WO2018213953A1

WO2018213953A1 - Driverless car obstacle avoidance apparatus and method

Info

Publication number: WO2018213953A1
Application number: PCT/CN2017/085245
Authority: WO
Inventors: 李仁涛
Original assignee: 李仁涛
Priority date: 2017-05-21
Filing date: 2017-05-21
Publication date: 2018-11-29

Abstract

A driverless car obstacle avoidance apparatus (100), at least comprising: an ultrasonic wave sensing module (10), used for emitting ultrasonic waves, and determining obstacles according to feedback signals; a temperature distribution sensing module (20), used for sensing object temperature distributions within a certain area range, and determining obstacles. The system also comprises: a storage device, suitable for storing a plurality of commands; a processor, used for loading the commands of the storage device, and executing: setting a sensing result of the temperature distribution sensing module (20) as a highest priority, and according to the priority setting, first controlling a car to avoid corresponding objects according to the temperature distribution sensing module (20), and then controlling the car to avoid corresponding objects according to the ultrasonic wave sensing module (10). Also disclosed is a driverless car obstacle avoidance method.

Description

Driverless vehicle obstacle avoidance device and method

Technical field

The present invention relates to unmanned driving technology, and in particular to an unmanned obstacle avoiding device and method.

Background technique

Autonomous obstacle avoidance is the key technology for autonomous operation of unmanned driving machines. Unmanned driving machines can avoid obstacles affecting sports during flight or driving through autonomous obstacle avoidance. The obstacle avoidance technology in the prior art needs to be realized by a complicated operation method such as a neural network and deep learning. The system hardware resources required for such an obstacle avoidance technology are large, and the full-scale obstacle avoidance cannot be realized quickly and in real time.

Moreover, the prior art obstacle avoidance technology generally does not set the obstacle avoidance priority. For example, when the driverless car is within the same obstacle avoidance range, it is found that both the living body (such as a pedestrian on the zebra crossing) and the non-living body ( For example, a sudden flying object needs to be avoided. At this time, the existing driverless car usually avoids the closest object, such as a sudden flying object, and may hit a pedestrian on the zebra crossing. However, this is not what we expect.

Summary of the invention

The main object of the present invention is to solve the above technical problems.

In order to achieve the above object, an embodiment of the present invention provides an unmanned vehicle obstacle avoidance device, comprising: at least an ultrasonic sensing module, configured to transmit an ultrasonic wave and determine an obstacle according to the feedback signal; and a temperature distribution sensing module, It senses the temperature distribution of objects within a certain area and determines obstacles. The system further includes: a storage device, configured to store a plurality of instructions; a processor, configured to load an instruction of the storage device and execute: setting a sensing result of the temperature distribution sensing module to a highest priority, and prioritizing Level setting, according to the temperature distribution sensing module to control the car to avoid the corresponding object, and secondly according to the ultrasonic sensing The module controls the car to avoid the corresponding object.

Another embodiment of the present invention provides an unmanned vehicle obstacle avoidance method suitable for execution in a computing device. The method includes: transmitting an ultrasonic wave and determining an obstacle according to the feedback signal; and sensing an object temperature distribution within a certain area and determining an obstacle; and setting the temperature distribution sensing result to the highest priority and setting according to the priority, It is preferred to control the car to avoid the corresponding object according to the temperature distribution data, and secondly control the car to avoid the corresponding object according to the ultrasonic sensing data.

The unmanned vehicle obstacle avoidance device and method provided by the invention can detect the object temperature distribution data, and prioritize the obstacle avoidance detection data, so that the driverless vehicle can preferentially avoid obstacles that meet certain conditions, for example, Pedestrians can improve the safety of driverless cars.

DRAWINGS

1 is a functional block diagram of an obstacle avoidance device for an unmanned automobile provided by the present invention;

2 is a temperature distribution diagram of an object detected by the driverless obstacle avoidance device of FIG. 1;

FIG. 3 is a flow chart of a method for avoiding obstacles in a driverless vehicle according to the present invention.

The implementation, functional features, and advantages of the present invention will be further described in conjunction with the embodiments.

detailed description

The preferred embodiments of the present invention are described in conjunction with the accompanying drawings, and the preferred embodiments described herein are intended to illustrate and explain the invention, and not to limit the invention, and The embodiments and the features in the embodiments can be combined with each other.

The invention will now be described in detail in conjunction with the drawings and embodiments.

Referring to FIG. 1, the present invention provides a driverless vehicle obstacle avoidance device 100. The system includes at least an ultrasonic sensing module 10, a temperature distribution sensing module 20, and an obstacle avoidance control module 30. The obstacle avoidance control module 30 receives signals or data of the ultrasonic sensing module 10 and the temperature distribution sensing module 20, And performing analysis, the obstacle avoidance control module 30 controls the driverless car according to the analysis result. It can be understood that the obstacle avoidance control The functionality of module 30 is implemented by a storage device and a processor, the storage device being adapted to store a plurality of instructions, the processor for loading instructions of the storage device and performing the corresponding steps.

Specifically, the ultrasonic sensing module 10 is configured to emit ultrasonic waves and determine an obstacle according to the feedback signal. More specifically, the ultrasonic sensing module 10 includes at least one ultrasonic transmitter and at least one ultrasonic receiver, the ultrasonic transmitter transmitting ultrasonic waves to the outside, the ultrasonic receiver receiving ultrasonic waves reflected from external obstacles, and The ultrasonic signal is sent to the obstacle avoidance control module 30 of the driverless vehicle. In this embodiment, the number of the ultrasonic transmitter and the ultrasonic receiver is four, respectively.

The temperature distribution sensing module 20 is configured to sense an object temperature distribution within a certain area and determine an obstacle. In this embodiment, the temperature distribution sensing module 20 includes a non-contact infrared thermometer that determines the surface temperature by measuring the infrared energy radiated by the target surface. Non-contact meter temperature measurement is based on the principle of thermal radiation. The temperature measuring element does not need to be in contact with the measured medium. The temperature range is wide, and it is not limited by the upper limit of the temperature measurement. It does not damage the temperature field of the measured object. The reaction speed is generally faster.

Referring to FIG. 2, in the embodiment, the temperature distribution sensing module 20 determines a temperature scanning area by using an auxiliary device such as a camera, and divides the temperature scanning area into a plurality of sub-areas. Then, the temperature of the plurality of sub-regions in the temperature scanning region is detected by a plurality of the non-contact infrared thermometers.

The processor performs: setting the sensing result of the temperature distribution sensing module 20 to the highest priority, and according to the priority setting, preferentially controlling the automobile to avoid the corresponding object according to the temperature distribution sensing module 20, and secondly, according to the ultrasonic sensing Module 10 controls the car to avoid corresponding objects. In this embodiment, before the sensing result of the temperature distribution sensing module 20 is set to the highest priority, the processor further performs: determining, according to the temperature distribution of the object, whether the temperature distribution in the detected area falls Enter the reference range. Wherein, the reference range may be a range of body temperature distribution values, for example, may also be a range of temperature distribution values of a plurality of organisms set in advance. In another embodiment, after determining whether the temperature distribution in the range of the detected area falls within the reference range, the processor further performs: determining whether the object temperature distribution data and the ultrasonic feedback signal are both received, if , then the priority setting is made, otherwise the priority setting is not performed.

In still another embodiment, the processor is further configured to: according to a priority setting, The driverless vehicle is controlled according to the temperature distribution data of the object to perform the obstacle avoidance operation until the temperature distribution in the detected region does not fall within the reference range, and the obstacle avoidance operation is performed according to the ultrasonic feedback signal.

The driverless obstacle avoidance device 100 provided by the invention can detect the object temperature distribution data, and prioritizes the obstacle avoidance detection data, so that the driverless vehicle can preferentially avoid obstacles that meet certain conditions, such as pedestrians. , thereby improving the safety of driverless cars.

Referring to FIG. 3, the present invention provides a driverless vehicle obstacle avoidance method suitable for execution in the above computing device. The method includes:

In step S301, ultrasonic waves are transmitted and an obstacle is determined based on the feedback signal.

Step S302, sensing an object temperature distribution within a certain area and determining an obstacle.

Step S303, setting the sensing result of the temperature distribution sensing module 20 to the highest priority, and according to the priority setting, preferentially controlling the automobile to avoid the corresponding object according to the temperature distribution sensing module 20, and secondly controlling according to the ultrasonic sensing module 10 The car avoids the corresponding object.

The unmanned vehicle obstacle avoidance device 100 and method provided by the invention can detect the object temperature distribution data, and prioritize the obstacle avoidance detection data, so that the driverless vehicle can preferentially avoid obstacles that meet certain conditions. For example, pedestrians can improve the safety of driverless cars.

The above are only the preferred embodiments of the present invention, and are not intended to limit the scope of the invention, and the equivalent structure or equivalent process transformations made by the description of the present invention and the drawings are directly or indirectly applied to other related technical fields. The same is included in the scope of patent protection of the present invention.

Claims

An unmanned automobile obstacle avoidance device comprising at least:

An ultrasonic sensing module for transmitting ultrasonic waves and determining an obstacle based on the feedback signal;

a temperature distribution sensing module for sensing an object temperature distribution within a certain area and determining an obstacle;

The system also includes:

a storage device adapted to store a plurality of instructions;

a processor, configured to load an instruction of the storage device and execute: setting a sensing result of the temperature distribution sensing module to a highest priority, and according to a priority setting, preferentially controlling the car according to the temperature distribution sensing module to avoid corresponding The object, secondly, controls the car to avoid the corresponding object according to the ultrasonic sensing module.
The driverless vehicle obstacle avoidance device according to claim 1, wherein the ultrasonic sensing module comprises at least one ultrasonic transmitter and at least one ultrasonic receiver, the ultrasonic transmitter transmitting ultrasonic waves to the outside, The ultrasonic receiver receives the ultrasonic waves reflected from the external obstacles and transmits the ultrasonic signals to the processor of the driverless vehicle.
The driverless vehicle obstacle avoidance device according to claim 1, wherein the temperature distribution sensing module comprises a non-contact infrared thermometer that determines a surface temperature by measuring infrared energy radiated from a target surface.
The driverless vehicle obstacle avoidance device according to claim 1, wherein before the setting the sensing result of the temperature distribution sensing module to the highest priority, the processor further executes:

According to the temperature distribution of the object, it is judged whether the temperature distribution in the detected region falls within the reference range.
The driverless vehicle obstacle avoidance device according to claim 4, wherein the reference range is a range of body temperature distribution values.
The driverless obstacle avoidance device according to claim 4, wherein after determining whether the temperature distribution within the detected region falls within a reference range, The processor further performs:

It is judged whether the object temperature distribution data and the ultrasonic feedback signal are received, and if yes, the priority setting is performed, otherwise the priority setting is not performed.
The driverless vehicle obstacle avoidance device according to claim 1, wherein the processor further performs:

According to the priority setting, the driverless vehicle is controlled according to the temperature distribution data of the object to perform the obstacle avoidance operation until the temperature distribution in the detected region does not fall within the reference range, and the obstacle avoidance operation is performed according to the ultrasonic feedback signal.
An unmanned vehicle obstacle avoidance method suitable for execution in a computing device, the method comprising:

Transmitting an ultrasonic wave and determining an obstacle based on the feedback signal;

Sensing the temperature distribution of objects within a certain area and determining obstacles;

The temperature distribution sensing result is set to the highest priority, and according to the priority setting, the car is controlled to avoid the corresponding object according to the temperature distribution data, and then the car is controlled to avoid the corresponding object according to the ultrasonic sensing data.