Vehicle having sensor redundancy
The present disclosure relates to a vehicle having sensor redundancy. The vehicle includes a sensor system including a first sensor subsystem configured for acquiring environmental information around the vehicle; a second sensor subsystem configured for acquiring environmental information around the vehicle; a computing system configured for sending a control instruction generated based on one of the first sensor subsystem and the second sensor subsystem to a control system according to a state of at least one of the computing system and the sensor system; a control system configured for changing at least one of a direction of travel and a speed of the vehicle based on the control instruction received from the computing system.
1 . A vehicle, comprising:
a sensor system comprising:
a first sensor subsystem configured for acquiring environmental information around the vehicle; and
a second sensor subsystem configured for acquiring environmental information around the vehicle,
a computing system configured for sending a control instruction generated based on the first sensor subsystem or the second sensor subsystem to a control system according to at least the state of the sensor system; and
the control system configured for changing at least one of a direction of travel and a speed of the vehicle based on the control instruction received from the computing system,
wherein the first sensor subsystem comprises a first set of sensors of a first type and a first set of sensors of a second type;
wherein an overlap of horizontal sensing ranges of the first set of sensors of the first type of the first sensor subsystem and the first set of sensors of the second type of the first sensor subsystem is at least 80% of the horizontal sensing range of the first set of sensors of the second type of the first sensor subsystem, wherein the first type is different from the second type,
wherein the sensor system further comprises a third sensor subsystem configured for acquiring environmental information around the vehicle,
wherein an overlap of horizontal sensing ranges of a first set of sensors of the first type of the third sensor subsystem and the first set of sensors of the first type of the first sensor subsystem is at least 80% of the horizontal sensing range of the first set of sensors of the first type of the third sensor subsystem, but not greater than 40% of the horizontal sensing range of the first set of sensors of the first type of the first sensor subsystem, and
wherein an overlap of the horizontal sensing ranges of the first set of sensors of the first type of the third sensor subsystem and a first set of sensors of the first type of the second sensor subsystem is at least 80% of the horizontal sensing range of the first set of sensors of the first type of the third sensor subsystem, but not greater than 50% of the horizontal sensing range of the first set of sensors of the first type of the second sensor subsystem.
2 . The vehicle according to claim 1 , wherein:
the first sensor subsystem also includes a second set of sensors of the first type and a second set of sensors of the second type;
an overlap of horizontal sensing ranges of the second set of sensors of the first type of the first sensor subsystem and the second set of sensors of the second type of the first sensor subsystem is at least 80% of the horizontal sensing range of the second set of sensors of the second type of the first sensor subsystem.
3 . The vehicle according to claim 2 , wherein:
a horizontal field of view of the first set of sensors of the first type of the first sensor subsystem is greater than a horizontal field of view of the second set of sensors of the first type of the first sensor subsystem;
a horizontal field of view of the first set of sensors of the second type of the first sensor subsystem is greater than a horizontal field of view of the second set of sensors of the second type of the first sensor subsystem.
4 . The vehicle according to claim 2 , wherein:
horizontal field of views of the first set of sensors of the first type of the first sensor subsystem and the first set of sensors of the second type of the first sensor subsystem each are greater than 300 degrees;
a horizontal field of view of the second set of sensors of the first type of the first sensor subsystem is less than 120 degrees and a horizontal field of view of the second set of sensors of the second type of the first sensor subsystem is less than 90 degrees.
5 . The vehicle according to claim 2 , wherein:
a maximum sensing distance of the first set of sensors of the first type of the first sensor subsystem is greater than a maximum sensing distance of the second set of sensors of the first type of the first sensor subsystem,
a maximum sensing distance of the first set of sensors of the second type of the first sensor subsystem is greater than a maximum sensing distance of the second set of sensors of the second type of the first sensor subsystem.
6 . The vehicle according to claim 1 , wherein:
the first set of sensors of the first type of the first sensor subsystem comprise a camera;
the first set of sensors of the second type of the first sensor subsystem include a LIDAR.
7 . The vehicle according to claim 1 , wherein:
the second sensor subsystem comprises the first set of sensors of the first type and a first set of sensors of the second type;
an overlap of horizontal sensing ranges of the first set of sensors of the first type of the second sensor subsystem and the first set of sensors of the second type of the second sensor subsystem is at least 30% of the horizontal sensing range of the first set of sensors of the second type of the second sensor subsystem, but not greater than 70% of the horizontal sensing range of the first set of sensors of the second type of the second sensor subsystem.
8 . The vehicle according to claim 7 , wherein:
an overlap of horizontal sensing ranges of the first set of sensors of the first type of the first sensor subsystem and the first set of sensors of the first type of the second sensor subsystem is at least 30% of the horizontal sensing range of the first set of sensors of the first type of the first sensor subsystem, but not greater than 70% of the horizontal sensing range of the first set of sensors of the first type of the first sensor subsystem.
9 . The vehicle according to claim 7 , wherein:
an overlap of horizontal sensing ranges of the first set of sensors of the second type of the first sensor subsystem and the first set of sensors of the second type of the second sensor subsystem is at least 80% of the horizontal sensing range of the first set of sensors of the second type of the second sensor subsystem.
10 . The vehicle according to claim 1 , wherein the computing system comprises:
a first computing device configured for generating a first control instruction based on the first sensor subsystem; and
a second computing device configured for generating a second control instruction based on the second sensor subsystem.
11 . The vehicle according to claim 10 , wherein:
the computing system further comprises a control device; and
the control device is configured for selecting one of the first control instruction and the second control instruction to be sent to the control system based on a state of at least one of the computing system and the sensor system.
12 . A method for controlling a vehicle, wherein the vehicle comprises:
a control system, and
a sensor system comprising:
a first sensor subsystem configured for acquiring environmental information around the vehicle;
a second sensor subsystem configured for acquiring environmental information around the vehicle,
the method comprising:
sending a control instruction generated based on the first sensor subsystem or the second sensor subsystem to the control system based on at least a state of the sensor system so that the control system changes at least one of a direction of travel and a speed of the vehicle based on the control instruction,
wherein the first sensor subsystem comprises a first set of sensors of a first type and a first set of sensors of a second type;
wherein an overlap of horizontal sensing ranges of the first set of sensors of the first type of the first sensor subsystem and the first set of sensors of the second type of the first sensor subsystem is at least 80% of the horizontal sensing range of the first set of sensors of the second type of the first sensor subsystem, wherein the first type is different from the second type,
wherein the sensor system further comprises a third sensor subsystem configured for acquiring environmental information around the vehicle,
wherein an overlap of horizontal sensing ranges of a first set of sensors of the first type of the third sensor subsystem and the first set of sensors of the first type of the first sensor subsystem is at least 80% of the horizontal sensing range of the first set of sensors of the first type of the third sensor subsystem, but not greater than 40% of the horizontal sensing range of the first set of sensors of the first type of the first sensor subsystem, and
wherein an overlap of the horizontal sensing ranges of the first set of sensors of the first type of the third sensor subsystem and the first set of sensors of the first type of the second sensor subsystem is at least 80% of the horizontal sensing range of the first set of sensors of the first type of the third sensor subsystem, but not greater than 50% of the horizontal sensing range of the first set of sensors of the first type of the second sensor subsystem.
13 . The method according to claim 12 , wherein the control instruction comprises a first control instruction and a second control instruction, and the vehicle further comprises:
a first computing device configured for generating the first control instruction based on the first sensor subsystem; and
a second computing device configured for generating the second control instruction based on the second sensor subsystem,
wherein the sending the control instruction generated based on the first sensor subsystem or the second sensor subsystem to the control system based on at least the state of the sensor system comprises:
sending the first control instruction or the second control instruction to the control system based on states of the first sensor subsystem, the second sensor subsystem, the first computing device, and the second computing device.
14 . The method according to claim 13 , wherein the sending the first control instruction or the second control instruction to the control system based on the states of the first sensor subsystem, the second sensor subsystem, the first computing device, and the second computing device comprises:
sending the second control instruction to the control system in response to at least one of the first sensor subsystem and the first computing device being in a fault state and both the second sensor subsystem and the second computing device being in a normal working state; or
sending the first control instruction to the control system in response to at least one of the second sensor subsystem and the second computing device being in a fault state and both the first sensor subsystem and the first computing device being in a normal working state.
15 . The method according to claim 12 , wherein:
the first sensor subsystem also includes a second set of sensors of the first type and a second set of sensors of the second type;
an overlap of horizontal sensing ranges of the second set of sensors of the first type of the first sensor subsystem and the second set of sensors of the second type of the first sensor subsystem is at least 80% of the horizontal sensing range of the second set of sensors of the second type of the first sensor subsystem.
16 . The method according to claim 15 , wherein:
a horizontal field of view of the first set of sensors of the first type of the first sensor subsystem is greater than a horizontal field of view of the second set of sensors of the first type of the first sensor subsystem;
a horizontal field of view of the first set of sensors of the second type of the first sensor subsystem is greater than a horizontal field of view of the second set of sensors of the second type of the first sensor subsystem.