The invention discloses an automatic driving sensing system based on a split type flying vehicle and an operation method. The automatic driving sensing system comprises a chassis, a cabin, an unmanned aerial vehicle, an automatic driving sensing system arranged on the split type flying vehicle and a decision planning system. A cabin is detachably mounted at the top of the chassis and at the bottom of the unmanned aerial vehicle; the automatic driving perception system comprises a laser radar, a camera and a computing platform. The laser radar obtains point cloud data; the camera acquires image data; the calculation platform processes and calculates the position and size information of the obstacle according to the obtained point cloud data and image data, obtains a sensing result and issues the sensing result to the decision planning system; and the decision planning system makes a decision and plans a path according to a sensing result obtained by the computing platform, and assists the split type flying vehicle in avoiding obstacles. The unmanned aerial vehicle has the advantages that the chassis, the cabin and the unmanned aerial vehicle are all provided with the sensing sensors, information of the different sensors is fused, the visual field range is enlarged, richer environment information is obtained, accurate butt joint of the different modules is achieved, and safety in the driving process of all stages is guaranteed.

    本发明公开了一种基于分体式飞行车辆的自动驾驶感知系统和运行方法,包括:底盘、座舱、无人机、布置在分体式飞行车辆上的自动驾驶感知系统和决策规划系统。底盘顶部可拆卸安装座舱,无人机底部可拆卸安装座舱;自动驾驶感知系统包括:激光雷达、相机、计算平台;激光雷达获取点云数据;相机获取图像数据;计算平台根据得到的点云数据和图像数据处理并计算得到障碍物的位置和尺寸信息,获取感知结果并发布给决策规划系统;决策规划系统根据计算平台得到的感知结果做出决策并规划路径,辅助分体式飞行车辆避开障碍物。本发明的优点是:底盘、座舱和无人机三个模块均布置了感知传感器,不同传感器信息融合,增大了视野范围,获取更加丰富的环境信息,以实现不同模块的精准对接以及保障各个阶段行驶过程中的安全。


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    Title :

    Automatic driving perception system based on split type flying vehicle and operation method


    Additional title:

    一种基于分体式飞行车辆的自动驾驶感知系统和运行方法


    Contributors:
    LI YING (author) / WANG RONGXUAN (author) / WANG WEIDA (author) / YANG CHAO (author) / YUE XING (author) / WAN CHENGLIN (author) / WU LINGYUN (author)

    Publication date :

    2023-03-31


    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 / B62D MOTOR VEHICLES , Motorfahrzeuge / B64C AEROPLANES , Flugzeuge / B64D Ausrüstung für Flugzeuge , EQUIPMENT FOR FITTING IN OR TO AIRCRAFT / B64U



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