Sensing assembly for autonomous driving

Patent metadata

Field	Value
Publication number	US-11041958-B2
Application number	US-201916664204-A
Country	US
Kind code	B2
Filing date	Oct 25, 2019
Priority date	Apr 28, 2017
Publication date	Jun 22, 2021
Grant date	Jun 22, 2021

Abstract

An autonomous driving assembly for a vehicle includes a plurality of lidar units configured to be supported by a vehicle body. The lidar units are collectively configured to detect a periphery region in proximity to the vehicle body to aid in autonomous driving upon coupling the driving assembly to the vehicle body. Each of the plurality of lidar units has a field of view of less than about 180 degrees.

First claim

What is claimed is:

1. An autonomous driving assembly for a vehicle, comprising:
a plurality of lidar units configured to be supported by a vehicle body, the lidar units being collectively configured to detect a periphery region in proximity to the vehicle body to aid in autonomous driving upon coupling the driving assembly to the vehicle body, the plurality of lidar units including a subset of lidar units including at least two lidar units having a fixed disposition relative to one another, the subset of lidar units being supported by a support structure;
wherein:
each of the plurality of lidar units has a field of view of less than 180 degrees;
the support structure is attached to the vehicle rotatably attached to the vehicle body via a gimbal; and
at least one of the plurality of lidar units is configured to be moved to focus on a region having a highest object density within a volume of space around the vehicle, the object density being determined based on a number of objects within the volume of space, a percentage of the volume of space that is taken up by one or more objects, or a percentage of the volume of space that is not taken up by one or more objects having a continuous volume that meets a minimum threshold.

2. The assembly of claim 1 , wherein:
the subset of lidar units is a first set of lidar units, and the support structure is a first support structure; and
the plurality of lidar units further comprise a second subset of lidar units comprising at least two lidar units having a fixed disposition relative to one another; and
the second subset of lidar units are supported by a second support structure that is separate from the first support structure.

3. The assembly of claim 2 , wherein the first subset of lidar units and the second subset of lidar units are supported on different areas of the vehicle body, and configured to work in concert to detect the periphery region or a portion of the periphery region.

4. The assembly of claim 2 , wherein the first subset of lidar units comprise a first lidar unit optically aligned in a first direction and a second lidar optically aligned in a second direction, wherein an angle between the first direction and the second direction is 50 degrees or less.

5. The assembly of claim 2 , wherein:
the first subset of lidar units comprise at least three lidar units supported by the first support structure; or
the second subset of lidar units comprise at least three lidar units supported by the second support structure.

6. The assembly of claim 5 , wherein the at least three lidar units of the first subset of lidar units are arranged in a manner to increase overlap between adjacent fields of view of the at least three lidar units.

7. The assembly of claim 5 , wherein the at least three lidar units of the second subset of lidar units are arranged in a manner to increase overlap between adjacent fields of view of the at least three lidar units.

8. The assembly of claim 2 , wherein the first subset of lidar units are configured to move relative to the second subset of lidar units so as to adjust an overlap of field of view between the first subset of lidar units and the second subset of lidar units.

9. The assembly of claim 2 , wherein the first subset of lidar units and the second subset of lidar units are configured to move relative to each other so as to adjust an overlap of field of view between the first subset of lidar units and the second subset of lidar units.

10. The assembly of claim 2 , wherein an overlap of field of view between the first subset of lidar units and the second subset of lidar units is adjustable in real-time to compensate for blind spots while the vehicle is in operation.

11. The assembly of claim 2 , wherein at least 70 degrees of overlap of field of view exists between the first subset of lidar units and the second subset of lidar units.

12. The assembly of claim 2 , wherein the first subset of lidar units comprises a collective field of view of at least 160 degrees, and the second subset of lidar units comprises a collective field of view of at least 160 degrees.

13. The assembly of claim 2 , wherein a collective field of view of the first subset of lidar units and the second subset of lidar units is inversely proportional to a collective detection range of the first subset of lidar units and the second subset of lidar units.

14. The assembly of claim 2 , wherein the at least two lidar units of the first subset of lidar units are configured to not move relative to one another during operation of the vehicle, and wherein the at least two lidar units of the second subset of lidar units are configured to not move relative to one another during operation of the vehicle.

15. The assembly of claim 2 , wherein at least one of the first subset of lidar units or the second subset of lidar units undergoes an initial intrinsic calibration prior to utilization of the at least one of the first subset of lidar units or the second subset of lidar units for sensing.

16. The assembly of claim 15 , wherein the lidar units of the first subset do not require online calibration during operation of the vehicle, and the lidar units of the second subset do not require online calibration during operation of the vehicle.

17. The assembly of claim 15 , wherein the first subset of lidar units and the second subset of lidar units undergo an online calibration relative to each other during the operation of the vehicle.

18. The assembly of claim 1 , further comprising:
a long range lidar unit comprising a field of view that is narrower than a collective field of view of the plurality of lidar units.

Assignees

• Sz Dji Technology Co Ltd

Inventors

• Li Wei
• Ma Lu

Classifications

• G01S17/87

  Combinations of systems using electromagnetic waves other than radio waves · CPC title

• G01S2013/93273

  on the top of the vehicles · CPC title

• G01S2013/93272

  in the back of the vehicles · CPC title

• G01S13/34

  using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal · CPC title

• G01S13/867

  Combination of radar systems with cameras · CPC title