CN114670821A - Vehicle control system and vehicle - Google Patents
Vehicle control system and vehicle Download PDFInfo
- Publication number
- CN114670821A CN114670821A CN202111425810.8A CN202111425810A CN114670821A CN 114670821 A CN114670821 A CN 114670821A CN 202111425810 A CN202111425810 A CN 202111425810A CN 114670821 A CN114670821 A CN 114670821A
- Authority
- CN
- China
- Prior art keywords
- target vehicle
- vehicle
- information
- environmental information
- control system
- 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.)
- Pending
Links
- 230000007613 environmental effect Effects 0.000 claims abstract description 80
- 238000004891 communication Methods 0.000 claims abstract description 51
- 230000002093 peripheral effect Effects 0.000 abstract description 12
- 238000007790 scraping Methods 0.000 abstract description 9
- 238000000034 method Methods 0.000 description 19
- 238000009434 installation Methods 0.000 description 14
- 230000008569 process Effects 0.000 description 9
- 238000010586 diagram Methods 0.000 description 5
- 230000008859 change Effects 0.000 description 4
- 238000005034 decoration Methods 0.000 description 4
- 230000006870 function Effects 0.000 description 4
- 238000006748 scratching Methods 0.000 description 3
- 230000002393 scratching effect Effects 0.000 description 3
- 235000021189 garnishes Nutrition 0.000 description 2
- 230000003137 locomotive effect Effects 0.000 description 2
- 238000004590 computer program Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000010295 mobile communication Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
Images
Classifications
-
- 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
- B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Traffic Control Systems (AREA)
Abstract
The embodiment of the disclosure relates to a vehicle control system and a vehicle. The vehicle control system comprises a plurality of information acquisition devices, navigation communication devices and a controller; the vehicle control system is installed on a target vehicle, and a minimum circumscribed cube of the target vehicle on which the vehicle control system is installed is the same size as a minimum circumscribed cube of the target vehicle on which the vehicle control system is not installed; the information acquisition equipment is used for acquiring environmental information around the target vehicle to obtain first environmental information; the navigation communication equipment is used for receiving second environment information sent by other vehicles; the controller is configured to output control information for controlling the target vehicle according to the first environmental information and the second environmental information. By adopting the vehicle control system, collision accidents caused by superelevation can be avoided, or accidents caused by scraping and rubbing peripheral obstacles (pedestrians) can be avoided, and the driving safety of the vehicle is improved.
Description
Technical Field
The embodiment of the disclosure relates to the technical field of vehicles, in particular to a vehicle control system and a vehicle.
Background
With the technical development of vehicles, there are more and more vehicles having an automatic driving function or a semi-automatic driving function, and they are gradually applied to various fields.
At present, modified vehicles with automatic driving/semi-automatic driving functions are generally provided with information acquisition equipment on the roof and the periphery of the vehicle body. For example, a laser radar is installed around a roof and a body of a vehicle.
However, such installation of the information collecting apparatus causes a change in the three-dimensional size of the vehicle. For example, after installation of the lidar, the height and width of the vehicle exceed the original dimensions. In the running process of the vehicle, collision accidents caused by superelevation are easily caused, or accidents caused by scraping peripheral obstacles (pedestrians) are easily caused, and the safe running of the vehicle is not facilitated.
Disclosure of Invention
The embodiment of the disclosure provides a vehicle control system and a vehicle, which do not change the original three-dimensional size of the vehicle, can avoid collision accidents caused by superelevation or accidents caused by scratching peripheral obstacles (pedestrians), and improve the driving safety of the vehicle.
In a first aspect, an embodiment of the present disclosure provides a vehicle control system, which includes a plurality of information acquisition devices, a navigation communication device, and a controller; the vehicle control system is installed on a target vehicle, and a minimum circumscribed cube of the target vehicle on which the vehicle control system is installed is the same size as a minimum circumscribed cube of the target vehicle on which the vehicle control system is not installed;
The information acquisition equipment is used for acquiring environmental information around the target vehicle to obtain first environmental information;
the navigation communication equipment is used for receiving second environment information sent by other vehicles;
the controller is configured to output control information for controlling the target vehicle according to the first environmental information and the second environmental information.
In one embodiment, the first environmental information includes front environmental information and side environmental information, and the plurality of information collecting devices includes a first information collecting device provided at a front portion of the target vehicle and a second information collecting device provided at a side portion of the target vehicle;
the first information acquisition equipment is used for acquiring environmental information in front of the target vehicle to obtain the front environmental information;
the second information acquisition device is used for acquiring the side environment information of the target vehicle.
In one embodiment, the first information collecting device comprises a first laser radar, an infrared camera, a first fisheye camera and a first millimeter wave radar.
In one embodiment, the first laser radar, the infrared camera and the first fisheye camera are arranged inside a decorative cover at an air inlet of the head of the target vehicle.
In one embodiment, the first millimeter wave radar is disposed inside a garnish at the head bumper of the target vehicle.
In one embodiment, the number of the first millimeter wave radars is plural.
In one embodiment, the second information collecting device comprises a first look-around camera, a second fisheye camera, a second laser radar and a second millimeter wave radar.
In one embodiment, the first all-round camera, the second fisheye camera, the second lidar and the second millimeter-wave radar are disposed below a rearview mirror of the target vehicle, and a dimension of the first all-round camera, the second fisheye camera, the second lidar and the second millimeter-wave radar protruding to a side of the target vehicle is smaller than or equal to a dimension of the rearview mirror protruding to the side of the target vehicle.
In one embodiment, the second laser radar and the second millimeter wave radar are disposed on an operation panel at the rear of the target vehicle without protruding from the operation panel.
In one embodiment, the navigation communication equipment is installed on the top of the head of the target vehicle, and the height of the navigation communication equipment after installation is smaller than or equal to the height of a flow guide cover of the target vehicle.
In one embodiment, the navigation communication device includes a GPS (Global Positioning System) antenna, a 4G (the 4th generation mobile communication technology) antenna, and a second surround-view camera.
In a second aspect, embodiments of the present disclosure provide a vehicle including a vehicle body and the vehicle control system of the first aspect.
The vehicle control system comprises a plurality of information acquisition devices, navigation communication devices and a controller; the vehicle control system is installed on a target vehicle, and the minimum external cube of the target vehicle with the vehicle control system is the same as the minimum external cube of the target vehicle without the vehicle control system; the information acquisition equipment acquires environmental information around a target vehicle to obtain first environmental information; the navigation communication equipment receives second environment information sent by other vehicles; the controller outputs control information of the control target vehicle based on the first environmental information and the second environmental information. According to the embodiment of the disclosure, the environmental information around the target vehicle can be acquired through the information acquisition device, and meanwhile, because the original three-dimensional size of the target vehicle is not changed due to the installation of the vehicle control system, the collision accident caused by superelevation and the accident caused by scratching peripheral obstacles (pedestrians) can be avoided, and the driving safety of the vehicle is improved.
Drawings
FIG. 1 is a schematic diagram of a vehicle control system according to one embodiment;
FIG. 2 is a schematic diagram of a layout of an information gathering device in one embodiment;
FIG. 3 is a schematic diagram of a first information acquisition device in one embodiment;
FIG. 4 is one illustration of a layout of a second information gathering device in one embodiment;
FIG. 5 is a second schematic layout diagram of a second information-gathering device in one embodiment;
FIG. 6 is a diagram illustrating a layout of a navigational communication device according to one embodiment;
FIG. 7 is a second exemplary layout of a navigation communications device according to an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present disclosure more clearly understood, the embodiments of the present disclosure are described in further detail below with reference to the accompanying drawings and the embodiments. It is to be understood that the specific embodiments described herein are merely illustrative of the embodiments of the disclosure and that no limitation to the embodiments of the disclosure is intended.
First, before specifically describing the technical solution of the embodiment of the present disclosure, a technical background or a technical evolution context on which the embodiment of the present disclosure is based is described. At present, modified vehicles with automatic driving/semi-automatic driving functions are generally provided with information acquisition equipment on the roof and the periphery of the vehicle body. For example, a laser radar is installed around a roof and a body of a vehicle. However, such installation of the information collecting apparatus causes a change in the three-dimensional size of the vehicle. For example, after installation of the lidar, the height and width of the vehicle exceed the original dimensions. In the running process of the vehicle, collision accidents caused by superelevation are easily caused, or accidents caused by scraping peripheral obstacles (pedestrians) are easily caused, and the safe running of the vehicle is not facilitated.
In the technical scheme provided by the application, the vehicle control system comprises a plurality of information acquisition devices, navigation communication devices and a controller; the vehicle control system is installed on a target vehicle, and the minimum external cube of the target vehicle with the vehicle control system is the same as the minimum external cube of the target vehicle without the vehicle control system; the information acquisition equipment acquires environmental information around a target vehicle to obtain first environmental information; the navigation communication equipment receives second environment information sent by other vehicles; the controller outputs control information of the control target vehicle based on the first environmental information and the second environmental information. Therefore, in the running process of the target vehicle, the environmental information around the target vehicle can be acquired through the information acquisition equipment, and meanwhile, the original three-dimensional size of the target vehicle is not changed due to the installation of the vehicle control system, so that collision accidents caused by superelevation and accidents caused by scraping and rubbing peripheral obstacles (pedestrians) can be avoided, and the running safety of the vehicle is improved.
In one embodiment, as shown in fig. 1, there is provided a vehicle control system including a plurality of information collecting devices 10, a navigation communication device 20, and a controller 30; the vehicle control system is installed on a target vehicle, and the minimum external cube of the target vehicle with the vehicle control system is the same as the minimum external cube of the target vehicle without the vehicle control system; the information acquisition equipment 10 is used for acquiring environmental information around a target vehicle to obtain first environmental information; the navigation communication equipment 20 is used for receiving second environment information sent by other vehicles; and a controller 30 for outputting control information of the control target vehicle based on the first environment information and the second environment information.
In the disclosed embodiment, the vehicle control system includes a plurality of information collection devices 10, a navigation communication device 20, and a controller 30, and is mounted on a target vehicle. The information collecting device 10 is an add-on device, and the navigation communication device 20 and the controller 30 may be original devices of the target vehicle or add-on devices. The embodiment of the present disclosure does not limit this, and may be set according to actual situations.
The size of the minimum external cube after the target vehicle is installed with the vehicle control system is the same as that of the minimum external cube before the vehicle control system is installed, namely, after the information acquisition device 10, the navigation communication device 20 and the controller 30 are installed, the original three-dimensional size of the target vehicle is not changed, so that collision accidents caused by superelevation and accidents caused by scraping and rubbing peripheral obstacles (pedestrians) can be avoided, and the driving safety of the vehicle is improved.
During the running of the vehicle, the information collection device 10 collects environmental information around the target vehicle to obtain first environmental information. The navigation communication device 20 receives the second environment information transmitted from the other vehicle. The controller 30 acquires the first environmental information and the second environmental information from the information collecting device and the navigation communication device, respectively, determines the surrounding environment of the target vehicle according to the first environmental information and the second environmental information, and outputs control information for controlling the target vehicle according to the surrounding environment of the target vehicle.
The target vehicle can be directly driven automatically according to the control information, and the control information can also be displayed, so that the driving of the user is assisted. The embodiment of the present disclosure does not limit this, and may be set according to actual situations.
In the above embodiment, the vehicle control system includes a plurality of information acquisition devices, a navigation communication device, and a controller; the vehicle control system is installed on a target vehicle, and the minimum external cube of the target vehicle with the vehicle control system is the same as the minimum external cube of the target vehicle without the vehicle control system; the information acquisition equipment acquires environmental information around a target vehicle to obtain first environmental information; the navigation communication equipment receives second environment information sent by other vehicles; the controller outputs control information of the control target vehicle based on the first environmental information and the second environmental information. According to the embodiment of the disclosure, the environmental information around the target vehicle can be acquired through the information acquisition device, and meanwhile, because the original three-dimensional size of the target vehicle is not changed due to the installation of the vehicle control system, the collision accident caused by superelevation and the accident caused by scratching peripheral obstacles (pedestrians) can be avoided, and the driving safety of the vehicle is improved.
In one embodiment, as shown in fig. 2, the first environmental information includes front environmental information and side environmental information, and the plurality of information collection devices 10 includes a first information collection device 101 disposed at a front portion of the target vehicle and a second information collection device 102 disposed at a side portion of the target vehicle; the first information acquisition equipment 101 is used for acquiring environmental information in front of a target vehicle to obtain front environmental information; and the second information acquisition equipment 102 is used for acquiring the environmental information on the side of the target vehicle to obtain the side environmental information.
In the present disclosed embodiment, in order to cover the front environment and the side environment of the target vehicle, the plurality of information collection devices may include a first information collection device 101 disposed at the front of the target vehicle and a second information collection device 102 disposed at the side of the target vehicle.
During the running of the vehicle, the first information acquisition device 101 acquires environmental information in front of the target vehicle to obtain front environmental information, and the second information acquisition device 102 acquires environmental information on the side of the target vehicle to obtain side environmental information. The controller 30 acquires the front environment information, the side environment information, and the second environment information, respectively, determines the surrounding environment of the target vehicle based on the front environment information, the side environment information, and the second environment information, and outputs control information based on the surrounding environment of the target vehicle.
In the above embodiment, the plurality of information collecting apparatuses includes a first information collecting apparatus provided at a front portion of the subject vehicle and a second information collecting apparatus provided at a side portion of the subject vehicle; the method comprises the steps that first information collection equipment collects environmental information in front of a target vehicle to obtain front environmental information; the second information acquisition device acquires environmental information on the side of the target vehicle to obtain side environmental information. According to the embodiment of the disclosure, the front environment information and the side environment information are acquired through the first information acquisition device and the second information acquisition device, the environment information required by automatic driving of the vehicle can be basically covered, and a basis is provided for automatic driving of the vehicle.
In one embodiment, the first information-gathering device 101 includes a first lidar, an infrared camera, a first fisheye camera, and a first millimeter-wave radar.
In the running process of the vehicle, a first laser radar acquires point cloud data of the environment in front of a target vehicle; the method comprises the steps that an infrared camera collects image data of the environment in front of a target vehicle; the method comprises the steps that a first fisheye camera collects image data of an environment in front of a target vehicle; the first millimeter wave radar collects radar data of an environment in front of the target vehicle.
As shown in fig. 2 and 3, the first laser radar, the infrared camera and the first fisheye camera are arranged inside the decorative cover at the air inlet of the head of the target vehicle.
In practical application, can install first laser radar, infrared camera and first flake camera inside the decoration cover of locomotive air inlet department earlier, install the decoration cover of air inlet again. The first laser radar, the infrared camera and the first fisheye camera are completely embedded into the vehicle head, and the original three-dimensional size of the vehicle head is not changed.
Wherein, first laser radar, infrared camera and first flake camera can set up 1 respectively. The number of the first laser radar, the infrared camera and the first fisheye camera is not limited, and the first laser radar, the infrared camera and the first fisheye camera can be set according to actual conditions.
As shown in fig. 2 and 3, the first millimeter wave radar is provided inside the garnish at the head bumper of the target vehicle.
In practical application, the first millimeter wave radar can be installed inside the decorating part at the vehicle head bumper, and then the vehicle head bumper is installed. The first millimeter wave radar is completely embedded into the vehicle head, and the original three-dimensional size of the vehicle head is not changed.
Wherein the number of the first millimeter wave radars is plural. For example, the number of the first millimeter wave radars is 2. The number of the first millimeter wave radars is not limited, and the first millimeter wave radars can be set according to actual conditions.
In the above embodiment, the first information collecting device includes a first laser radar, an infrared camera, a first fisheye camera, and a first millimeter-wave radar; the first laser radar, the infrared camera and the first fisheye camera are arranged inside a decoration cover at an air inlet of a head of a target vehicle, and the first millimeter wave radar is arranged inside a decoration part at a bumper of the head of the target vehicle. According to the embodiment of the invention, the first information acquisition devices for acquiring the environmental information in front of the target vehicle are all embedded into the vehicle head, and the original three-dimensional size of the vehicle head is not changed after the first information acquisition devices are installed, so that collision accidents caused by superelevation and accidents caused by scraping and rubbing peripheral obstacles (pedestrians) can be avoided, and the driving safety of the vehicle is improved.
In one embodiment, the second information collecting device 102 includes a first look-around camera, a second fisheye camera, a second lidar and a second millimeter-wave radar.
In the running process of the vehicle, a first all-round camera acquires image data of a side environment and a part of rear environment of the target vehicle; the method comprises the steps that a first fisheye camera collects image data of the side environment of a target vehicle; the second laser radar collects point cloud data of the side environment of the target vehicle; the second millimeter wave radar collects radar data of an environment lateral to the target vehicle.
As shown in fig. 2 and 4, the first look-around camera, the second fisheye camera, the second laser radar, and the second millimeter wave radar are disposed below the rearview mirror of the target vehicle, and a dimension of the first look-around camera, the second fisheye camera, the second laser radar, and the second millimeter wave radar protruding toward a side of the target vehicle is smaller than or equal to a dimension of the rearview mirror protruding toward the side of the target vehicle.
In practical application, the first all-round camera, the second fisheye camera, the second laser radar and the second millimeter wave radar can be installed below a rearview mirror of a target vehicle. Because the size that the rear-view mirror of some oversize vehicles stretches out to the vehicle side is great, consequently, has enough big installation space below the rear-view mirror for the size that first all around camera, second fisheye camera, second laser radar and second millimeter wave radar stretch out towards target vehicle side can be less than or equal to the size that the rear-view mirror stretches out towards target vehicle side, thereby does not change the original three-dimensional size of locomotive.
Wherein, the number of the first all-round cameras can be a plurality. For example, the number of the first looking-around cameras is 3. The second fisheye camera, the second laser radar, and the second millimeter wave radar may be each set to 1. The number of the first all-round camera, the second fisheye camera, the second laser radar and the second millimeter wave radar is not limited, and the number can be set according to actual conditions.
As shown in fig. 2 and 5, the second laser radar and the second millimeter wave radar are disposed on the console at the rear of the target vehicle without protruding from the console.
In practical application, the rear part of part oversize vehicle is provided with the operation panel, can install second laser radar and second millimeter wave radar on the operation panel to, second laser radar and second millimeter wave radar do not stretch out the operation panel, and like this, the original three-dimensional size of automobile body is not changed to second laser radar and second millimeter wave radar.
In the above embodiment, the second information collecting device includes a first around-the-eye camera, a second fisheye camera, a second laser radar, and a second millimeter-wave radar; the first all-round camera, the second fisheye camera, the second laser radar and the second millimeter wave radar are arranged below a rearview mirror of the target vehicle, and the size of the first all-round camera, the second fisheye camera, the second laser radar and the second millimeter wave radar extending out towards the side of the target vehicle is smaller than or equal to the size of the rearview mirror extending out towards the side of the target vehicle; the second laser radar and the second millimeter wave radar are arranged on the operating platform at the rear part of the target vehicle and do not extend out of the operating platform. According to the embodiment of the disclosure, the second information acquisition devices for acquiring the side environmental information of the target vehicle are all installed on the side face of the vehicle body and do not protrude out of the vehicle body, and the original three-dimensional size of the vehicle body is not changed after the second information acquisition devices are installed, so that collision accidents caused by superelevation and accidents caused by scraping and rubbing peripheral obstacles (pedestrians) can be avoided, and the driving safety of the vehicle is improved.
In one embodiment, as shown in fig. 6 and 7, the navigation communication device 20 is installed on the top of the head of the target vehicle, and the height of the navigation communication device after installation is less than or equal to the height of the pod of the target vehicle.
In practical application, the navigation communication equipment can be arranged at the top of the head of a target vehicle and is away from the air guide sleeve by a preset distance; the navigational communication device may also be mounted inside the pod of the subject vehicle. After the navigation communication equipment is installed, the height of the navigation communication equipment is less than or equal to the height of the air guide sleeve of the target vehicle, and the original three-dimensional size of the vehicle head is not changed.
In one embodiment, the navigation communication device includes a GPS antenna, a 4G antenna, and a second surround view camera.
The GPS antenna can be used for the target vehicle to communicate with the GPS system, so that the positioning information of the target vehicle is obtained. The 4G antenna can be used for the target vehicle to communicate with other vehicles so as to receive second environment information sent by the other vehicles. The second surround view camera may capture image data of the respective environment surrounding the target vehicle.
Wherein, GPS antenna and 4G antenna set up 1 respectively. In order to ensure the communication of the target vehicle, the GPS antenna and the 4G antenna may be backed up, that is, the GPS antenna and the 4G antenna are each set to 2. The second surround camera may be provided in plurality. For example, the number of the second surround cameras is set to 3. The number of the GPS antenna, the 4G antenna and the second panoramic camera is not limited in the embodiment of the disclosure, and the number can be set according to actual conditions.
In the above embodiment, the navigation communication device is installed on the top of the head of the target vehicle, and the height of the navigation communication device after installation is less than or equal to the height of the air guide sleeve of the target vehicle. According to the embodiment of the disclosure, the positioning information of the target vehicle and the environmental information provided by other vehicles are acquired through the navigation communication equipment, so that a basis is provided for automatic driving of the vehicle. In addition, the original three-dimensional size of the vehicle head is not changed by the installation of the navigation communication equipment, so that collision accidents caused by superelevation and accidents caused by scraping peripheral obstacles (pedestrians) can be avoided, and the running safety of the vehicle is improved.
In one embodiment, a vehicle is provided that includes a vehicle body and the vehicle control system of the above-described embodiment.
As shown in fig. 2, the vehicle control system includes a plurality of information collecting devices 10, a navigation communication device 20, and a controller 30; the vehicle control system is mounted on a target vehicle, and a smallest circumscribed cube of the target vehicle with the vehicle control system mounted thereon is the same size as a smallest circumscribed cube of the target vehicle without the vehicle control system mounted thereon. The information acquisition device 10 acquires environmental information around a target vehicle to obtain first environmental information; the navigation communication equipment 20 receives second environment information sent by other vehicles; the controller 30 outputs control information of the control target vehicle based on the first environmental information and the second environmental information.
In one embodiment, the first environmental information includes front environmental information and side environmental information, and the plurality of information collection devices 10 includes a first information collection device 101 disposed at a front portion of the subject vehicle and a second information collection device 102 disposed at a side portion of the subject vehicle; the method comprises the steps that first information collection equipment collects environmental information in front of a target vehicle to obtain front environmental information; the second information acquisition equipment acquires the environmental information of the side of the target vehicle to obtain the side environmental information.
In one embodiment, the first information collecting device 101 includes a first laser radar, an infrared camera, a first fisheye camera, and a first millimeter wave radar. The first laser radar, the infrared camera and the first fisheye camera are arranged inside a decorative cover at an air inlet of a head of a target vehicle. The first millimeter wave radar is arranged inside the decorating part at the position of a bumper of the head of the target vehicle.
In the running process of a vehicle, a first laser radar collects point cloud data of an environment in front of a target vehicle; the method comprises the steps that an infrared camera collects image data of the environment in front of a target vehicle; the method comprises the steps that a first fisheye camera collects image data of an environment in front of a target vehicle; the first millimeter wave radar collects radar data of an environment in front of the target vehicle.
After the first laser radar, the infrared camera, the first fisheye camera and the first millimeter wave radar are installed on the vehicle, the first laser radar, the infrared camera, the first fisheye camera and the first millimeter wave radar are completely embedded into the vehicle head, and the original three-dimensional size of the vehicle head is not changed.
In one embodiment, the second information collecting device 102 includes a first look-around camera, a second fisheye camera, a second lidar and a second millimeter-wave radar. The first all-round camera, the second fisheye camera, the second laser radar and the second millimeter wave radar are arranged below a rearview mirror of the target vehicle, and the size of the first all-round camera, the second fisheye camera, the second laser radar and the second millimeter wave radar extending out towards the side of the target vehicle is smaller than or equal to the size of the rearview mirror extending out towards the side of the target vehicle. The second laser radar and the second millimeter wave radar are arranged on the operating platform at the rear part of the target vehicle and do not extend out of the operating platform.
In the running process of the vehicle, a first all-round camera acquires image data of a side environment and a part of rear environment of the target vehicle; the method comprises the steps that a first fisheye camera collects image data of the side environment of a target vehicle; the second laser radar collects point cloud data of the side environment of the target vehicle; the second millimeter wave radar collects radar data of an environment lateral to the target vehicle.
After the first all-round camera, the second fisheye camera, the second laser radar and the second millimeter wave radar are installed on the vehicle, because the installation space below the rearview mirror is large enough, the size of the first all-round camera, the second fisheye camera, the second laser radar and the second millimeter wave radar extending out towards the side of the target vehicle can be smaller than or equal to the size of the rearview mirror extending out towards the side of the target vehicle, and therefore the original three-dimensional size of the vehicle head is not changed. And the second laser radar and the second millimeter wave radar which are installed on the operation platform do not extend out of the operation platform, and the original three-dimensional size of the vehicle body is not changed by the second laser radar and the second millimeter wave radar.
In one embodiment, the navigation communication device 20 is installed on the top of the head of the target vehicle, and the height of the navigation communication device is less than or equal to the height of the air guide sleeve of the target vehicle after installation.
The navigation communication equipment can be arranged at the top of the head of the target vehicle and is away from the air guide sleeve by a preset distance; the navigational communication device may also be mounted inside the pod of the target vehicle. After the navigation communication equipment is installed, the height of the navigation communication equipment is smaller than or equal to that of the air guide sleeve of the target vehicle, and the original three-dimensional size of the vehicle head is not changed.
In the above embodiment, the vehicle includes the vehicle body and the vehicle control system; the vehicle control system comprises a plurality of information acquisition devices, navigation communication devices and a controller; the vehicle control system is installed on a target vehicle, and the minimum external cube of the target vehicle with the vehicle control system is the same as the minimum external cube of the target vehicle without the vehicle control system; the information acquisition equipment acquires environmental information around a target vehicle to obtain first environmental information; the navigation communication equipment receives second environment information sent by other vehicles; the controller outputs control information of the control target vehicle based on the first environmental information and the second environmental information. According to the embodiment of the disclosure, the surrounding environment of the vehicle is acquired by installing the information acquisition equipment and the navigation communication equipment, and meanwhile, the original three-dimensional size of the vehicle is not changed by installing the information acquisition equipment and the navigation communication equipment, so that collision accidents caused by superelevation and accidents caused by scraping peripheral obstacles (pedestrians) can be avoided, and the driving safety of the vehicle is improved.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database or other medium used in the embodiments provided by the embodiments of the disclosure may include at least one of non-volatile and volatile memory. Non-volatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical storage, or the like. Volatile Memory can include Random Access Memory (RAM) or external cache Memory. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express a few implementation modes of the embodiments of the present disclosure, and the description thereof is specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for those skilled in the art, variations and modifications can be made without departing from the concept of the embodiments of the present disclosure, and these are all within the scope of the embodiments of the present disclosure. Therefore, the protection scope of the patent of the embodiment of the disclosure should be subject to the appended claims.
Claims (12)
1. A vehicle control system is characterized by comprising a plurality of information acquisition devices, navigation communication devices and a controller; the vehicle control system is installed on a target vehicle, and a minimum circumscribed cube of the target vehicle on which the vehicle control system is installed is the same size as a minimum circumscribed cube of the target vehicle on which the vehicle control system is not installed;
The information acquisition equipment is used for acquiring environmental information around the target vehicle to obtain first environmental information;
the navigation communication equipment is used for receiving second environment information sent by other vehicles;
the controller is configured to output control information for controlling the target vehicle according to the first environmental information and the second environmental information.
2. The system of claim 1, wherein the first environmental information includes front environmental information and side environmental information, and the plurality of information-collecting devices includes a first information-collecting device disposed at a front portion of the target vehicle and a second information-collecting device disposed at a side portion of the target vehicle;
the first information acquisition equipment is used for acquiring environmental information in front of the target vehicle to obtain the front environmental information;
the second information acquisition equipment is used for acquiring the environmental information on the side of the target vehicle to obtain the side environmental information.
3. The system of claim 2, wherein the first information-gathering device comprises a first lidar, an infrared camera, a first fisheye camera, and a first millimeter-wave radar.
4. The system of claim 3, wherein the first lidar, the infrared camera, and the first fisheye camera are disposed inside a trim cover at an air intake of the target vehicle head.
5. The system of claim 3, wherein the first millimeter wave radar is disposed inside a trim piece at the target vehicle head bumper.
6. The system according to claim 3 or 5, wherein the number of the first millimeter wave radars is plural.
7. The system of claim 2, wherein the second information gathering device comprises a first look-around camera, a second fisheye camera, a second lidar and a second millimeter-wave radar.
8. The system of claim 7, wherein the first look-around camera, the second fisheye camera, the second lidar and the second millimeter-wave radar are disposed below a rearview mirror of the target vehicle, and wherein a dimension of the first look-around camera, the second fisheye camera, the second lidar and the second millimeter-wave radar protruding sideways of the target vehicle is less than or equal to a dimension of the rearview mirror protruding sideways of the target vehicle.
9. The system of claim 7, wherein the second lidar and the second millimeter wave radar are disposed on a console at a rear of the target vehicle and do not extend beyond the console.
10. The system of claim 1, wherein the navigational communication device is mounted on a roof of the target vehicle, and wherein a height of the navigational communication device after mounting is less than or equal to a height of a pod of the target vehicle.
11. The system of claim 10, wherein the navigational communication device comprises a GPS antenna, a 4G antenna, and a second surround view camera.
12. A vehicle characterized by comprising a vehicle body and the vehicle control system of any one of claims 1-11.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111425810.8A CN114670821A (en) | 2021-11-26 | 2021-11-26 | Vehicle control system and vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111425810.8A CN114670821A (en) | 2021-11-26 | 2021-11-26 | Vehicle control system and vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114670821A true CN114670821A (en) | 2022-06-28 |
Family
ID=82069866
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111425810.8A Pending CN114670821A (en) | 2021-11-26 | 2021-11-26 | Vehicle control system and vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114670821A (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202513282U (en) * | 2012-04-26 | 2012-10-31 | 新华通讯社 | Vehicle-mounted antenna wind deflecting cover |
| CN109313262A (en) * | 2016-02-26 | 2019-02-05 | 伟摩有限责任公司 | Radar installation estimation is carried out using unstructured data |
| CN110646015A (en) * | 2019-10-24 | 2020-01-03 | 中国人民解放军国防科技大学 | Vehicle-mounted test platform of inertial navigation system |
| CN110673599A (en) * | 2019-09-29 | 2020-01-10 | 北京邮电大学 | Sensor network-based environment sensing system for automatic driving vehicle |
| CN111430875A (en) * | 2020-04-09 | 2020-07-17 | 中科灵动航空科技成都有限公司 | Automobile-used kuppe antenna device and car |
| CN112009354A (en) * | 2020-08-31 | 2020-12-01 | 太原理工大学 | Intelligent adjusting device and method for vehicle high beam |
| CN112124100A (en) * | 2020-10-22 | 2020-12-25 | 安徽华菱汽车有限公司 | Pure electric heavy truck capable of automatically driving and replacing battery |
| WO2021209210A1 (en) * | 2020-04-17 | 2021-10-21 | Renault S.A.S | Vehicle provided with a v2x antenna on its rear panel |
-
2021
- 2021-11-26 CN CN202111425810.8A patent/CN114670821A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202513282U (en) * | 2012-04-26 | 2012-10-31 | 新华通讯社 | Vehicle-mounted antenna wind deflecting cover |
| CN109313262A (en) * | 2016-02-26 | 2019-02-05 | 伟摩有限责任公司 | Radar installation estimation is carried out using unstructured data |
| CN110673599A (en) * | 2019-09-29 | 2020-01-10 | 北京邮电大学 | Sensor network-based environment sensing system for automatic driving vehicle |
| CN110646015A (en) * | 2019-10-24 | 2020-01-03 | 中国人民解放军国防科技大学 | Vehicle-mounted test platform of inertial navigation system |
| CN111430875A (en) * | 2020-04-09 | 2020-07-17 | 中科灵动航空科技成都有限公司 | Automobile-used kuppe antenna device and car |
| WO2021209210A1 (en) * | 2020-04-17 | 2021-10-21 | Renault S.A.S | Vehicle provided with a v2x antenna on its rear panel |
| CN112009354A (en) * | 2020-08-31 | 2020-12-01 | 太原理工大学 | Intelligent adjusting device and method for vehicle high beam |
| CN112124100A (en) * | 2020-10-22 | 2020-12-25 | 安徽华菱汽车有限公司 | Pure electric heavy truck capable of automatically driving and replacing battery |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US20210122364A1 (en) | Vehicle collision avoidance apparatus and method | |
| CN110126820B (en) | Automatic parking system, parking method and vehicle | |
| CN107848533B (en) | Vehicle control device, vehicle control method, and medium storing vehicle control program | |
| KR102613792B1 (en) | Imaging device, image processing device, and image processing method | |
| US10887568B2 (en) | Image processing apparatus, and image processing method | |
| US20180032822A1 (en) | Vehicle exterior monitoring | |
| EP3391358A1 (en) | System and method for generating a parking alert | |
| US20170309181A1 (en) | Apparatus for recognizing following vehicle and method thereof | |
| US11029409B2 (en) | Sensor field of view mapping | |
| CN111976720A (en) | Autonomous passenger-replacing parking method, device, equipment and storage medium | |
| CN111071248B (en) | Intelligent parking method based on electronic power-assisted brake | |
| JP2023126642A (en) | Information processing device, information processing method, and information processing system | |
| CN109927629B (en) | Display control apparatus, display control method, and vehicle for controlling projection apparatus | |
| CN113994408A (en) | Information processing apparatus, information processing method, and program | |
| DE102019102980A1 (en) | METHOD AND DEVICES FOR SIMPLIFYING A SURROUNDINGS RATIO RATIO | |
| CN112977453A (en) | Automatic lane changing device and method for vehicle | |
| CN115485723A (en) | Information processing apparatus, information processing method, and program | |
| CN114670821A (en) | Vehicle control system and vehicle | |
| CN113753051A (en) | Vehicle control method, vehicle control program, and vehicle control system | |
| US11436706B2 (en) | Image processing apparatus and image processing method for improving quality of images by removing weather elements | |
| CN116653979A (en) | Driver visual field range ray tracing method and DMS system | |
| US20200074208A1 (en) | Vehicle and method for controlling the same | |
| CN116524311A (en) | Road side perception data processing method and system, storage medium and electronic equipment thereof | |
| CN218085399U (en) | Intelligent driving vehicle | |
| EP4105087A1 (en) | Parking assist method and parking assist apparatus |
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 | ||
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: 300000 No. 326, No. 8, Third Street, international logistics District, Tianjin pilot free trade zone (Airport Economic Zone) (No. bcy702 entrusted by beichuangyi (Tianjin) business secretary Co., Ltd.) Applicant after: Tianjin Carl Power Technology Co.,Ltd. Address before: 300000 No. 326, No. 8, Third Street, international logistics District, Tianjin pilot free trade zone (Airport Economic Zone) (No. bcy702 entrusted by beichuangyi (Tianjin) business secretary Co., Ltd.) Applicant before: Tianjin caldog Technology Co.,Ltd. |