CN213262298U - Vehicle with a steering wheel - Google Patents
Vehicle with a steering wheel Download PDFInfo
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- CN213262298U CN213262298U CN202021423036.8U CN202021423036U CN213262298U CN 213262298 U CN213262298 U CN 213262298U CN 202021423036 U CN202021423036 U CN 202021423036U CN 213262298 U CN213262298 U CN 213262298U
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Abstract
The application belongs to the technical field of vehicles, and provides a vehicle which comprises a vehicle body, a plurality of first millimeter wave radars and a plurality of first cameras which are arranged on the vehicle body and used for detecting areas on two sides of the vehicle body, and a second millimeter wave radar and a plurality of second cameras which are used for detecting areas in front of the vehicle body, wherein at least two second cameras with different focal lengths are arranged in the plurality of second cameras; a plurality of first millimeter wave radars and a plurality of first camera are all installed in the both sides of automobile body, and a plurality of second camera, second millimeter wave radar are all installed in the place ahead of automobile body. The sensing method and the sensing device have the advantages that the sensing of the car body is nearly 360 degrees, meanwhile, the risk that the whole system is influenced by the failure of a certain sensor is effectively avoided, and the sensing effect which is stable and reliable to the car body is achieved.
Description
Technical Field
The application belongs to the technical field of vehicles, and particularly relates to a vehicle.
Background
At present, the unmanned vehicle in a certain scene limit continuously falls to the ground to realize, such as an unmanned express vehicle, an unmanned sweeper and the like, and the development of the unmanned technology in a high-speed scene is promoted. In a high-speed scene, the speed of a vehicle is faster than that of an urban road, the sensing range of the vehicle is wider, higher requirements are provided for the sensing capability of opposite sides and rear parts in a certain special scene such as an upper ramp, a lower ramp and the like, and a vehicle capable of sensing road condition information in front of the vehicle and on the side of the vehicle stably and reliably is lacked in the prior art.
SUMMERY OF THE UTILITY MODEL
An object of the embodiment of the application is to provide a vehicle, in order to solve the technical problem that the vehicle can not be reliable and stable perception vehicle front and side road conditions information among the prior art.
In order to achieve the purpose, the technical scheme adopted by the application is as follows:
the vehicle comprises a vehicle body, a plurality of first millimeter-wave radars and a plurality of first cameras which are arranged on the vehicle body and used for detecting areas on two sides of the vehicle body, and a plurality of second millimeter-wave radars and a plurality of second cameras used for detecting areas in front of the vehicle body, wherein at least two second cameras with different focal lengths are arranged in the second cameras;
the plurality of first millimeter wave radars and the plurality of first cameras are all installed on two sides of the vehicle body, and the plurality of second cameras and the second millimeter wave radars are all installed in front of the vehicle body.
Optionally, the plurality of first millimeter wave radars include two first millimeter wave radars located on the left side of the vehicle body and two first millimeter wave radars located on the right side of the vehicle body;
in the two first millimeter wave radars positioned on the same side of the vehicle body, one first millimeter wave radar faces the front of the vehicle body, and the other first millimeter wave radar faces the rear of the vehicle body.
Optionally, an included angle between the two first millimeter wave radars located on the same side of the vehicle body is an acute angle.
Optionally, the vehicle body includes two cockpit doors disposed at two sides of the vehicle body, and the plurality of first cameras are disposed behind the cockpit doors respectively and are close to the cockpit doors.
Optionally, the vehicle body further includes a forward bumper, and the second millimeter wave radar is mounted inside the forward bumper.
Optionally, the vehicle body further comprises a front windshield, and the plurality of second cameras are disposed on the front windshield.
Optionally, the vehicle further comprises a vision sensor arranged on the vehicle body, wherein the vision sensor is arranged on the front windshield and located below the plurality of second cameras, and is used for detecting the region in front of the vehicle body.
Optionally, the vehicle body further comprises a front air intake grille, and the vehicle further comprises a third camera arranged on the front air intake grille and used for detecting the area in front of the vehicle body.
Optionally, the vehicle further includes a plurality of laser radars disposed on both sides of the vehicle body for detecting regions on both sides and a front region of the vehicle body.
Optionally, still include the interval set up in the automobile body both sides with a plurality of ultrasonic radar in automobile body the place ahead, a plurality of ultrasonic radar are used for surveying the both sides side region of automobile body with the place ahead region of automobile body.
Optionally, the vehicle body comprises a front wheel, and the lidar is horizontally mounted above the front wheel; the ultrasonic radar is arranged below the laser radar; the ground clearance of the first millimeter wave radar is 50 cm-80 cm; the first camera is disposed above the first millimeter wave radar.
The beneficial effect of this application lies in:
compared with the prior art, carry out the redundant perception to the automobile body both sides region through first millimeter wave radar and first camera, carry out the redundant perception to automobile body the place ahead region through second millimeter wave radar and second camera to and have two at least second cameras that the focus is different and carry out the perception to the closely region in place and remote region in place ahead, not only realized the nearly 360 perceptions of automobile body, effectual avoiding certain sensor inefficacy influences the risk of overall system simultaneously, realized the stable and reliable perception effect to the automobile body.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
FIG. 1 is a schematic structural diagram of a vehicle according to an embodiment of the present application;
fig. 2 is a schematic view of a sensing range of a vehicle according to an embodiment of the present disclosure.
Wherein, in the figures, the respective reference numerals:
100-a vehicle; 110-a vehicle body; 111-a first millimeter wave radar; 112-a first camera; 113-a second millimeter wave radar; 114-a second camera; 115-a third camera; 116-lidar; 117-ultrasonic radar; 118-a vision sensor; 119-front windshield glass; 120-forward bumper; 121-front air grille.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects to be solved by the present application clearer, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.
It will be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like, as used herein, refer to an orientation or positional relationship indicated in the drawings that is solely for the purpose of facilitating the description and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be considered as limiting the present application.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.
Referring to fig. 1, a vehicle 100 provided in the embodiment of the present application includes a vehicle body 110, and a plurality of first millimeter-wave radars 111 and a plurality of first cameras 112 arranged on the vehicle body 110 for detecting regions on both sides of the vehicle body 110, and a plurality of second millimeter-wave radars 113 and a plurality of second cameras 114 for detecting regions in front of the vehicle body 110, where at least two second cameras 114 with different focal lengths are provided in the plurality of second cameras 114;
the plurality of first millimeter-wave radars 111 and the plurality of first cameras 112 are mounted on both sides of the vehicle body 110, and the plurality of second cameras 114 and the second millimeter-wave radars 113 are mounted in front of the vehicle body 110.
In the embodiment, redundant sensing is performed on the areas on two sides of the vehicle body 110 through the first millimeter wave radar 111 and the first camera 112, redundant sensing is performed on the area in front of the vehicle body 110 through the second millimeter wave radar 113 and the second camera 114, and at least two second cameras 114 with different focal lengths sense the area in close distance in front and the area in long distance in front, so that sensing of the vehicle body 110 by 360 degrees is achieved, meanwhile, the risk that the whole system is influenced by failure of one sensor is effectively avoided, and a stable and reliable sensing effect on the vehicle body 110 is achieved.
The two lateral regions of vehicle body 110 include a lateral rear region and a lateral front region.
As a preferred embodiment, the plurality of first millimeter-wave radars 111 includes two first millimeter-wave radars 111 located on the left side of the vehicle body 110 and two first millimeter-wave radars 111 located on the right side of the vehicle body 110;
one first millimeter-wave radar 111 of the two first millimeter-wave radars 111 located on the same side of vehicle body 110 faces the front of vehicle body 110, and the other first millimeter-wave radar 111 faces the rear of vehicle body 110.
In this embodiment, through set up two first millimeter wave radars 111 with one side at automobile body 110, and a first millimeter wave radar 111 is towards automobile body 110 the place ahead, and another first millimeter wave radar 111 is towards automobile body 110 rear, can survey automobile body 110 side front region and side rear region simultaneously, helps improving driving safety, can satisfy certain special scene like the perception ability in contralateral rear and side front such as upper and lower ramp.
Optionally, the first millimeter-wave radar 111 is a 24GHz millimeter-wave radar for sensing a range of about 100 meters in a side area of the vehicle body 110.
An included angle between two first millimeter wave radars 111 located on the same side of the vehicle body 110 is an acute angle. Optionally, the included angle is 30 ° to 60 °, for example 45 °. When the included angle between two first millimeter wave radars 111 is the acute angle, the detection area of two first millimeter wave radars 111 has great coincidence region in the positive side of automobile body 110, helps realizing the regional multiple perception in positive side, improves driving safety.
Optionally, the two first millimeter wave radars 111 located on the same side of the vehicle body 110 are installed adjacently, so that installation by workers is facilitated, and the installation process is simplified.
Preferably, the height of the first millimeter wave radar 111 from the ground is in the range of 50cm to 80cm, for example, 60 cm. At this time, the first millimeter wave radar 111 has a small height from the ground, and its detection blind area is small.
For example, two first millimeter wave radars 111 may be mounted immediately behind and near the front wheels of the vehicle body.
It is understood that the vehicle body 110 includes two cockpit doors disposed on both sides of the vehicle body 110. In one embodiment, the first plurality of cameras 112 are each disposed rearward of and proximate to a cockpit door. The first camera 112 is installed behind and close to the cockpit door, and the first camera 112 is located approximately in the middle of the vehicle body 110, so that a certain area on the lateral rear side, a certain area on the right side and a certain area on the lateral front side of the vehicle body 110 can be detected by the first camera 112.
The position relation between the first camera and the first millimeter wave radar is not limited, and the common view field of the first camera and the first millimeter wave radar can be maximized only by mounting. Illustratively, the first camera 112 is positioned above the first millimeter wave radar, which facilitates redundant detection of blind areas in the lateral view of the vehicle body 110.
The first camera 112 is preferably a short-focus camera, such as a wide-angle camera, and when the first camera 112 is a short-focus camera, it has a large detection angle, generally greater than 90 °, and can detect the target in the blind areas on both sides of the vehicle body 110.
It is understood that vehicle body 110 also includes an interior portion of forward bumper 120 disposed forward of vehicle body 110. At this time, the second millimeter wave radar 113 is small in height from the ground, and its detection blind area is small.
The second millimeter-wave radar 113 is preferably a 77GHz millimeter-wave radar, which can detect a long distance, and the maximum detection distance can reach 150m to 200 m.
In an application example, two first millimeter wave radars 111 and one first camera 112 are installed on one side surface of the vehicle body 110, and the target detection, classification, distance measurement and speed measurement sensing capabilities of the side surface exceeding the horizontal 170-degree range are achieved.
It is understood that the vehicle body 110 further includes a windshield, and the plurality of second cameras 114 are disposed adjacent to the front windshield 119. Illustratively, a plurality of second cameras 114 are mounted over the interior of the front windshield.
The plurality of second cameras 114 having at least two second cameras 114 with different focal lengths means that the plurality of second cameras 114 at least include at least two of a short-focus camera, a middle-focus camera, and a long-focus camera. That is, the second camera 114 may include at least a short-focus camera, a middle-focus camera, or a middle-focus camera, a long-focus camera, or at least a short-focus camera, a long-focus camera, or at least a first short-focus camera, a middle-focus camera, a long-focus camera.
When the plurality of second cameras 114 include a short-focus camera and a middle-focus camera, it is possible to detect a short-distance area and a long-distance area in front of the vehicle body 110; when the plurality of second cameras 114 include a middle focus camera and a long focus camera, it is possible to detect a short distance area and a long distance area in front of the vehicle body 110; when the plurality of second cameras 114 include a short-focus camera and a long-focus camera, it is possible to detect a short-distance region and a long-distance region in front of the vehicle body 110; when the plurality of second cameras 114 includes a short-focus camera, a middle-focus camera, and a long-focus camera, it is possible to detect a short-distance region, a long-distance region, and a long-distance region in front of the vehicle body 110.
It is understood that the vehicle body 110 further includes a front windshield 119 disposed in front of the vehicle body 110, and in one example, the plurality of second cameras 114 are disposed adjacent to an upper portion of the front windshield 119, and the plurality of second cameras 114 are located at the same mounting height. The arrangement of the second camera 114 above the front windshield 119 reduces the disturbance of the driver's vision, and also enlarges the detection range of the second camera 114. The plurality of second cameras 114 are arranged adjacently, which facilitates the integrated analysis of the shot contents of the plurality of second cameras 114.
In another alternative embodiment, the vehicle 100 further includes a vision sensor 118 disposed on the vehicle body 110, the vision sensor 118 being disposed on the front windshield 119 and below the second camera 114 for detecting a region in front of the vehicle body 110. The visual sensor 118 is a commercially available product, for example, a visual sensor 118 of a brand such as mobileiye, Maxieye, Minieye, or the like, has a computing system provided therein, and can calculate an object in a detection area according to an algorithm provided therein to obtain a detection result. The detection result of the vision sensor 118 can be combined with the detection result of the second camera 114 for judgment, which is beneficial to improving the robustness of the whole system.
Wherein the vehicle body 110 further comprises a front air intake grille 121, in one example the vehicle 100 further comprises a third camera 115 arranged on the front air intake grille 121 for detecting an area in front of the vehicle body 110. The third camera 115 is preferably a mid-focus camera that can detect a blind zone on the front side of the vehicle body 110.
Further, in order to enhance the perception of the object approaching vehicle body 110, vehicle 100 further includes a plurality of ultrasonic radars 117 spaced apart on both sides of vehicle body 110 and in front of vehicle body 110, and plurality of ultrasonic radars 117 are used to detect both side regions of vehicle body 110 and a front region of vehicle body 110.
Preferably, a plurality of ultrasonic radars 117 are located below lidar 116 to supplement the detection range of lidar 116. The ultrasonic radar 117 is preferably an ultrasonic radar 117 having a sensing range of more than 5 m.
Illustratively, the vehicle 100 includes twelve ultrasonic radars 117, wherein four ultrasonic radars 117 are disposed on the left side of the vehicle body 110, four ultrasonic radars 117 are disposed on the right side of the vehicle body 110, another four ultrasonic radars 117 are disposed in front of the vehicle body 110, and twelve ultrasonic radars 117 are located at the front bumper 120 or at height positions corresponding to the front bumper 120.
It is understood that the vehicle 100 further includes a computing unit, which is at least connected in communication with the first millimeter-wave radar 111, the first camera 112, the second millimeter-wave radar 113, and the second camera 114, and is used for collecting and processing detection data of the first millimeter-wave radar 111, the first camera 112, the second millimeter-wave radar 113, and the second camera 114. The computing unit can be an industrial personal computer or the like.
The short-focus camera, the middle-focus camera and the long-focus camera mentioned in the above embodiments may be commercially available products without an algorithm module, and specific models are not limited herein. The short-focus camera can be a camera with a focal length less than 30mm, the middle-focus camera can be a camera with a focal length between 50mm and 135mm, and the long-focus camera can be a camera with a focal length greater than 200 mm.
In the above embodiment, multiple sensor sensing can be performed on the target regardless of the near layout or the far layout, and particularly, five sensor sensing is performed at most at the key position near the vehicle body 110. From the perspective of functional safety, the risk of failure of a certain sensor is effectively avoided.
Fig. 2 is a schematic view of the sensing range of the vehicle 100 in an embodiment, wherein the second camera 114 includes a first short-focus camera, a first middle-focus camera, a first long-focus camera, wherein a points to the detection region of the first millimeter wave radar 111 installed forward, B points to the detection region of the first millimeter wave radar 111 installed backward in the first millimeter wave radar 111, C points to the detection region of the first camera 112, D points to the detection region of the first short-focus camera, E points to the detection region of the first middle-focus camera, F points to the detection region of the second millimeter wave radar 113, G points to the detection region of the first long-focus camera, H points to the detection region of the laser radar 116, I points to the detection region of the ultrasonic radar 117, and K points to the detection region of the third camera 115, as can be seen from fig. 2, the redundant sensing in the range of nearly 360 ° of the vehicle body 110 is realized by the above-mentioned manner. Note that, in this example, the focal length of the third camera 115 is smaller than that of the first mid-focus camera.
As an example, referring to fig. 1, the vehicle 100 is a tractor, the vehicle body 110 is a head of the tractor, and the vehicle 100 includes four first millimeter-wave radars 111, two first cameras 112, three second cameras 114, two laser radars 116, twelve ultrasonic radars 117, one third camera 115, one second millimeter-wave radar 113, and one vision sensor 118. Two first millimeter wave radars 111 are installed on the left side of automobile body 110, and two second millimeter wave radars 113 are installed on the right side of automobile body 110, and two first millimeter wave radars 111 of homonymy are close to be set up and are the acute angle installation. The second millimeter wave radar 113 is mounted inside the forward bumper 120 of the vehicle body 110, and the first millimeter wave radar 111 and the second millimeter wave radar 113 are mounted at the same height. The ultrasonic radars 117 are installed around the front, left and right sides of the vehicle body at intervals, and the installation height is 30cm to 70cm, such as 50 cm. Laser radar 116 is mounted on vehicle body 110 above the front wheels, and the mounting height may be 1.5-1.8 m, such as 1.6 m. The second camera 114 includes a first short-focus camera, a first middle-focus camera, and a first long-focus camera, wherein the first short-focus camera, the first middle-focus camera, and the long-focus camera are installed above the inside of the front windshield 119 of the vehicle head, the third camera 115 is installed on the upper portion of the front grille 121 of the vehicle body 110, and the vision sensor 118 is installed at the middle position below the inside of the front windshield of the vehicle head.
In the embodiment of the application, the sensing requirement of the automatic driving L4 level in a heavy truck high-speed scene can be specifically met through different types of sensor combinations.
The present invention is not intended to be limited to the particular embodiments shown and described, but is to be accorded the widest scope consistent with the principles and novel features herein disclosed.
Claims (11)
1. A vehicle is characterized by comprising a vehicle body, a plurality of first millimeter wave radars and a plurality of first cameras which are arranged on the vehicle body and used for detecting areas on two sides of the vehicle body, and a second millimeter wave radar and a plurality of second cameras used for detecting areas in front of the vehicle body, wherein at least two second cameras with different focal lengths are arranged in the second cameras;
the plurality of first millimeter wave radars and the plurality of first cameras are all installed on two sides of the vehicle body, and the plurality of second cameras and the second millimeter wave radars are all installed in front of the vehicle body.
2. The vehicle according to claim 1, characterized in that the plurality of first millimeter wave radars includes two of the first millimeter wave radars on the left side of the vehicle body and two of the first millimeter wave radars on the right side of the vehicle body;
in the two first millimeter wave radars positioned on the same side of the vehicle body, one first millimeter wave radar faces the front of the vehicle body, and the other first millimeter wave radar faces the rear of the vehicle body.
3. The vehicle according to claim 2, characterized in that an angle between two of the first millimeter wave radars on the same side of the vehicle body is an acute angle.
4. The vehicle of claim 1, wherein the body includes two cockpit doors disposed on opposite sides of the body, the first plurality of cameras being disposed rearward of and proximate to the cockpit doors, respectively.
5. The vehicle of claim 4, characterized in that the vehicle body further comprises a forward bumper, the second millimeter wave radar being mounted inside the forward bumper.
6. The vehicle of claim 5, wherein the body further comprises a front windshield, the plurality of second cameras being disposed on the front windshield.
7. The vehicle of claim 6, further comprising a vision sensor disposed on the body, the vision sensor being disposed on the front windshield and below the plurality of second cameras for detecting the area in front of the body.
8. The vehicle of claim 1, wherein the body further comprises a front grille, the vehicle further comprising a third camera disposed on the front grille for detecting the area forward of the body.
9. The vehicle according to any one of claims 1 to 8, characterized by further comprising a plurality of lidar for detecting regions on both sides and a front region of the vehicle body, which are provided on both sides of the vehicle body.
10. The vehicle according to claim 9, further comprising a plurality of ultrasonic radars provided at intervals on both sides of the vehicle body and in front of the vehicle body, the plurality of ultrasonic radars being for detecting both lateral regions of the vehicle body and a front region of the vehicle body.
11. The vehicle of claim 10, wherein the body includes a front wheel, the lidar is mounted horizontally above the front wheel; the ultrasonic radar is arranged below the laser radar; the ground clearance of the first millimeter wave radar is 50 cm-80 cm; the first camera is disposed above the first millimeter wave radar.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021423036.8U CN213262298U (en) | 2020-07-17 | 2020-07-17 | Vehicle with a steering wheel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021423036.8U CN213262298U (en) | 2020-07-17 | 2020-07-17 | Vehicle with a steering wheel |
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| Publication Number | Publication Date |
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| CN213262298U true CN213262298U (en) | 2021-05-25 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202021423036.8U Active CN213262298U (en) | 2020-07-17 | 2020-07-17 | Vehicle with a steering wheel |
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| CN (1) | CN213262298U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP4095548A1 (en) * | 2021-05-28 | 2022-11-30 | Beijing Tusen Zhitu Technology Co., Ltd. | Sensor layout of vehicles |
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2020
- 2020-07-17 CN CN202021423036.8U patent/CN213262298U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP4095548A1 (en) * | 2021-05-28 | 2022-11-30 | Beijing Tusen Zhitu Technology Co., Ltd. | Sensor layout of vehicles |
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