie numérique (2) étant disposé à l'avant du véhicule à une position inférieure ou supérieure à celle du dispositif d'émission laser linéaire. Le module d'imagerie numérique (2) est principalement destiné à prendre une ligne de projection d'une position de projection du dispositif d'émission laser linéaire (1) devant le véhicule dans un élément photosensible CCD ou CMOS du module d'imagerie et, en fonction d'une forme de position d'une ligne laser sur l'élément photosensible, à déterminer si la ligne laser est bloquée par un obstacle sur la ligne de projection sur le sol. Le dispositif d'émission laser linéaire (1) est une pluralité d'émetteurs laser linéaires à petit angle (11) disposés en parallèle sur un même plan et la pluralité d'émetteurs laser linéaires à petit angle non seulement s'étendent linéairement, mais augmentent également la luminosité de chaque laser linéaire.
PCT/CN2017/108342 2016-10-31 2017-10-30 Capteur destiné à la conduite automatique Ceased WO2018077263A1 (fr)

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CN201610931990.X 2016-10-31
CN201610931990.XA CN106515729A (zh) 2016-10-31 2016-10-31 一种用于自动驾驶的传感器

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CN106515729A (zh) * 2016-10-31 2017-03-22 张舒怡 一种用于自动驾驶的传感器
CN108008411A (zh) * 2016-10-31 2018-05-08 张舒怡 一种用于自动驾驶的传感器
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