WO2021027401A1 - 自动驾驶车辆 - Google Patents

自动驾驶车辆 Download PDF

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Publication number
WO2021027401A1
WO2021027401A1 PCT/CN2020/097817 CN2020097817W WO2021027401A1 WO 2021027401 A1 WO2021027401 A1 WO 2021027401A1 CN 2020097817 W CN2020097817 W CN 2020097817W WO 2021027401 A1 WO2021027401 A1 WO 2021027401A1
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WIPO (PCT)
Prior art keywords
lidar
vehicle
driving vehicle
autonomous vehicle
autonomous
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.)
Ceased
Application number
PCT/CN2020/097817
Other languages
English (en)
French (fr)
Inventor
鞠立军
王俊平
王成法
朱帆
刘祥
乔军奎
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beijing Baidu Netcom Science and Technology Co Ltd
Original Assignee
Beijing Baidu Netcom Science and Technology Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Beijing Baidu Netcom Science and Technology Co Ltd filed Critical Beijing Baidu Netcom Science and Technology Co Ltd
Priority to EP20853335.6A priority Critical patent/EP3885197A4/en
Priority to JP2021535954A priority patent/JP2022515175A/ja
Priority to KR1020217018552A priority patent/KR20210084635A/ko
Publication of WO2021027401A1 publication Critical patent/WO2021027401A1/zh
Priority to US17/670,504 priority patent/US12174319B2/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
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    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/50—Constructional details
    • H04N23/51—Housings
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
    • B60R2011/0001—Arrangements for holding or mounting articles, not otherwise provided for characterised by position
    • B60R2011/004—Arrangements for holding or mounting articles, not otherwise provided for characterised by position outside the vehicle
    • 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
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
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    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • 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
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Definitions

  • Embodiments of the present disclosure relate to autonomous vehicles.
  • the layout of sensors in vehicles has become more and more important.
  • the sensor is set on the exterior of the autonomous vehicle to achieve a better view.
  • this setting affects the shape and overall size of the vehicle, and easily causes sensor bumps, which may cause sensor failure.
  • different types of sensors can only visualize a certain area under certain circumstances due to their different working principles, resulting in a blind spot for the vehicle.
  • the embodiments of the present disclosure can provide an autonomous vehicle that at least partially solves the above-mentioned shortcomings in the prior art.
  • an autonomous vehicle includes a plurality of side lidars, which are respectively arranged on a plurality of side portions of the autonomous driving vehicle, each of the plurality of side lidars is partially embedded in the plurality of side portions And a top lidar, which is provided on the top of the autonomous vehicle and is configured to obtain environmental information around the autonomous vehicle together with the plurality of side lidars.
  • the plurality of side lidars include: a first lidar arranged on the front side of the autonomous vehicle and partially embedded in the front side; a second lidar arranged on the automatic driving vehicle Driving the left side of the vehicle and partially embedded in the left side; a third lidar is provided on the right side of the autonomous vehicle and partially embedded in the right side; and a fourth lidar is provided on the autonomous driving The rear side of the vehicle is partially embedded in the rear side.
  • the second lidar is located at the front or rear end of the left side; and/or the third lidar is located at the front or rear end of the right side.
  • the embedded portion of each of the plurality of side lidars does not exceed the respective radius.
  • the top lidar is arranged at the front or rear end of the top.
  • the central axis of the first lidar is inclined downward by 5-10 degrees relative to the front side; and/or the central axis of the fourth lidar is parallel to the rear side.
  • the central axis of the top lidar is inclined by 5-15 degrees with respect to the vertical direction.
  • the self-driving vehicle further includes: a plurality of cameras horizontally arranged on the front side of the self-driving vehicle for collecting optical images of the front of the self-driving vehicle, the multiple cameras having each other Different focal lengths; and a wide-angle camera, arranged on the rear side of the autonomous driving vehicle, for collecting optical images of the rear of the autonomous driving vehicle.
  • the self-driving vehicle further includes: a first millimeter-wave radar, arranged on the front side of the self-driving vehicle, and used to collect microwave images in front of the self-driving vehicle; and/or a second millimeter The wave radar is arranged on the rear side of the automatic driving vehicle and is used to collect microwave images of the rear of the automatic driving vehicle.
  • the autonomous driving vehicle further includes: a plurality of ultrasonic radars, respectively arranged on multiple sides of the autonomous driving vehicle, for collecting ultrasound images around the autonomous driving vehicle.
  • the self-driving vehicle is an L4 level self-driving vehicle.
  • the aesthetics of the vehicle is improved, and the sensor is not prone to malfunctions such as bumps.
  • the field of vision of the laser radar can be guaranteed by installing multiple laser radars.
  • Figure 1 is a perspective view of an autonomous vehicle according to some embodiments of the present disclosure
  • Fig. 2 is another perspective view of an autonomous vehicle according to some embodiments of the present disclosure.
  • Figure 3 is a front view of an autonomous vehicle according to some embodiments of the present disclosure.
  • the term “including” and its various variants can be understood as open-ended terms, which means “including but not limited to”; the term “based on” can be understood as “based at least in part on”
  • the term “one embodiment” can be understood as “at least one embodiment”; the term “another embodiment” can be understood as “at least one other embodiment”.
  • FIGS. 1 and 2 are perspective views of the automatic driving vehicle
  • FIG. 3 is a front view of the automatic driving vehicle.
  • the autonomous driving vehicle 100 may be an L4 level autonomous driving vehicle. It should be understood that the self-driving vehicle 100 is only provided as an example, and those skilled in the art can make various appropriate modifications to the type, arrangement, number, etc. of sensors without departing from the scope of the present disclosure.
  • the autonomous vehicle 100 includes a plurality of side parts, including a front side 101, a left side 103, a right side 105, and a rear side 107.
  • Multiple side lidars are respectively arranged on these sides of the autonomous vehicle 100.
  • the first lidar 102 is arranged on the front side 101
  • the second lidar 104 is arranged on the left side 103
  • the third lidar 106 is arranged on the right side.
  • Side 105, and the fourth lidar 108 is provided on the rear side 107.
  • These side lidars are respectively partially embedded in the corresponding ones of the side portions.
  • the first lidar 102 and the fourth lidar 108 may be arranged in the center, and the second lidar 104 and the third lidar 106 may be arranged at the front or rear according to the specific structure of the vehicle.
  • the field of view of the second lidar 104 and the third lidar 106 can be more focused on the front left and front right of the vehicle, which is especially suitable for the situation where the top lidar 110 is installed at the rear of the vehicle .
  • the field of view of the second lidar 104 and the third lidar 106 can be more focused on the rear left and right rear of the vehicle, which is especially suitable for the top lidar 110 to be installed at the front of the vehicle Situation.
  • the second lidar 104 and the third lidar 106 may also be arranged at any other suitable positions on the side.
  • the aesthetics of the vehicle is improved, and the lidar is not prone to collisions and other failures.
  • the field of vision of the lidar can be guaranteed to ensure the safety of the autonomous vehicle 100.
  • the embedded portion of each side lidar does not exceed its radius. In this way, while improving the aesthetics of the vehicle, the impact on the field of view of the lidar is minimized.
  • the center axis of the first lidar 102 may be inclined downward by 5-10 degrees with respect to the front side 101.
  • the center axis of the fourth lidar 108 may be parallel to the rear side 107, that is, parallel to the vertical direction.
  • the vertical direction indicates the height direction of the vehicle, and is usually perpendicular to the ground.
  • Lidar is usually designed as a cylindrical structure, and the central axis represents the axis passing through the center of the lidar, that is, the geometric center axis of rotation.
  • the top lidar 110 is arranged on the top 109 of the autonomous vehicle 100 for positioning and sensing.
  • the top lidar 100 can detect the static environment around the vehicle (for example, buildings, trees, etc.) for positioning.
  • the top lidar 100 can obtain environmental information around the autonomous vehicle 100 together with these side lidars.
  • the top lidar 110 is provided at the rear end of the top 109 of the vehicle.
  • the top lidar 110 may also be provided at the front end of the top 109 of the vehicle.
  • the center axis of the top lidar 110 may be inclined backward by 5-15 degrees with respect to the vertical direction. In this way, the enhanced sensing range of the top lidar 110 can be improved.
  • the central axis of the lidar 110 can also be set to be inclined to a similar angle in other ways.
  • the autonomous driving vehicle 100 further includes a plurality of cameras 112, which are horizontally arranged on the front side 101, and are used to collect optical images of the front of the vehicle 100.
  • These cameras 112 have different focal lengths from each other.
  • four cameras 112 are shown, two of which can be used for traffic light recognition.
  • the camera 112 can be embedded behind the windshield, so as to achieve a beautiful effect without affecting the function. By setting the cameras 112 horizontally in a row, a better data fusion effect can be achieved.
  • the autonomous driving vehicle 100 further includes a wide-angle camera 114, which is arranged on the rear side 107 of the autonomous driving vehicle 100, and is used to collect an optical image of the rear of the autonomous driving vehicle 100.
  • the autonomous driving vehicle 100 further includes a first millimeter wave radar 116, which is disposed on the front side 101 of the autonomous driving vehicle 100, and is used to collect microwave images in front of the autonomous driving vehicle 100.
  • the self-driving vehicle 100 further includes a second millimeter wave radar 118, which is arranged on the rear side 107 of the self-driving vehicle 100, and is used to collect microwave images of the rear of the self-driving vehicle 100.
  • millimeter wave radars 116 and 118 can recognize obstacles at medium and long distances.
  • the autonomous vehicle 100 further includes a plurality of ultrasonic radars 120, which are respectively arranged on multiple sides of the autonomous vehicle 100, and are used to collect ultrasound images around the autonomous vehicle 100.
  • a plurality of ultrasonic radars 120 which are respectively arranged on multiple sides of the autonomous vehicle 100, and are used to collect ultrasound images around the autonomous vehicle 100.
  • 2 or 4 ultrasonic radars 120 may be provided on each side. With the help of the characteristics of ultrasonic waves, the ultrasonic radar 120 can recognize obstacles at close range.

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  • Engineering & Computer Science (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Electromagnetism (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Acoustics & Sound (AREA)
  • Transportation (AREA)
  • Multimedia (AREA)
  • Mathematical Physics (AREA)
  • Human Computer Interaction (AREA)
  • Signal Processing (AREA)
  • Traffic Control Systems (AREA)
  • Optical Radar Systems And Details Thereof (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Optics & Photonics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Aviation & Aerospace Engineering (AREA)

Abstract

一种自动驾驶车辆（100），该自动驾驶车辆包括多个侧部激光雷达（102, 104, 106, 108），分别被设置在该自动驾驶车辆（100）的多个侧部（101, 103, 105, 107），多个侧部激光雷达（102, 104, 106, 108）中的每一个均部分嵌入多个侧部（101, 103, 105, 107）中的相应侧部；以及顶部激光雷达（110），被设置在该自动驾驶车辆（100）的顶部（109），并且被配置为与多个侧部激光雷达（102, 104, 106, 108）一起获取该自动驾驶车辆（100）周围的环境信息。通过设置多个激光雷达（102, 104, 106, 108, 109），可以避免该自动驾驶车辆（100）的感知盲区。

Description

自动驾驶车辆 技术领域
本公开的实施例涉及自动驾驶车辆。
背景技术
随着自动驾驶的发展，传感器在车辆中的布局变得越来越重要。通常而言，传感器设置在自动驾驶车辆的外部，以实现更好的视野。然而，这种设置影响了车辆的造型和整体尺寸，并且容易造成传感器的磕碰，可能导致传感器故障。另外，不同类型的传感器由于本身的工作原理不同，只能在特定情况下可视化一定的区域，导致车辆存在感知盲区。
发明内容
本公开的实施例可以提供至少部分地解决现有技术中的上述缺点的自动驾驶车辆。
根据一些实施例，提供了一种自动驾驶车辆。该自动驾驶车辆包括：多个侧部激光雷达，分别被设置在所述自动驾驶车辆的多个侧部，所述多个侧部激光雷达中的每一个均部分嵌入所述多个侧部中的相应侧部；以及顶部激光雷达，被设置在所述自动驾驶车辆的顶部，并且被配置为与所述多个侧部激光雷达一起获取所述自动驾驶车辆周围的环境信息。
在一些实施例中，所述多个侧部激光雷达包括：第一激光雷达，设置在所述自动驾驶车辆的前侧并且部分嵌入所述前侧内；第二激光雷达，设置在所述自动驾驶车辆的左侧并且部分嵌入所述左侧内；第三激光雷达，设置在所述自动驾驶车辆的右侧并且部分嵌入所述右侧内；以及第四激光雷达，设置在所述自动驾驶车辆的后侧并且部分嵌入所述后侧内。
在一些实施例中，所述第二激光雷达位于所述左侧的前端或后 端；和/或所述第三激光雷达位于所述右侧的前端或后端。
在一些实施例中，所述多个侧部激光雷达中的每一个的嵌入部分不超过各自的半径。
在一些实施例中，所述顶部激光雷达设置在所述顶部的前端或后端。
在一些实施例中，所述第一激光雷达的中心轴线相对于所述前侧向下倾斜5-10度；和/或所述第四激光雷达的中心轴线平行于所述后侧。
在一些实施例中，所述顶部激光雷达的中心轴线相对于竖直方向倾斜5-15度。
在一些实施例中，所述自动驾驶车辆还包括：多个相机，水平设置在所述自动驾驶车辆的前侧，用于采集所述自动驾驶车辆前方的光学图像，所述多个相机具有彼此不同的焦距；以及广角相机，设置在所述自动驾驶车辆的后侧，用于采集所述自动驾驶车辆后方的光学图像。
在一些实施例中，所述自动驾驶车辆还包括：第一毫米波雷达，设置在所述自动驾驶车辆的前侧，用于采集所述自动驾驶车辆前方的微波图像；和/或第二毫米波雷达，设置在所述自动驾驶车辆的后侧，用于采集所述自动驾驶车辆后方的微波图像。
在一些实施例中，所述自动驾驶车辆还包括：多个超声波雷达，分别被设置在所述自动驾驶车辆的多个侧部，用于采集所述自动驾驶车辆周围的超声图像。
在一些实施例中，所述自动驾驶车辆为L4级别自动驾驶车辆。
根据本公开的一些实施例，通过将侧部激光雷达部分嵌入在自动驾驶车辆中，提高了车辆的美观程度，并且传感器不容易发生磕碰等故障。另外，通过设置多个激光雷达而导致激光雷达的视野能够得到保障。
另外，通过提供不同类型的传感器，还可以避免自动驾驶车辆的感知盲区。
附图说明
结合附图并参考以下详细说明，本公开各实施例的上述和其他特征、优点及方面将变得更加明显。在附图中，相同或相似的附图标记表示相同或相似的元素，其中：
图1是根据本公开的一些实施例的自动驾驶车辆的立体视图；
图2是根据本公开的一些实施例的自动驾驶车辆的另一立体视图；以及
图3是根据本公开的一些实施例的自动驾驶车辆的前视图。
具体实施方式
现在将参照附图中所示的各种示例性实施例对本公开的构思进行说明。应当理解，这些实施例的描述仅仅为了使得本领域的技术人员能够更好地理解并进一步实现本公开，而并不旨在以任何方式限制本公开的范围。应当注意的是，在可行情况下可以在图中使用类似或相同的附图标记，并且类似或相同的附图标记可以表示类似或相同的元素。本领域的技术人员将理解，从下面的描述中，本文中所说明的结构和/或方法的替代实施例可以被采用而不脱离所描述的本公开的原理和构思。
在本公开的语境中，术语“包括”及其各种变体可以被理解为开放式术语，其意味着“包括但不限于”；术语“基于”可以被理解为“至少部分地基于”；术语“一个实施例”可以被理解为“至少一个实施例”；术语“另一实施例”可以被理解为“至少一个其它实施例”。其他可能出现但在此处未提及的术语，除非明确说明，否则不应以与本公开的实施例所基于的构思相悖的方式做出解释或限定。
在结合附图描述相应的实施例或示例时，涉及到的与方向有关的术语旨在方便理解对本公开实施例的描述，例如“上(部)”、“下(部)”、“竖向”、“水平(横向)”、“纵向”、“顶(部)”、 “底(部)”等，它们或基于阅读者观看视图时所呈现的方向，或基于产品自身的正常使用方向，并不会对本公开的保护范围产生不期望的限制。
以下结合图1-图3详细介绍根据本公开的实施例的自动驾驶车辆100，其中图1和图2是自动驾驶车辆的立体视图，图3是自动驾驶车辆的前视图。例如，自动驾驶车辆100可以是L4级别自动驾驶车辆。应当理解，自动驾驶车辆100仅作为示例提供，在不超出本公开的范围的情况下，本领域技术人员可以对传感器的种类、布置、数量等进行各种适当修改。
如图1-图3所示，自动驾驶车辆100包括多个侧部，包括前侧101、左侧103、右侧105、后侧107。多个侧部激光雷达分别设置在自动驾驶车辆100的这些侧部，例如，第一激光雷达102设置在前侧101，第二激光雷达104设置在左侧103，第三激光雷达106设置在右侧105，并且第四激光雷达108设置在后侧107。这些侧部激光雷达分别部分嵌入这些侧部中的相应侧部。第一激光雷达102和第四激光雷达108可以居中布置，而第二激光雷达104和第三激光雷达106可以根据车辆的具体结构设置在前端或后端。例如，通过设置在车辆的前端，第二激光雷达104和第三激光雷达106的视野可以更多地聚焦于车辆的左前方和右前方，特别适用于顶部激光雷达110设置在车辆的后端的情形。类似地，通过设置在车辆的后端，第二激光雷达104和第三激光雷达106的视野可以更多地聚焦于车辆的左后方和右后方，特别适用于顶部激光雷达110设置在车辆的前端的情形。应当理解，根据车辆的具体结构和传感器的总体情况，也可以将第二激光雷达104和第三激光雷达106设置在侧部的任何其他合适的位置。
通过将侧部激光雷达部分嵌入在自动驾驶车辆100中，相比于传统的完全外露的激光雷达布置方式，提高了车辆的美观程度，并且激光雷达不容易发生磕碰等故障。另外，由于设置了多个激光雷达，激光雷达的视野能够得到保障，以保证自动驾驶车辆100的安 全性。
在一些实施例中，每个侧部激光雷达的嵌入部分不超过其半径。以这种方式，在提升车辆的美观程度的同时，尽可能降低对激光雷达的视野的影响。
在一些实施例中，第一激光雷达102的中心轴线可以相对于前侧101向下倾斜5-10度。另外，第四激光雷达108的中心轴线可以平行于后侧107，即，平行于竖直方向。竖直方向表示车辆的高度方向，并通常垂直于地面。激光雷达通常设计为柱体结构，而中心轴线表示穿过激光雷达的中心的轴线，即几何上的旋转中心轴。
如图1-图3所示，顶部激光雷达110设置在自动驾驶车辆100的顶部109，以用于定位和感知。例如，顶部激光雷达100可以检测车辆周围的静态环境(例如，建筑、树木等)，以用于定位。顶部激光雷达100可以与这些侧部激光雷达一起获取自动驾驶车辆100周围的环境信息。在所示的实施例中，顶部激光雷达110设置在车辆的顶部109的后端。备选地，顶部激光雷达110也可以设置在车辆的顶部109的前端。
在一些实施例中，如图1和图2所示，顶部激光雷达110的中心轴线可以相对于竖直方向向后倾斜5-15度。以这种方式，可以提高顶部激光雷达110的提升感知范围。备选地，在顶部激光雷达110设置在其他位置时，也可以将其中心轴线设置为向其他方式倾斜类似的角度。
如图1和图3所示，自动驾驶车辆100还包括多个相机112，这些相机112水平设置在前侧101，用于采集车辆100的前方的光学图像。这些相机112具有彼此不同的焦距。在所示的示例中，示出了4个相机112，其中2个可以用于红绿灯识别。相机112可以嵌入在挡风玻璃的后方，从而在不影响功能的情况下达到美观的效果。通过将相机112水平设置为一排，可以实现更好的数据融合效果。
如图2所示，自动驾驶车辆100还包括广角相机114，其设置在自动驾驶车辆100的后侧107，用于采集自动驾驶车辆100的后方的 光学图像。
如图1和图3所示，自动驾驶车辆100还包括第一毫米波雷达116，设置在自动驾驶车辆100的前侧101，用于采集所述自动驾驶车辆100的前方的微波图像。如图2所示，自动驾驶车辆100还包括第二毫米波雷达118，设置在所述自动驾驶车辆100的后侧107，用于采集所述自动驾驶车辆100的后方的微波图像。借助于毫米波的特性，毫米波雷达116和118可以进行中远距离的障碍物识别。
如图1-图3所示，自动驾驶车辆100还包括多个超声波雷达120，分别被设置在自动驾驶车辆100的多个侧部，用于采集自动驾驶车辆100周围的超声图像。例如，可以在每个侧部设置2或4个超声波雷达120。借助于超声波的特性，超声波雷达120可以进行近距离的障碍物识别。
根据本公开的实施例，通过提供不同类型的传感器，可以避免自动驾驶车辆的感知盲区，以更好地实现L4级别自动驾驶。
虽然已通过示例详细展示了本公开的一些具体实施例，但是本领域技术人员应当理解，上述示例仅意图是示例性的而非限制本公开的范围。本领域技术人员应该理解，上述实施例可以被修改而不脱离本公开的范围和实质。本公开的范围是通过所附的权利要求限定的。
本说明书中的对任何现有技术的引用不是也不应当被视为承认为暗示这些现有技术构成公知常识。

Claims (11)

  1. 一种自动驾驶车辆(100)，其特征在于，包括：
    多个侧部激光雷达，分别被设置在所述自动驾驶车辆(100)的多个侧部，所述多个侧部激光雷达中的每一个均部分嵌入所述多个侧部中的相应侧部；以及
    顶部激光雷达(110)，被设置在所述自动驾驶车辆(100)的顶部(109)，并且被配置为与所述多个侧部激光雷达一起获取所述自动驾驶车辆(100)周围的环境信息。
  2. 根据权利要求1所述的自动驾驶车辆(100)，其特征在于，所述多个侧部激光雷达包括：
    第一激光雷达(102)，设置在所述自动驾驶车辆(100)的前侧(101)并且部分嵌入所述前侧(101)内；
    第二激光雷达(104)，设置在所述自动驾驶车辆(100)的左侧(103)并且部分嵌入所述左侧(103)内；
    第三激光雷达(106)，设置在所述自动驾驶车辆(100)的右侧(105)并且部分嵌入所述右侧(105)内；以及
    第四激光雷达(108)，设置在所述自动驾驶车辆(100)的后侧(107)并且部分嵌入所述后侧(107)内。
  3. 根据权利要求2所述的自动驾驶车辆(100)，其特征在于，
    所述第二激光雷达(104)位于所述左侧(103)的前端或后端；和/或
    所述第三激光雷达(106)位于所述右侧(105)的前端或后端。
  4. 根据权利要求1所述的自动驾驶车辆(100)，其特征在于，所述多个侧部激光雷达中的每一个的嵌入部分不超过各自的半径。
  5. 根据权利要求1所述的自动驾驶车辆(100)，其特征在于，所述顶部激光雷达(110)设置在所述顶部(109)的前端或后端。
  6. 根据权利要求2所述的自动驾驶车辆(100)，其特征在于，所述第一激光雷达(102)的中心轴线相对于所述前侧(101)向下 倾斜5-10度；和/或
    所述第四激光雷达(108)的中心轴线平行于所述后侧(107)。
  7. 根据权利要求1所述的自动驾驶车辆(100)，其特征在于，所述顶部激光雷达(110)的中心轴线相对于竖直方向倾斜5-15度。
  8. 根据权利要求1所述的自动驾驶车辆(100)，其特征在于，还包括：
    多个相机(112)，水平设置在所述自动驾驶车辆(100)的前侧(101)，用于采集所述自动驾驶车辆(100)前方的光学图像，所述多个相机(112)具有彼此不同的焦距；以及
    广角相机(114)，设置在所述自动驾驶车辆(100)的后侧(107)，用于采集所述自动驾驶车辆(100)后方的光学图像。
  9. 根据权利要求1所述的自动驾驶车辆(100)，其特征在于，还包括：
    第一毫米波雷达(116)，设置在所述自动驾驶车辆(100)的前侧(101)，用于采集所述自动驾驶车辆(100)前方的微波图像；和/或
    第二毫米波雷达(118)，设置在所述自动驾驶车辆(100)的后侧(107)，用于采集所述自动驾驶车辆(100)后方的微波图像。
  10. 根据权利要求1所述的自动驾驶车辆(100)，其特征在于，还包括：
    多个超声波雷达(120)，分别被设置在所述自动驾驶车辆(100)的多个侧部，用于采集所述自动驾驶车辆(100)周围的超声图像。
  11. 根据权利要求1-10中任一项所述的自动驾驶车辆(100)，其特征在于，所述自动驾驶车辆(100)为L4级别自动驾驶车辆。
PCT/CN2020/097817 2019-08-15 2020-06-23 自动驾驶车辆 Ceased WO2021027401A1 (zh)

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