CN111696356A - Unmanned vehicle and running detection device thereof - Google Patents

Abstract

The invention provides an unmanned vehicle and a driving detection device thereof. The device includes an MCU master controller, a first camera, a second camera, a third camera, a decoder and a monitoring radar. The MCU master controller, the decoder and the The trip computer of the unmanned vehicle is set in combination, the first camera is set at the top of the front windshield of the unmanned vehicle, the second camera is set at the rear of the unmanned vehicle, and the third cameras are multiple and respectively set at At the front end of the rearview mirror of the unmanned vehicle, the monitoring radar is arranged around the unmanned vehicle, and the MCU master controller is respectively connected with the first camera, the second camera, the third camera, the decoder and the monitoring radar for electrical control. , the decoder includes a signal lamp identification system and a signal time identification system. The invention can identify traffic lights and other surrounding environment information, thereby improving the accuracy of control and driving safety, and has high stability, convenience and fluency of operation.

Description

Unmanned vehicle and its driving detection device

technical field

The invention relates to the technical field of vehicles, in particular to an unmanned vehicle driving detection device and an unmanned vehicle.

Background technique

At present, the application of driverless technology is limited to low-speed and limited scenarios, such as logistics, shared travel, public transportation, mining, retail and other fields. Among them, in public transportation, because buses have the characteristics of slow speed, short distances, fixed routes, and dedicated lanes, buses have the basic conditions for unmanned driving. The driverless system applied to buses can respond to emergencies in a timely manner, and can realize pedestrian vehicle detection, deceleration and avoidance, emergency stop, obstacle avoidance and lane change, and automatic stop-by-station under driverless driving. Dock and other functions. For the application of driverless vehicles in mining scenarios, driverless technology can be said to be indispensable. In the mining of unmanned driving, through technical support, the overall energy consumption of mining can be reduced, the comprehensive operation efficiency can be improved, the safety production of the mining area can be improved, and the construction of smart mining areas can be accelerated. With the active deployment of various IoT companies and car companies, as well as the continuous emergence of driverless technology startups, the power of the driverless field is growing.

However, the commercial implementation of driverless technology is still in its infancy. Although it has been deployed in many fields of use in the future blueprint for construction, there is still a long way to go before the full realization of daily life applications. Especially in today's extremely complex urban traffic, many difficulties need to be overcome in order to achieve unmanned driving. The traffic elements in our country are relatively complex. There are many electric vehicles and pedestrians passing through the road. The current driverless vehicles are still unable to smoothly pass through the intersections with signal lights and mixed pedestrians and vehicles. Overall, the complex traffic environment limits the application of driverless vehicle technology.

SUMMARY OF THE INVENTION

In order to solve the above technical problems, the present invention provides an unmanned vehicle and its driving detection device, which can identify traffic lights and other surrounding environmental information, thereby improving the accuracy of control and driving safety, and through the control of the MCU master controller. Comprehensive control, at the same time, the MCU master controller also complements the on-board computer, which further realizes the stability of the system and improves the convenience and fluency of operation.

The technical scheme adopted in the present invention is as follows:

An unmanned vehicle driving detection device, comprising a MCU master controller, a first camera, a second camera, a third camera, a decoder and a monitoring radar, the MCU master controller, the decoder and the unmanned vehicle The trip computer of the driving vehicle is arranged in combination, the first camera is arranged at the top of the front windshield of the unmanned vehicle, the second camera is arranged at the rear of the unmanned vehicle, and the third camera is arranged at the rear of the unmanned vehicle. There are multiple cameras and are respectively arranged at the front end of the rearview mirror of the unmanned vehicle, the monitoring radar is arranged around the unmanned vehicle, and the MCU master controller is respectively connected with the first camera, the The second camera, the third camera, the decoder and the monitoring radar are electrically controlled and connected, wherein the decoder includes a signal light identification system and a signal time identification system.

The unmanned vehicle driving detection device further includes an anti-collision warning system, a brake light, a turn signal, a voice alarm, a vehicle distance data analysis controller, a vehicle braking control system, a steering wheel system controller and an in-vehicle safety protection system. controller, the MCU master controller is respectively connected with the collision avoidance warning system, the brake light, the turn signal, the voice alarm, the vehicle distance data analysis controller, and the vehicle brake control system , The steering wheel system controller and the in-vehicle safety protection system controller are electrically controlled and connected.

The decoder includes a converter.

The MCU master controller includes an internal solid-state storage hard disk and an external socket, the external socket is electrically connected to the decoder and the monitoring radar through a data cable, and the converter is connected to the first through a wire. The camera, the second camera and the third camera are electrically connected.

The solid state storage hard disk is internally composed of a control unit and a storage unit, and one end of the solid state storage hard disk is connected with a mobile hard disk.

The first camera, the second camera and the third camera are all provided with photoreceptors, and the photoreceptors cooperate with the first camera, the second camera and the third camera, and The signals of the first camera, the second camera and the third camera and their own optical signals are transmitted to the A/D converter set in the MCU master controller.

The MCU master controller includes an initialization module, a detection selection module, an operation module and a data storage module. The operation module includes a detection operation module, a data interaction module and a reorganization and deployment module. The initialization module, the detection selection module, the The operation module and the data storage module form a closed loop.

The signal light recognition system includes a signal light color recognition module, a signal light image denoising module, a signal light image amplification module and a signal image pre-judgment module, and the signal time recognition system includes a signal time capture module, a signal time countdown pre-judgment module, and a signal time The yellow light warning module and the signal light end start module.

An unmanned vehicle includes the above-mentioned unmanned vehicle driving detection device.

Beneficial effects of the present invention:

Through the identification of signal lights and signal time, the present invention can comprehensively identify and identify information such as the color of signal lights, signal time, etc. in actual use, and combine other environmental information around the vehicle, thereby improving the accuracy of control and driving safety. Through the comprehensive control of the MCU master controller, the MCU master controller also complements the on-board computer, which further realizes the stability of the system and improves the convenience and fluency of operation.

Description of drawings

1 is a schematic structural diagram of an unmanned vehicle driving detection device according to an embodiment of the present invention;

2 is a schematic diagram of an installation position of an unmanned vehicle driving detection device according to an embodiment of the present invention;

3 is a schematic block diagram of a driving detection device for an unmanned vehicle according to an embodiment of the present invention;

FIG. 4 is a schematic block diagram of a driving detection device for an unmanned vehicle according to a specific embodiment of the present invention.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

As shown in FIG. 1 and FIG. 2 , the unmanned vehicle driving detection device according to the embodiment of the present invention includes an MCU general controller 1 , a first camera 2 , a second camera 3 , a third camera 4 , a decoder 5 and a monitoring radar 7 , the MCU master controller 1, the decoder 5 and the driving computer of the unmanned vehicle 6 are combined and set up, the first camera 2 is set on the top of the front windshield of the unmanned vehicle 6, and the second camera 3 is set on the unmanned vehicle. At the rear of the vehicle 6, there are multiple third cameras 4 and are respectively arranged at the front end of the rearview mirror of the unmanned vehicle 6, the monitoring radar 7 is arranged around the unmanned vehicle 6, and the MCU master controller 1 is respectively connected with the first camera 6. The camera 2 , the second camera 3 , the third camera 4 , the decoder 5 and the monitoring radar 7 are electrically controlled and connected, wherein the decoder 5 includes a signal light identification system and a signal time identification system.

Further, as shown in FIG. 3 , the unmanned vehicle driving detection device may further include an anti-collision warning system 8 , a brake light 9 , a turn signal 10 , a voice alarm 11 , a vehicle distance data analysis controller 12 , and a vehicle braking control system. System 13, steering wheel system controller 14 and in-vehicle safety protection system controller 15, MCU master controller 1 and collision avoidance warning system 8, brake lights 9, turn signals 10, voice alarm 11, vehicle distance data analysis controller 12. The vehicle brake control system 13 , the steering wheel system controller 14 and the in-vehicle safety protection system controller 15 are electrically controlled and connected.

In an embodiment of the present invention, as shown in FIG. 1 , the decoder 5 includes a converter 16 , and the MCU master controller 1 includes a solid-state storage hard disk 17 and an external socket 18 arranged inside. The device 5 is electrically connected to the monitoring radar 7 , and the converter 16 is electrically connected to the first camera 2 , the second camera 3 and the third camera 4 through wires. The solid state storage hard disk 17 is internally composed of a control unit and a storage unit, and one end of the solid state storage hard disk 17 may be connected with a mobile hard disk.

In an embodiment of the present invention, the first camera 2 , the second camera 3 and the third camera 4 are all provided with photoreceptors, and the photoreceptors cooperate with the first camera 2 , the second camera 3 and the third camera 4 , And transmit the signals of the first camera 2 , the second camera 3 and the third camera 4 and their own optical signals to the A/D converter set in the MCU general controller 1 .

In an embodiment of the present invention, as shown in FIG. 4 , the MCU master controller 1 further includes an initialization module 19, a detection selection module 20, an operation module 21 and a data storage module 22. The operation module 21 includes a detection operation module 23, a data storage module 22, and a The interaction module 24 , the reorganization and deployment module 25 , the initialization module 19 , the detection and selection module 20 , the operation module 21 and the data storage module 22 form a closed loop.

In one embodiment of the present invention, the signal light identification system and the signal time identification system can be integrated in the decoder 5 or can be arranged outside the decoder 5 . As shown in FIG. 4 , the signal light recognition system 26 includes a signal light color recognition module 28, a signal light image denoising module 29, a signal light image amplification module 30 and a signal image pre-judgment module 31, and the signal time recognition system 27 includes a signal time capture module 32, The signal time countdown prediction module 33 , the signal time yellow light warning module 34 and the signal light end start module 35 .

Based on the above-mentioned unmanned vehicle driving detection device shown in FIGS. 1 to 4 , when in use, the device can be installed and debugged correctly and completely first, and the unmanned vehicle 6 can be manually started. At this time, the unmanned vehicle 6 automatically The power supply system of the belt will connect the MCU master controller 1, the first camera 2, the second camera 3, the third camera 4, the decoder 5, the monitoring radar 7, the anti-collision warning system 8, the brake light 9, the turn signal 10, the voice The alarm 11, the vehicle distance data analysis controller 12, the vehicle brake control system 13, the steering wheel system controller 14, the in-vehicle safety protection system controller 15, the converter 16, etc. are powered on. Then observe the rearview mirror and turn on the turn signal to start the vehicle. At this time, the first camera 2 arranged on the top of the windshield of the front windshield of the driverless vehicle 6, the third camera 4 arranged on the rearview mirror of the driverless vehicle 6, and the The second camera 3 at the rear of the unmanned vehicle 5 will collectively monitor the surrounding environment of the unmanned vehicle 6 in real time. When encountering an intersection, the first camera 2 can identify the color of the signal light on-site through the signal light color recognition module 28, and then transmit the signal to the decoder 5, and after decoding by the decoder 5, an electrical signal is formed and transmitted to the MCU overall control 1, the MCU master controller 1 confirms whether to run or stop, and the MCU master controller 1 can convert the signal into a command signal and further transmit it to the vehicle brake control system 13 and the steering wheel system controller 14, and then control the no The start and stop of the manned vehicle 6, when there are pedestrians around the unmanned vehicle 6, the monitoring radar 7 can transmit the signal to the MCU master controller 1 through the decoder 5, and the MCU master controller 1 controls the unmanned vehicle 6 It can realize the purpose of automatic identification of environmental information such as traffic lights and other signs of unmanned vehicles.

According to the driving detection device of the unmanned vehicle according to the embodiment of the present invention, through signal light identification and signal time identification, it can comprehensively identify and identify information such as signal light color and signal time in actual use, combined with other information around the vehicle. Environmental information, thereby improving the accuracy of control and driving safety, and through the comprehensive control of the MCU master controller, at the same time, the MCU master controller also complements the on-board computer, which further realizes the stability of the system and improves the convenience of operation. and fluency.

Based on the driving detection device for an unmanned vehicle in the above embodiment, the present invention also provides an unmanned vehicle.

The unmanned vehicle according to the embodiment of the present invention includes the driving detection device for the unmanned vehicle according to any one of the above embodiments of the present invention, and the specific implementation can refer to the above embodiments, which will not be repeated here.

The unmanned vehicle according to the embodiment of the present invention can identify traffic lights and other surrounding environmental information, thereby improving the accuracy of control and driving safety, and has high stability, convenience and fluency of operation.

In the description of the present invention, the terms "first" and "second" are only used for the purpose of description, and cannot be understood as indicating or implying relative importance or implying the number of indicated technical features. Thus, a feature defined as "first" or "second" may expressly or implicitly include one or more of that feature. "Plurality" means two or more, unless expressly specifically limited otherwise.

In the present invention, unless otherwise expressly specified and limited, the terms "installed", "connected", "connected", "fixed" and other terms should be understood in a broad sense, for example, it may be a fixed connection or a detachable connection , or integrated; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal connection of the two elements or the interaction relationship between the two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

In the present invention, unless otherwise expressly specified and limited, a first feature "on" or "under" a second feature may be in direct contact between the first and second features, or the first and second features indirectly through an intermediary touch. Also, the first feature being "above", "over" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is level higher than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature has a lower level than the second feature.

In the description of this specification, description with reference to the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples", etc., mean specific features described in connection with the embodiment or example , structure, material or feature is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, those skilled in the art may combine and combine the different embodiments or examples described in this specification, as well as the features of the different embodiments or examples, without conflicting each other.

Any description of a process or method in the flowcharts or otherwise described herein may be understood to represent a module, segment or portion of code comprising one or more executable instructions for implementing a specified logical function or step of the process , and the scope of the preferred embodiments of the invention includes alternative implementations in which the functions may be performed out of the order shown or discussed, including performing the functions substantially concurrently or in the reverse order depending upon the functions involved, which should It is understood by those skilled in the art to which the embodiments of the present invention belong.

The logic and/or steps represented in flowcharts or otherwise described herein, for example, may be considered an ordered listing of executable instructions for implementing the logical functions, may be embodied in any computer-readable medium, For use with, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a system including a processor, or other system that can fetch instructions from and execute instructions from an instruction execution system, apparatus, or apparatus) or equipment. For the purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transport the program for use by or in connection with an instruction execution system, apparatus, or apparatus. More specific examples (non-exhaustive list) of computer readable media include the following: electrical connections with one or more wiring (electronic devices), portable computer disk cartridges (magnetic devices), random access memory (RAM), Read Only Memory (ROM), Erasable Editable Read Only Memory (EPROM or Flash Memory), Fiber Optic Devices, and Portable Compact Disc Read Only Memory (CDROM). In addition, the computer readable medium may even be paper or other suitable medium on which the program may be printed, as the paper or other medium may be optically scanned, for example, followed by editing, interpretation, or other suitable medium as necessary process to obtain the program electronically and then store it in computer memory.

It should be understood that various parts of the present invention may be implemented in hardware, software, firmware or a combination thereof. In the above-described embodiments, various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented by any one or a combination of the following techniques known in the art: Discrete logic circuits, application specific integrated circuits with suitable combinational logic gates, Programmable Gate Arrays (PGA), Field Programmable Gate Arrays (FPGA), etc.

Those skilled in the art can understand that all or part of the steps carried by the methods of the above embodiments can be completed by instructing the relevant hardware through a program, and the program can be stored in a computer-readable storage medium, and the program can be stored in a computer-readable storage medium. When executed, one or a combination of the steps of the method embodiment is included.

In addition, each functional unit in each embodiment of the present invention may be integrated into one processing module, or each unit may exist physically alone, or two or more units may be integrated into one module. The above-mentioned integrated modules can be implemented in the form of hardware, and can also be implemented in the form of software function modules. If the integrated modules are implemented in the form of software functional modules and sold or used as independent products, they may also be stored in a computer-readable storage medium.

The above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, and the like. Although the embodiments of the present invention have been shown and described above, it should be understood that the above-mentioned embodiments are exemplary and should not be construed as limiting the present invention. Embodiments are subject to variations, modifications, substitutions and variations.

Claims (9)

1. A driverless vehicle running detection device is characterized by comprising an MCU master controller, a first camera, a second camera, a third camera, a decoder and a monitoring radar, the MCU master controller, the decoder and the driving computer of the unmanned vehicle are combined, the first camera is arranged at the top end of a front windshield of the unmanned vehicle, the second camera is arranged at the tail of the unmanned vehicle, the third cameras are multiple and are respectively arranged at the front end of a rearview mirror of the unmanned vehicle, the monitoring radar set up in unmanned vehicle's is all around, MCU master controller respectively with first camera the second camera the third camera the decoder with monitoring radar electric control connects, wherein, the decoder includes signal lamp identification system and signal time identification system.

2. The unmanned vehicle driving detection device of claim 1, further comprising an anti-collision early warning system, a brake lamp, a steering lamp, a voice alarm, a vehicle distance data analysis controller, a vehicle braking control system, a steering wheel system controller and an in-vehicle safety protection system controller, wherein the MCU master controller is electrically connected with the anti-collision early warning system, the brake lamp, the steering lamp, the voice alarm, the vehicle distance data analysis controller, the vehicle braking control system, the steering wheel system controller and the in-vehicle safety protection system controller respectively.

3. The unmanned vehicle travel detection device of claim 2, wherein the decoder comprises a converter.

4. The unmanned vehicle driving detection device of claim 3, wherein the MCU master controller comprises a solid state memory hard disk and an external socket which are arranged inside, the external socket is electrically connected with the decoder and the monitoring radar through a data line, and the converter is electrically connected with the first camera, the second camera and the third camera through wires.

5. The unmanned vehicle driving detection device of claim 4, wherein the solid state storage hard disk is internally composed of a control unit and a storage unit, and a mobile hard disk is connected to one end of the solid state storage hard disk.

6. The unmanned vehicle driving detection device of claim 5, wherein the first camera, the second camera and the third camera are all provided with photoreceptors, the photoreceptors are mutually matched with the first camera, the second camera and the third camera, and transmit signals of the first camera, the second camera and the third camera and own optical signals to an A/D converter arranged in the MCU master controller.

7. The unmanned vehicle driving detection device of claim 6, wherein the MCU general controller comprises an initialization module, a detection selection module, an operation module and a data storage module, the operation module comprises a detection operation module, a data interaction module and a recombination and allocation module, and the initialization module, the detection selection module, the operation module and the data storage module form a closed loop.

8. The unmanned vehicle driving detection apparatus of any one of claims 1-7, wherein the signal light recognition system comprises a signal light color recognition module, a signal light image denoising module, a signal light image amplification module, and a signal image prejudgment module, and the signal time recognition system comprises a signal time capture module, a signal time countdown prejudgment module, a signal time yellow light early warning module, and a signal light end start module.

9. An unmanned vehicle, characterized by comprising the unmanned vehicle travel detection apparatus according to any one of claims 1 to 8.

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