CN206954219U - Intelligent automobile multisensor self-checking system, accessory system and intelligent automobile - Google Patents
Intelligent automobile multisensor self-checking system, accessory system and intelligent automobile Download PDFInfo
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- CN206954219U CN206954219U CN201720044128.7U CN201720044128U CN206954219U CN 206954219 U CN206954219 U CN 206954219U CN 201720044128 U CN201720044128 U CN 201720044128U CN 206954219 U CN206954219 U CN 206954219U
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Abstract
A kind of intelligent automobile multisensor self-checking system, accessory system and intelligent automobile, accessory system include：Positioner, it is placed on road surface, automobile is fixed on and determines position；Sensor self-test senses subject matter, relative to the position of positioner, it is known that can be by least one sensing in the multiple sensor；Radio communication device, communicated wirelessly with automobile, the parameter information needed for sensor self-test is sent to automobile；Wherein, automobile senses the sensing result of subject matter based on the parameter information and the multiple sensor obtained for the sensor self-test, and self-test is carried out to multiple sensors.The utility model can be applied in the fixed scene that the daily high frequency time of intelligent vehicle occurs, stable using chance, can be directed to self-test and self-calibration that multiple sensors complete each sensor in unified system, improve security and efficiency.
Description
Technical field
The utility model relates generally to the sensor of intelligent automobile, more particularly to sensor self-test on intelligent automobile
And/or the system and method for self-calibration.
Background technology
The sensors such as camera, millimetre-wave radar, laser radar, ultrasonic radar are the important perception of intelligent driving automobile
Equipment, the information that these sensors provide perceive the external world to intelligent driving automobile and determine that planning and control program play
Vital effect.However as the routine use of intelligent driving automobile, Sensor section inevitably faces to be marked again
The problem of determining, for example, sensor installation position perhaps as use has mechanical displacement, so as to camera, radar etc.
Sensor produces serious influence.
In sensor used in intelligent driving automobile, some sensors have simple, independent specific at certain
The function that scene corrects automatically, but such special scenes might not can high frequency time vehicle traveling or it is static during
Reproduction, and be not that each sensor has such self-calibration function.
For example, some cameras can start root when judging that its straight line at the uniform velocity passes through certain section in the prior art
Self demarcation is carried out according to image deformation.The method for so entering line sensor self-test and self-calibration is at least following three obvious scarce
Point：
I. such sensor self-test and self-calibration scene not necessarily can often occur, so as to delay marking again for sensor
Timing machine；
Ii. such sensor self-test and self-calibration scene are that some sensor exclusively enjoys, and cannot be used for other sensings
The demarcation of device；
Iii. such sensor self-test and self-calibration scene are probably inaccurate, because straight line at the uniform velocity passes through certain section
It also is difficult to assume that characteristic body necessarily meets self-test and self-calibration will.
Utility model content
In view of the foregoing, it is proposed that the utility model.
According to first aspect of the present utility model, there is provided a kind of to aid in intelligent automobile to multiple sensors for being carried on car
The accessory system of both self-test or self-test and self-calibration is carried out, can be included：Positioner, it is placed on road surface, for inciting somebody to action
Intelligent target automobile, which is fixed on, determines position；Sensor self-test senses subject matter, relative to the position of positioner, it is known that can
By at least one sensing in the multiple sensor；Radio communication device, for being communicated wirelessly with Intelligent target automobile,
Sensor self-test sensing subject matter is believed relative to other external parameters needed for the positional information of positioner and self-test
Breath is sent to intelligent automobile；Wherein, the intelligent automobile for determining position is fixed in based on the positional information, other obtained
External parameter information and the multiple sensor sense the sensing result of subject matter for the sensor self-test, to the multiple
Sensor carries out self-test or both self-test and self-calibration.
According to second aspect of the present utility model, there is provided it is a kind of can be more to what is carried by means of above-mentioned accessory system
Individual sensor carries out the intelligent automobile of self-test and self-calibration, including the multiple sensor, computing device and in-vehicle wireless communication
Part, the in-vehicle wireless communication part and the wireless device communication positioned at outside vehicle, receive the channel radio
The sensor self-test that T unit is sent senses subject matter relative to other needed for the positional information of positioner and self-test
External parameter information；Can each sense in the sensor self-test sensing subject matter at least one in the multiple sensor
It is individual；The computing device includes memory and processor, is stored with computer executable instructions on memory, the computer can
When execute instruction is by the computing device, it is operable to perform sensor self checking method, including：Based on the institute's rheme obtained
Confidence ceases and the multiple sensor senses the sensing result of subject matter for the sensor self-test, to the multiple sensor
Carry out self-test or both self-test and self-calibration.
According to the third aspect of the present utility model, there is provided a kind of multiple sensors to being carried on intelligent automobile are carried out certainly
Inspection or the intelligent automobile multisensor self-checking system of both self-test and self-calibration, can include：Positioner, it is placed in road surface
On, determine position for Intelligent target automobile to be fixed on；Sensor self-test senses subject matter, relative to the position of positioner
, it is known that can be by least one sensing in the multiple sensor；Radio communication device, for being carried out with Intelligent target automobile
Wireless telecommunications, the sensor self-test is sensed into subject matter relative to other outer needed for the positional information of positioner and self-test
Portion's parameter information is sent to intelligent automobile；Multiple sensors, computing device and the in-vehicle wireless communication portion carried on intelligent automobile
Part；The in-vehicle wireless communication part and the wireless device communication positioned at outside vehicle, receive the radio communication
The sensor self-test sensing subject matter that device is sent is relative to other outer needed for the positional information of positioner and self-test
Portion's parameter information；Can each sense in the sensor self-test sensing subject matter at least one in the multiple sensor
It is individual；The computing device includes memory and processor, is stored with computer executable instructions on memory, the computer can
When execute instruction is by the computing device, it is operable to perform sensor self checking method, including：Based on the institute's rheme obtained
Confidence ceases and the multiple sensor senses the sensing result of subject matter for the sensor self-test, to the multiple sensor
Carry out self-test or both self-test and self-calibration.
According to fourth aspect of the present utility model, there is provided one kind is by means of above-mentioned intelligent automobile multisensor self-checking system
The method that multiple sensors on intelligent automobile are carried out with both self-test or self-test and self-calibration, including：The onboard wireless
Communication component and the wireless device communication positioned at outside vehicle, receive the biography that the radio communication device is sent
Sensor self-test senses other external parameter informations of the subject matter needed for relative to the positional information of positioner and self-test, and sends
To the computing device on intelligent automobile；Intelligent automobile is fixed on by means of positioner under steam determines position；Intelligent vapour
The sensor self-test is sensed subject matter and changed relative to the positional information of positioner to vehicle seat by the computing device on car
Mark system, and obtain the expection sensing result of sensor；Computing device on intelligent automobile obtains each sensor on associated
Sensor self-test sensing subject matter actual sensed result, it is and actual sensed result is unified to vehicle axis system；And intelligence
Computing device that can be on automobile based on the comparison between expected sensing result and actual sensed result, obtain each sensor from
Examine result.
Using the multiple sensors carried on car are carried out according to the utility model embodiment self-test or self-test and from
Both accessory system, intelligent automobile, intelligent automobile multisensor self-checking system and self checking methods of demarcation, have at least following excellent
Gesture：
(1) two kinds of flows of self-test and self-calibration that intelligent automobile senses more can be covered, in the daily possible " high frequency of vehicle
Played a role in the fixed scene of secondary appearance ", need sensor voluntarily to judge self-test and self-calibration scene compared to prior art
There is more stable use chance；
(2) not only it is conceived to single sensor self-test and self-calibration, but sensor combinations can be in whole vehicle
Self-test and the self-calibration of each sensor are completed in unified system；
(3) security of intelligent driving is improved, due to self-test and oneself daily can be continued to the sensor of intelligent automobile
Demarcation, so as to drastically increase the stability that intelligent automobile perceives importation, so as to improve security；
(4) self-test and the demarcation efficiency of intelligent automobile sensor are improved, intelligent automobile car owner even needs under the prior art
Vehicle is moved to the self-test and demarcation that specified maintenace point carries out vehicle body multisensor, it is less efficient, in contrast to this for this
The self-checking of utility model embodiment drastically increases efficiency.
Brief description of the drawings
From the detailed description to the utility model embodiment below in conjunction with the accompanying drawings, it is of the present utility model these and/or its
Its aspect and advantage will become clearer and be easier to understand, wherein：
Fig. 1 shows the self-test of intelligent automobile multisensor and self-calibration accessory system according to the utility model embodiment
100 structure composition schematic diagram.
Fig. 2 is shown according to the specific of the intelligent automobile self-test of the utility model embodiment and self-calibration accessory system 200
Form example and application scenarios schematic diagram.
Fig. 3 shows that the automobile self-test self-calibration accessory system according to the utility model embodiment using Fig. 2 is entered
The overview flow chart of the illustrative methods 300 of the self-test of row automobile and self-calibration.
Fig. 4 describes to be combined for object of reference on all the sensors according to the intelligent vehicle of the utility model one embodiment
Scene carries out the flow chart of illustrative methods 350 of self-test self-calibration.
Embodiment
In order that those skilled in the art more fully understand the utility model, it is right with reference to the accompanying drawings and detailed description
The utility model is described in further detail.
Before introduction, explain about term implication herein.
" vehicle sensors self-test ", represent that vehicle itself detects to vehicle boarded sensor herein, providing is
No instruction working properly.
After " self-calibration " represents that vehicle itself detects to vehicle boarded sensor herein, in situation devious
Under, sensing station or inherent parameters are adjusted, make it that it is pre- that sensor meets the actually detected result of subject matter
The process of the testing result of phase.
" vehicle axis system " refers to using vehicle itself as with reference to the coordinate system established.
" subject matter ", " sensing subject matter ", " object of reference "：Herein, unless expressly stated, otherwise these terms represent
The pattern or object being pre-set at for vehicle sensors self-test (or both self-test and self-calibration) in fixed scene, these figures
Case either object, for the parameter information of vehicle sensors self-test can be prenoticed vehicle or can be in real time by vehicle
Obtained with accurate means, one or more of vehicle sensors can be by least one in these patterns or object
Sensing and the parameter information of foregoing acquisition carry out self-test..
Fig. 1 shows the self-test of intelligent automobile multisensor and self-calibration accessory system according to the utility model embodiment
100 structure composition schematic diagram, wherein for convenience of description, further it is shown that automobile.Accessory system 100 aids in intelligent automobile to car
Multiple sensors of upper carrying carry out self-test or both self-test and self-calibration.
As shown in figure 1, according to the utility model embodiment, there is provided a kind of auxiliary intelligent automobile is more to what is carried on car
Individual sensor carries out the accessory system of both self-test or self-test and self-calibration, including：Positioner 110, sensor self-test sense
Survey subject matter 120, radio communication device 130.
Positioner 110 is placed on road surface, and position is determined for Intelligent target automobile to be fixed on.Positioner 110
Such as the process longitudinal guide of intelligent vehicle can be caught in its horizontal card slot latter two trailing wheel, automobile is consolidated so as to realize
It is fixed.More specifically, positioner 110 can for example use buried automobile brake testing bench.
Sensor self-test senses subject matter 120, relative to the position of positioner, it is known that and can be by the multiple sensing
At least one sensing in device.Various sensors, such as camera, millimetre-wave radar, laser thunder can be installed on intelligent automobile
Reach, ultrasonic radar etc..Show a kind of exemplary configuration scheme of sensor in Fig. 1, such as 1 and 7 be camera, camera
1, camera 7 shoots rear, and camera 7 can be such as wide-angle camera, and 2,4,6,8 be radar, can be according to demand from milli
Selected in metre wave radar, laser radar, ultrasonic radar, such as sensor 2 is laser radar, sensor 4 is millimeter wave thunder
Reach, sensor 8 is ultrasonic radar, and sensor 6 is ultrasonic radar.Example is but only for, other sensings can be selected
Device configuration mode, such as sensor 8 can be camera.
Sensor self-test senses subject matter 120 according to the different and different of targeted sensor.For example, for camera
Demarcation, sensor self-test sensing subject matter 120 is fixed pattern carrier, for example, specially chessboard trrellis diagram, can be to camera
Enter line distortion demarcation, relevant introduce may be referred to following webpage http://wiki.opencv.org.cn/index.php/%
E6%91%84%E5%83%8F%E5%A4%B4%E6 %A0%87%E5%AE%9A., can be with for Radar Calibration
For radar target object of reference, surface has radar reflection friendly materials, such as metal.The shape of radar target object of reference can be set
Shape, in order to reflect radar.
In one example, the front and rear on intelligent automobile is located at based on the camera on intelligent automobile, it is targeted
Sensing target be such as gridiron pattern figure solid pattern, be arranged in intelligent automobile be fixed in determine position when, it is described
Fixed pattern is located at the front and back of intelligent automobile.
Radio communication device 130 is used to communicate wirelessly with Intelligent target automobile, and the sensor self-test is sensed and marked
Thing be sent to intelligent automobile relative to the external parameter information needed for the positional information of positioner and self-test；Wherein, consolidated
Due to it is determined that the intelligent automobile of position based on the positional information, external parameter information and the multiple sensor pair obtained
In the sensing result of sensor self-test sensing subject matter, self-test is carried out to the multiple sensor.The radio communication dress
It is, for example, wireless site near being arranged at etc. to put 130, for another example radio communication device 130 can be fixed or hand-held
Wireless launcher, such as the wireless communication apparatus of 802.11p V2X agreements can be met, nothing can be carried out with vehicle computing device
Line communicates, and carries out information transmit-receive.
In one example, at least one in sensor self-test sensing subject matter and the positioner being capable of phase
Put and adjust automatically self-position for the fixed positioning really of intelligent automobile lock, so as to not stopped as expected when intelligent automobile
At precalculated position, at least one position in adjustment sensor self-test sensing subject matter and the positioner so that vapour
Relative position relation between car, positioner and sensing subject matter three meets advance setting.
Preferably, accessory system 100 is located in the current fixed scene of the daily high frequency time of intelligent automobile.Such as cell enters
Mouth, cell outlet, Entrance, EXIT, multi-storied garage parking stall.These are rule work, crowd's day of life
The place that normally opened car often passes.
When automobile passes through accessory system location, when line sensor self-test to be entered, self-test can be sent and start order,
Then automobile drives towards positioner, is positioned device and fixes, each sensor sensing sensor self-test sensing subject matter on car
120, sensing result is transferred to such as vehicle computing device, and radio communication device is in advance or in real time by each phase of subject matter 120
The external parameter needed for positional information and/or other sensor self-tests for positioner 110 is sent to in-vehicle wireless communication
Device, in-vehicle wireless communication device send the external parameter needed for these positional informations and/or other sensor self-tests to car
Computing device is carried, vehicle computing device can sense subject matter based on the sensor self-test to be believed relative to the position of positioner
Breath, according to putting position of the different sensors on vehicle, mark is sensed for the sensor self-test interested to each sensor
Thing, calculate the expection sensing result of each sensor, it is necessary to which explanation, such evaluation work can be complete in advance
Into can also be completed in real time in self-test；In prior complete, not necessarily vehicle computing device enters such evaluation work
OK, it but can be carried out by the computing device outside car, as long as in vehicle sensors self-test, send result of calculation to vehicle computing
Device.The vehicle-mounted comparison based between expected sensing result and actual sensed result, obtain the self-test knot of each sensor
Fruit.Preferably, when vehicle computing device finds that the difference between expected sensing result and actual sensed result is more than described make a reservation for
During threshold value, the self-calibration work to sensor, such as the slight position for adjusting sensor on vehicle body, adjustment sensing can be started
Parameter of device etc., until the difference between expected sensing result and actual sensed result is less than predetermined threshold, now determine the biography
Sensor self-test is qualified, and the self-test for the sensor terminates.
Fig. 2 is shown according to the specific of the intelligent automobile self-test of the utility model embodiment and self-calibration accessory system 200
Form example and application scenarios schematic diagram.
Fig. 2 shows that intelligent automobile rolls the scene of progress self-test after such as cell away from.
As shown in Fig. 2 two trailing wheels of intelligent automobile are positioned device A 210 and blocked, rear view of vehicle has two chessboards
The fixed pattern 220 of lattice, fixed pattern 220 is placed on the gate railing for for example preventing vehicles while passing, when vehicle rolls away from,
Gate railing is opened, and shows the state shown in Fig. 2.In addition, also there is fixed pattern 220 in the front of vehicle.Shown in figure
Three fixed patterns, but this is merely illustrative, the number of fixed pattern arrives m for 1, and wherein m is generally equivalent to tested vehicle
Camera number to be measured
In addition, accessory system 200 also includes target object of reference group C1-Cn 250, preferably its surface has easily reflection
The material of radar, without to producing excessive thunderstorm activity or diffusing reflection.The lines projected in Fig. 2 on car are schematic
Indicate the radar signal sent.Radar signal is reflected by each target object of reference C1-Cn 250, is then sensed by trailer-mounted radar
The radar signal of these reflections, so as to sense each target object of reference C1-Cn 250.
Also include wireless communication system D 240, wireless telecommunication system D 240 and intelligent automobile communication in accessory system 200,
The reference position of the current fixed scene of advance notice intelligent vehicle, and be into needed for line sensor self-test and/or self-calibration
Other information.
Fig. 3 shows that the automobile self-test self-calibration accessory system according to the utility model embodiment using Fig. 2 is entered
The overview flow chart of the illustrative methods 300 of the self-test of row automobile and self-calibration.
As shown in figure 3, in step S310, via radio communication device 240, self-test and the He of self-calibration accessory system 200
Intelligent automobile carries out wireless interconnected.For example, when intelligent vehicle running is to close to radio communication device 240, both are wireless interconnected.
In step s 320, self-test and self-calibration accessory system 200 are via the advance notice intelligence vapour of radio communication device 240
External parameter information needed for the reference position of the current fixed scene of car and self-test.External parameter information example needed for self-test
Such as the topological structure of image subject matter.
In step S330, intelligent vehicle rear axle enters positioner A positions.
In one example, after intelligent vehicle rear axle enters positioner A positions, it is related to as follows as needed
B1-Bm, or C1-Cm objects of reference can be automatically moved to the position expected in advance, such as image subject matter is attached to prevention vehicle
On the gate railing of disengaging, when vehicle is close, gate railing can Automatic-expanding.
In one example, subject matter can lock fixed positioning really relative to intelligent automobile and put and adjust automatically itself position
Put, deviate sensing device further (not shown) for example, existing, when deviateing desired location in the determination position that intelligent automobile is fixed,
Deviate the sensing device senses deviation and will deviate from situation and notify relevant control device (not shown), control device being capable of base
In this deviation, location of instruction regulation device moves the position of subject matter.In another example, itself position of positioner
Putting to adjust；In another example, the self-position of positioner and subject matter can adjust.
In another example, accessory system is also configured with deviateing sensing device further, in the determination position that intelligent automobile is fixed
When deviateing desired location, deviation sensing device further will deviate from situation and notify relevant control device, and control device can be by this deviation feelings
Condition notifies intelligent automobile via radio communication device 240.
In step S340, for all or part of of target object of reference, intelligent vehicle is according to the pendulum of different sensors
Put position and/or the other parameters information needed for self-test calculates self-test of each sensor relative to the expectation of vehicle axis system
As a result.
For example, the computing device of intelligent vehicle is according to some pattern target Bi(i<=m, m are the integer more than or equal to 1)
Putting position and pattern topological structure, camera (such as sensor 2 shown in Fig. 1) is calculated relative to vehicle coordinate
The self-detection result of the expectation of system.
In step S350, intelligent vehicle carries out self-test self-calibration on all the sensors for object of reference combine scenes.
Exemplary description is carried out to the method example for carrying out self-test self-calibration later with reference to Fig. 4.
In this example, it is to carry out self-test self-calibration for all the sensors, this is merely illustrative, and non-display, such as preceding institute
State, self-test self-calibration only can be carried out to sensor interested.
In step S360, judge after self-test self-calibration with the presence or absence of can not normal work sensor, if NO,
Step S370 is proceeded to, otherwise proceeds to step S380.
In step S370, determine that sensor self-test self-calibration terminates, prompt sensor normal.
In step S380, determine that sensor self-test self-calibration terminates, prompt the sensor to go wrong.
Can be voice message, short message prompting, indicator lamp flash for prompting etc. on prompting mode.
Under prior art conditions, above-mentioned step S310 to S340 can be in such as a few minutes very short time or less
Completed in time.Step S350 to S380 can also be completed within a few minutes or less time.With computing device after it is expected that
Etc. the raising of performance, the time of cost can be less.Therefore the intelligent automobile multisensor self-test self-calibration of the embodiment of the present invention can
Efficiently to be completed under daily high frequency scene.
Describe to be directed on all the sensors according to the intelligent vehicle of the utility model one embodiment with reference next to Fig. 4
Object of reference combine scenes carry out the flow chart of illustrative methods 350 of self-test self-calibration.The illustrative methods 350 can apply to figure
Step S350 shown in 3.
In the example of fig. 3, intelligent vehicle set self-test self-calibration accessory system both to onboard sensor self-test or is carried out
Self-calibration, in one example, it can only carry out self-test.
As shown in figure 4, in step S351 to S354, each sensor starts the detection for associated sensed subject matter.
For example, in this example, in step S351, camera starts the front pattern target B1-Bm using intake to be defeated
Enter to be sensed, the camera of different azimuth starts to take in its corresponding pattern target；In step S352, ultrasonic radar is opened
Beginning starts to sense in face of target object of reference group C1-Cn, as it was previously stated, according to the installation site of sensor, corresponding target reference
Thing set can be C1-Cn subset；In step S353, laser radar starts to start to feel in face of target object of reference group C1-Cn
Survey, as it was previously stated, according to the installation site of sensor, corresponding target object of reference set can be C1-Cn subset；In step
In S354, millimetre-wave radar starts to start to sense in face of target object of reference group C1-Cn, as it was previously stated, the installation according to sensor
Position, corresponding target object of reference set can be C1-Cn subsets.
It should be noted that these detections can be carried out parallel.In addition, camera, ultrasonic wave thunder are illustrate only in Fig. 4
Reach, laser radar and millimetre-wave radar are sensed for self-test, are only for example, other types sensor can also be in order to
Self-test and sensed.
In step S355, each sensor is transformed into by the computing device of intelligent vehicle for the sensing result that self-test obtains
Unified vehicle axis system, and carried out pair with previous (such as step S340 shown in Fig. 3) obtained known expected outcome
Than so as to calculate possible error.
It should be noted that step S355 operation can be carried out parallel for the sensor in each self-test.
In step S356, whether the error for each related sensor being calculated in judgment step S355, which is more than, corresponds to
Specified threshold, while not yet reach flow termination condition.If YES, then step S357 is proceeded to, into self-calibration process；
, whereas if it is no, then flow terminates.
The error of some sensor is more than corresponding specified threshold and shows that sensor sensing is not accurate, it is necessary to enter to it enough
Rower is determined, and it is sensed error within desired extent.
The flow termination condition is, for example, that iterations has reached threshold number or self-test self-calibration time
Reach specified time threshold value, be so in order to avoid self-test self-calibration overlong time.Such as when the self-test from being started self-test from
Nominal time alreadys exceed 10 minutes, then should exit self-test self-calibration process, and flow terminates.
It should be noted that step S356 operation can be carried out parallel for the sensor in each self-test.
In step S357, the sensor that error is more than specified threshold adjusts its parameter for self-calibration, then jumps back to step
Rapid S351 to S354.Here parameter can be any parameter of the influence sensing result of sensor itself, such as shooting
Head, can be position, inclination angle or focal length etc..
It should be noted that step S357 operation can be wanted the sensor of adjusting parameter for each and carry out parallel
's.
According to a preferred exemplary, in the case that some sensors on intelligent automobile are identified normal work, with reference to
At least one sensing result in these sensors is felt come at least one expection obtained in other sensors by self-test
Survey result.For example, in the case where having been acknowledged that some sensors are normal work, the sensing knot of these sensors can be utilized
Fruit come verify other sensors whether normal work.For example, confirming the situation of first, second radar sensor normal work
Under, certain subject matter such as Ci sensing result can be tested as sensing result is expected by the use of first, second radar sensor
Demonstrate,prove the actual sensed result of the 3rd radar sensor.
In another example, when particular sensor carries out self-test self-calibration, with reference to based on being obtained in advance by radio communication
To information and the expection sensing result that is calculated and combine at least some of actual sensed result in other sensors, come
Determine the expection sensing result of the particular sensor.For example, it ought be calculated pre- by the information that radio communication obtains in advance
When at least some of actual sensed result in phase sensing result and other sensors is inconsistent, the two weighted sum can be based on
To obtain the expection sensing result of the particular sensor；For another example in some cases, can be directly with other sensors
Expection sensing result of at least some of actual sensed result as particular sensor is especially identical when being indicated compared with multisensor
Actual sensed result, and the expected sensing knot that the actual sensed result is calculated by the information that radio communication obtains in advance
Because being low-down compared with the probability that multisensor goes wrong simultaneously, therefore it is likely to be that radio communication obtains when fruit is inconsistent
To information some problems be present, directly can be now used as by the use of at least some of actual sensed result in other sensors special
Determine the expection sensing result of sensor, and this situation can be notified top level control platform or notifier worker person.
It should be noted that Fig. 3, Fig. 4 and its description are merely illustrative, the utility model is not limited thereto, but can be with
According to circumstances carry out various modifications, increase and decrease.
It is that self-test and self-calibration are carried out to the whole of onboard sensor for example, in the description that Fig. 3 and Fig. 4 is carried out is combined,
Example is but only for, self-test and self-calibration only can be carried out to the part in onboard sensor.For example, in the feelings being pressed for time
Under condition, self-test self-calibration only is carried out to camera.If, can for another example known that some or some sensors are faulty
Only to carry out self-test self-calibration to this or these sensor.For example, can be provided with vehicle alternative pack as select by
Button, it be able to will either be selected to some sensors progress self-test certainly via radio communication by external control device or controllers
The signal of demarcation is sent to intelligent vehicle.
In addition, in the description that earlier figures 3 and Fig. 4 are carried out, self-test was both carried out to onboard sensor or had been carried out from mark
It is fixed, but example is only for, rather than as limitation, self-test can be only carried out to sensor without self-calibration, so known
In the case that some sensor is wrong, intelligent automobile can weaken the consideration to the sensor signal in control, or no longer
Consider the sensor signal.
In addition, in description above, as the example of sensor, camera and radar are described, but be only for showing
Example, rather than as limitation, other type sensors, such as infrared ray sensor can be used.
In summary introduce, this application provides：
(1) it is, a kind of to aid in intelligent automobile to carry out self-test or self-test and self-calibration two to the multiple sensors carried on car
The accessory system of person, including：
Positioner, it is placed on road surface, position is determined for Intelligent target automobile to be fixed on；
Sensor self-test senses subject matter, relative to the position of positioner, it is known that can be by the multiple sensor
At least one sensing；
Radio communication device, for being communicated wirelessly with Intelligent target automobile, the sensor self-test is sensed into target
Thing is sent to intelligent automobile relative to other external parameter informations needed for the positional information of positioner and self-test；
Wherein, be fixed in determine position intelligent automobile based on obtained the positional information, other external parameters
Information and the multiple sensor sense the sensing result of subject matter for the sensor self-test, and the multiple sensor is entered
Row self-test or both self-test and self-calibration.
(2) fixed pattern carrier and thunder, are included according to the accessory system of (1), the sensor self-test sensing subject matter
Up to target object of reference, wherein
Fixed pattern carrier is used for camera calibration,
Radar target object of reference is used for Radar Calibration, and surface has radar reflection friendly materials.
(3) the daily high frequency time of intelligent automobile, is located at according to the accessory system of (1), the sensor self-test sensing subject matter
In current fixed scene.
(4), according to the accessory system of (3), the fixed scene is one of following or its combination：Cell entry, cell
Outlet, Entrance, EXIT, multi-storied garage parking stall.
(5), according to the accessory system of (2), when intelligent automobile is fixed in determination position, the fixed pattern is located at intelligence
The front and back of energy automobile.
(6), according to the accessory system of (2), some in the fixed pattern are placed in the gate for preventing vehicles while passing
On railing.
(7), according to the accessory system of any one of (1) to (6), the positioner can be by two trailing wheels of intelligent vehicle
It is caught in wherein.
(8), according to the accessory system of any one of (1) to (6), the sensor self-test sensing subject matter and the positioning dress
At least one can be positioned really relative to intelligent automobile lock fixation in putting be put and adjust automatically self-position.
(9), one kind can be carried out by means of the accessory system of (1) to any one of (8) to the multiple sensors carried
Self-test and the intelligent automobile of self-calibration, including the multiple sensor, computing device and in-vehicle wireless communication part,
The in-vehicle wireless communication part and the wireless device communication positioned at outside vehicle, receive described wireless
The sensor self-test sensing subject matter that communicator is sent is relative to its needed for the positional information of positioner and self-test
Its external parameter information；
Can each sense in the multiple sensor is at least one in the sensor self-test sensing subject matter；
The computing device includes memory and processor, and computer executable instructions, the meter are stored with memory
When calculation machine executable instruction is by the computing device, it is operable to perform sensor self checking method, including：Based on what is obtained
The positional information and the multiple sensor sense the sensing result of subject matter for the sensor self-test, to the multiple
Sensor carries out self-test or both self-test and self-calibration.
(10), included according to the intelligent automobile of (9), the sensor self checking method：
Believed based on sensor self-test sensing subject matter relative to the positional information of positioner and other external parameters
Breath, according to putting position of the different sensors on vehicle, mark is sensed for the sensor self-test interested to each sensor
Thing, calculate the expection sensing result of each sensor；
Subject matter is sensed for the sensor self-test interested to each sensor, each sensor obtains actual sense
Survey result；
Based on the comparison between expected sensing result and actual sensed result, the self-detection result of each sensor is obtained.
(11), according to the intelligent automobile of (9), based on the comparison between expected sensing result and actual sensed result, obtain
The self-detection result of each sensor includes：
If it is expected that the difference between sensing result and actual sensed result is less than predetermined threshold, then the sensor from
Result is examined to be qualified, the self-test for the sensor terminates；
If it is expected that the difference between sensing result and actual sensed result is more than the predetermined threshold, then carry out from mark
It is fixed.
(12), included according to the intelligent automobile of (11), the progress self-calibration：
The parameter of the sensor is adjusted, repeats and obtains actual sensed result, feel expected sensing result and reality
The process that result compares is surveyed,
If the difference in predetermined number of iterations between expected sensing result and actual sensed result is less than described predetermined
Threshold value, then self-calibration process successfully terminate；
Otherwise there is the prompt message of mistake in output transducer.
(13) camera and multiple radars, are included according to the intelligent automobile of (11), the multiple sensor,
Sensor self-test sensing subject matter for camera is fixed pattern carrier；
Sensor self-test sensing subject matter for radar is radar target object of reference, and its surface has radar reflection friendly
Material.
(14), according to the intelligent automobile of any one of (9) to (13), in addition to：
Subject matter is sensed for same sensor self-test, obtains sensing result of multiple sensors to it；
More the multiple sensor senses the sensing result of subject matter to the same sensor self-test, based on described
Compare the self-test Performance Evaluation for providing some sensor in the multiple sensor.
(15), according to the intelligent automobile of any one of (9) to (13), wherein sensor self-test sensing subject matter is located at intelligence
In the current fixed scene of the daily high frequency time of energy automobile,
The intelligent automobile is fixed in by means of the positioner and determines the position-scheduled time, and in the pre- timing
Interior completion self-test or both self-test and self-calibration.
(16), it is less than ten minutes according to the intelligent automobile of (15), the scheduled time.
(17), according to the intelligent automobile of any one of (9) to (13), wherein the sensor self-test interested to each sensor
Sensing subject matter can be selected by user or indicated by top level control platform.
(18), according to the intelligent automobile of any one of (9) to (13), wherein some sensors on intelligent automobile are identified
In the case of normal work, other sensors by self-test are obtained based at least one sensing result in these sensors
In at least one expection sensing result.
(19) intelligent automobile of any one of (13), is arrived according to (9), when particular sensor carries out self-test self-calibration, with reference to
Based on the expection sensing result being calculated in advance by the information that radio communication obtains and combine in other sensors at least
The actual sensed result of some, to determine the expection sensing result of the particular sensor.
(20), according to the intelligent automobile of (19), when the sensor beyond predetermined number indicates identical actual sensed result,
And the actual sensed result and expection sensing result that opportunity is calculated based on the information obtained by radio communication are inconsistent
When, the expection sensing result of particular sensor is used as using the identical actual sensed result.
(21) a kind of, intelligence to both the multiple sensors progress self-test carried on intelligent automobile or self-test and self-calibration
Energy automobile multisensor self-checking system, including：
Positioner, it is placed on road surface, position is determined for Intelligent target automobile to be fixed on；
Sensor self-test senses subject matter, relative to the position of positioner, it is known that can be by the multiple sensor
At least one sensing；
Radio communication device, for being communicated wirelessly with Intelligent target automobile, the sensor self-test is sensed into target
Thing is sent to intelligent automobile relative to other external parameter informations needed for the positional information of positioner and self-test；
Multiple sensors, computing device and the in-vehicle wireless communication part carried on intelligent automobile；
The in-vehicle wireless communication part and the wireless device communication positioned at outside vehicle, receive described wireless
The sensor self-test sensing subject matter that communicator is sent is relative to its needed for the positional information of positioner and self-test
Its external parameter information；
Can each sense in the multiple sensor is at least one in the sensor self-test sensing subject matter；
The computing device includes memory and processor, and computer executable instructions, the meter are stored with memory
When calculation machine executable instruction is by the computing device, it is operable to perform sensor self checking method, including：Based on what is obtained
The positional information and the multiple sensor sense the sensing result of subject matter for the sensor self-test, to the multiple
Sensor carries out self-test or both self-test and self-calibration.
(22), a kind of intelligent automobile multisensor self-checking system by means of (21) is to multiple sensors on intelligent automobile
The method for carrying out both self-test or self-test and self-calibration, including：
The in-vehicle wireless communication part and the wireless device communication positioned at outside vehicle, receive described wireless
The sensor self-test sensing subject matter that communicator is sent is relative to its needed for the positional information of positioner and self-test
Its external parameter information, and it is sent to the computing device on intelligent automobile；
Intelligent automobile is fixed on by means of positioner under steam determines position；
The sensor self-test is sensed subject matter by the computing device on intelligent automobile to be believed relative to the position of positioner
Breath conversion obtains the expection sensing result of sensor to vehicle axis system；
Computing device on intelligent automobile obtains each sensor on associated sensor self-test sensing subject matter
Actual sensed result, and actual sensed result is unified to vehicle axis system；And
Computing device on intelligent automobile is obtained each based on the comparison between expected sensing result and actual sensed result
The self-detection result of sensor.
(23), according to the method for (22), in addition to based on self-detection result progress self-calibration.
Using the multiple sensors carried on car are carried out according to the utility model embodiment self-test or self-test and from
Both accessory system, intelligent automobile, intelligent automobile multisensor self-checking system and self checking methods of demarcation, have at least following excellent
Gesture：
(1) two kinds of flows of self-test and self-calibration that intelligent automobile senses more can be covered, in the daily possible " high frequency of vehicle
Played a role in the fixed scene of secondary appearance ", need sensor voluntarily to judge self-test and self-calibration scene compared to prior art
There is more stable use chance；
(2) not only it is conceived to single sensor self-test and self-calibration, but sensor combinations can be in whole vehicle
Self-test and the self-calibration of each sensor are completed in unified system；
(3) security of intelligent driving is improved, due to self-test and oneself daily can be carried out to the sensor of intelligent automobile
Demarcation, so as to drastically increase the stability that intelligent automobile perceives importation, so as to improve security；
(4) self-test and the demarcation efficiency of intelligent automobile sensor are improved, intelligent automobile car owner even needs under the prior art
Vehicle is moved to the self-test and demarcation that specified maintenace point carries out vehicle body multisensor, it is less efficient, in contrast to this for this
The self-checking of utility model embodiment drastically increases efficiency.
It is described above each embodiment of the present utility model, described above is exemplary, and non-exclusive, and
And it is also not necessarily limited to disclosed each embodiment.In the case of without departing from the scope and spirit of illustrated each embodiment, for
Many modifications and changes will be apparent from for those skilled in the art.Therefore, guarantor of the present utility model
Shield scope should be defined by scope of the claims.
Claims (10)
- A kind of 1. accessory system, for aiding in intelligent automobile to carry out self-test or self-test and oneself to the multiple sensors carried on car Both demarcation, it is characterised in that including：Positioner, it is placed on road surface, position is determined for Intelligent target automobile to be fixed on；Sensor self-test sense subject matter, relative to positioner position, it is known that can by the multiple sensor extremely A few sensing；AndRadio communication device, for being communicated wirelessly with Intelligent target automobile, the sensor self-test is sensed into subject matter phase Other external parameter informations needed for positional information and self-test for positioner are sent to intelligent automobile；Wherein, be fixed in determine position intelligent automobile based on obtained the positional information, other external parameter informations The sensing result of subject matter is sensed for the sensor self-test with the multiple sensor, the multiple sensor is carried out certainly Inspection or both self-test and self-calibration.
- 2. accessory system according to claim 1, it is characterised in that the sensor self-test sensing subject matter includes fixed pattern Carrier and radar target object of reference, whereinFixed pattern carrier is used for camera calibration,Radar target object of reference is used for Radar Calibration, and surface has metal material.
- 3. accessory system according to claim 1, it is characterised in that the sensor self-test sensing subject matter is located at intelligent automobile In the current fixed scene of daily high frequency time.
- 4. accessory system according to claim 2, it is characterised in that described solid when intelligent automobile is fixed in determination position Determine the front and back that pattern is located at intelligent automobile.
- 5. accessory system according to claim 2, it is characterised in that some in the fixed pattern are placed in prevention vehicle On the gate railing of disengaging.
- 6. according to the accessory system of any one of claim 1 to 5, it is characterised in that the positioner can be by intelligent vehicle Two trailing wheels be caught in wherein.
- 7. according to the accessory system of any one of claim 1 to 5, it is characterised in that the sensor self-test sensing subject matter and At least one can be positioned really relative to intelligent automobile lock fixation in the positioner be put and adjust automatically self-position.
- , can be by means of the accessory system of any one of claim 1 to 7 to multiple sensings for being carried 8. a kind of intelligent automobile Device carries out self-test and self-calibration, it is characterised in that including the multiple sensor, computing device and in-vehicle wireless communication part,The in-vehicle wireless communication part and the wireless device communication positioned at outside vehicle, receive the radio communication The sensor self-test sensing subject matter that device is sent is relative to other outer needed for the positional information of positioner and self-test Portion's parameter information；Can each sense in the multiple sensor is at least one in the sensor self-test sensing subject matter；AndThe computing device includes memory and processor, and computer executable instructions, the computer are stored with memory When executable instruction is by the computing device, it is operable to perform sensor self checking method, including：Described in being obtained Positional information and the multiple sensor sense the sensing result of subject matter for the sensor self-test, to the multiple sensing Device carries out self-test or both self-test and self-calibration.
- 9. intelligent automobile according to claim 8, it is characterised in that the multiple sensor includes camera and multiple radars,Sensor self-test sensing subject matter for camera is fixed pattern carrier；AndSensor self-test sensing subject matter for radar is radar target object of reference, and its surface has metal material.
- A kind of 10. intelligent automobile multisensor self-checking system, for carrying out self-test to the multiple sensors carried on intelligent automobile Or both self-test and self-calibration, it is characterised in that including：Positioner, it is placed on road surface, position is determined for Intelligent target automobile to be fixed on；Sensor self-test sense subject matter, relative to positioner position, it is known that can by the multiple sensor extremely A few sensing；Radio communication device, for being communicated wirelessly with Intelligent target automobile, the sensor self-test is sensed into subject matter phase Other external parameter informations needed for positional information and self-test for positioner are sent to intelligent automobile；Multiple sensors, computing device and the in-vehicle wireless communication part carried on intelligent automobile；The in-vehicle wireless communication part and the wireless device communication positioned at outside vehicle, receive the radio communication The sensor self-test sensing subject matter that device is sent is relative to other outer needed for the positional information of positioner and self-test Portion's parameter information；Can each sense in the multiple sensor is at least one in the sensor self-test sensing subject matter；AndThe computing device includes memory and processor, and computer executable instructions, the computer are stored with memory When executable instruction is by the computing device, it is operable to perform sensor self checking method, including：Described in being obtained Positional information and the multiple sensor sense the sensing result of subject matter for the sensor self-test, to the multiple sensing Device carries out self-test or both self-test and self-calibration.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106740872A (en) * | 2017-01-13 | 2017-05-31 | 驭势科技（北京）有限公司 | Intelligent automobile sensor self-checking system and method, accessory system and intelligent automobile |
| WO2019182499A1 (en) * | 2018-03-20 | 2019-09-26 | Scania Cv Ab | Method, control arrangement and reference object for calibration of sensors in an autonomous vehicle |
-
2017
- 2017-01-13 CN CN201720044128.7U patent/CN206954219U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106740872A (en) * | 2017-01-13 | 2017-05-31 | 驭势科技（北京）有限公司 | Intelligent automobile sensor self-checking system and method, accessory system and intelligent automobile |
| WO2019182499A1 (en) * | 2018-03-20 | 2019-09-26 | Scania Cv Ab | Method, control arrangement and reference object for calibration of sensors in an autonomous vehicle |
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