It is reported that German supplier ZFFriedrichshafen (Silicon Valley) and Silicon Valley start-ups Aeva announced that the two companies are working together to develop laser radar sensors for self driving cars.
In the automatic driving technology, in order to detect the objects around the vehicle, we need to use the environment sensor, which includes lidar and other sensors, but this kind of sensor can only detect the objects in the direct field of vision. When the mirror reflection occurs on the road or the reflection artifacts appear in the environment around the vehicle, it will cause interference to the detection.
And this kind of interference often has an impact on the vehicle control system. Therefore, in order to improve the safety and comfort of driving, we need to evaluate the surrounding environment according to a more accurate system, so as to obtain the surrounding traffic environment and carry out the correct intelligent control.
Therefore, ZF applied for an invention patent named “identifying objects by indirect signal reflection” (application No.: 201911164523.9) on November 25, 19. The applicant is ZF active safety Co., Ltd.
According to the current information of the patent, let’s take a look at the patented technology.
As shown in the figure above, it is a driverless vehicle equipped with a control system and environmental sensors. The vehicle shown in the figure is equipped with three environmental sensors 14, 16 and 18, which send the collected data and signals to the control system 10. For example, the sensor 14 in the forward direction of the vehicle may detect the area 20 in front of the vehicle.
These environmental sensors, such as cameras, radar sensors, lidar sensors and ultrasonic sensors in different positions, can complete different data acquisition tasks. The control system can analyze the information of other vehicles around the vehicle (such as speed), driving trajectory and side lane boundary from the data collected by these sensors Information can help driverless vehicles.
As shown in the figure above, when the driverless vehicle follows another vehicle and drives under the bridge sign at the same time, before passing the bridge sign, only the sensor signal and control signal are used to detect the vehicle driving in front, such as the distance and speed between them, to judge whether the braking and other operations are needed.
When the driverless vehicle drives to the bottom of the bridge road sign, for example, some bridge road signs need limited height, which requires the driverless vehicle to be able to understand its position, which is following a car, and the limited height object above it, and the use of radar wave can be very clever to complete this task.
Because part of the radar wave emitted by the driverless vehicle will be bounced back to the road sign on the top of the head by the car in front of it, and then it will be received by the driverless vehicle again. Through this multiple radar wave reflection, it can be detected by the environment sensors 14, 16 and 18 on the driverless vehicle, and provide the corresponding data to the control system, so as to make the driverless vehicle more reliable You can understand where it is.
So, when should the vehicle judge that the vehicle body has left the height limit object above the head? As shown in the figure above, the scheme is also very ingenious. The radar wave is still used to reflect the objects in front of the vehicle and overhead, and is received by the sensors on the vehicle body. But the difference is that at this time, because the vehicle is leaving the height limit object, the signal is received by the sensors at the rear of the unmanned vehicle, which can be used as a basis for judgment.
It can be seen that although the above-mentioned environmental schematic scheme is given in this scheme, we can still find its shortcomings, because the lidar scheme must have the object in front to reflect, so when there is no object in front of the car, the radar wave reflection method will be used to judge whether it passes the height limit object, and it will be invalid. However, in spite of this, we can also see that it is necessary to study new and higher precision lidar sensor, which has irreplaceable advantages.
Finally, let’s take a look at the flow chart of this control method. First, based on the environmental data collected by the system, the objects in the environment around the driverless vehicle are detected. Secondly, the position and speed of the surrounding environment are fed back to the control system. Finally, the control system adjusts the driving state of the driverless vehicle based on the driving information of other vehicles.
The above is the unmanned driving scheme invented by ZF, which uses reflection to identify objects. Compared with the traditional driving assistance system, this control system with the help of a large number of sensors improves the driving safety and driving comfort. At the same time, because the information around the vehicle can be collected by the vehicle, it can be found that there is no object in the field of vision of the sensor, which can achieve better control of the actual environment around the vehicle.
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