The invention relates to a low-speed unmanned vehicle safety redundancy architecture based on binocular vision; the architecture comprises a camera module, an image verification and diagnosis module, an automatic driving controller and an executing mechanism, the camera module is connected with the image verification and diagnosis module and the automatic driving controller, and the automatic driving controller is further connected with the image verification and diagnosis module and the executing mechanism. The image verification and diagnosis module sends fault related information and vehicle surrounding environment information to the automatic driving controller, and eight binocular cameras are adopted to collect the vehicle surrounding environment information, so that the dependence of a pilotless automobile on a laser radar is reduced, and meanwhile, the high-performance requirement of multi-sensor sensing fusion on the configuration of the automatic driving controller is reduced.

    一种基于双目视觉的低速无人驾驶车辆安全冗余架构,包括摄像头模组、图像验证诊断模块、自动驾驶控制器和执行机构,摄像头模组与图像验证诊断模块、自动驾驶控制器相连接,自动驾驶控制器还与图像验证诊断模块、执行机构连接,图像验证诊断模块将故障相关信息与车辆周边环境信息发送至自动驾驶控制器,采用八个双目摄像头采集车辆周围环境信息,降低了无人驾驶汽车对激光雷达的依赖,同时降低了多传感器感知融合对自动驾驶控制器配置的高性能要求。


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    Title :

    Low-speed unmanned vehicle safety redundancy architecture and method based on binocular vision


    Additional title:

    一种基于双目视觉的低速无人驾驶车辆安全冗余架构与方法


    Contributors:
    ZHANG JIN (author) / CAI YING (author) / WANG YONGFENG (author) / LUO JINGTIAN (author)

    Publication date :

    2021-11-23


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion



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