CN104002747A - Multiple-laser radar raster map merging system based on pilotless automobile - Google Patents
Multiple-laser radar raster map merging system based on pilotless automobile Download PDFInfo
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Abstract
The invention relates to a multiple-laser radar raster map merging system based on a pilotless automobile. The multiple-laser radar raster map merging system based on the pilotless automobile comprises a one-line laser radar and a four-line laser radar, the two of which are mounted in front of the pilotless automobile, an eight-line laser radar mounted at the roof of the automobile, and a one-line laser radar mounted at the tail of the automobile; the laser radars are connected with a first industrial personal computer by use of a switch and by virtue of Ethernet; the data of the laser radar are transmitted to the first industrial personal computer by use of the switch and by virtue of the Ethernet, and the first industrial personal computer is used for analyzing and preprocessing the data; data are processed for different laser radars, respectively, and rasterization coding is performed on valid data and the coded values are transmitted to the first industrial personal computer in charge of data fusion by virtue of the Ethernet; next, data fusion is carried out by use of a raster map merging method and the rasterization coding is performed on the data, and finally, the coded values are transmitted to a second industrial personal computer by virtue of the Ethernet. The multiple-laser radar raster map merging system is used for solving the problem that the pilotless automobile and an assistant-driving automobile collide with a barrier, and therefore, the safety of the automobile in the driving process is improved.
Description
Technical field
The invention belongs to intelligent car technical field, relate to a kind of multilasered optical radar grating map emerging system, relate in particular to a kind of multilasered optical radar grating map emerging system based on intelligent car.
Background technology
Since intelligent robot is born, intelligent car is helped people's safe driving as active safety or DAS (Driver Assistant System), and the research that reduces traffic accident gets most of the attention; It relates to the intersection of multiple technologies and subject as a technical matters that difficulty is larger, and wherein, environment perception technology has very crucial status.Intelligent car can rely on road information and the vehicle oneself state of self-contained sensor Real-time Collection vehicle periphery, makes rapidly corresponding response according to the complaint message detecting, thus the generation trying to forestall traffic accidents etc.But at present, for intelligent car, single sensor can not provide enough environmental informations for system.
Application number is " 201210309515.0 ", application publication number is " CN102837658A ", name is called the Chinese patent application of " multilasered optical radar data fusion system and method in a kind of intelligent vehicle ", disclose multilasered optical radar data fusion system in a kind of intelligent vehicle, comprised upper computer, four line radars, LMS291 radar, vehicle left side radar UTM-L, vehicle right side radar UTM-R, vehicle front radar UTM-F, rear view of vehicle radar UTM-B, router that programmed decision-making upper computer, multilasered optical radar merge; The obstacle information that four line radars and LMS291 radar gather within the scope of the 80m of intelligent vehicle front is transferred to by network interface and serial ports the upper computer that multilasered optical radar merges respectively; Around vehicle left side radar UTM-L and vehicle right side radar UTM-R collection intelligent vehicle, the obstacle information of left side and right side 5m scope arrives the upper computer of multilasered optical radar fusion by USB type of transmission; Vehicle front radar UTM-F and rear view of vehicle radar UTM-B adopt the obstacle information of intelligent vehicle front and rear 10m scope to be transferred to the upper computer that multilasered optical radar merges, and the upper computer that multilasered optical radar merges draws obstacle information within the scope of the 80m of front and the obstacle anticollision safety distance of left and right vehicle wheel 5m, front and back 10m by data processing algorithm.Multilasered optical radar data fusion system in this intelligent vehicle, although can provide complaint message to upper computer, its complex structure, cost is higher, and practicality is restricted.
Number of patent application is " 201110372447.8 ", application publication number is " CN102393744A ", name is called the Chinese invention patent application of " a kind of air navigation aid of intelligent car ", disclose a kind of air navigation aid of intelligent car, step is: (1) integrated vision navigation, radar navigation and three kinds of navigation strategies of GPS navigation; (2) calculate the current geographical location information of vehicle according to electronic chart and gps signal; (3) select navigation strategy according to the current geographical location information of vehicle; The priority of vision guided navigation strategy is the highest, if the road boundary information of the vision guided navigation module institute apperceive identity corresponding with vision guided navigation strategy is inaccurate or unstable, preferentially selects radar navigation strategy; If the obstacle information of the laser radar detection Module recognition corresponding with radar navigation strategy is inaccurate or unstable, select GPS navigation strategy.The air navigation aid of this intelligent car, there is equally complex structure in it, and cost is higher, the restricted problem of practicality.
For this reason, need a kind of multilasered optical radar grating map emerging system based on intelligent car that can solve the problems referred to above in prior art, make its simplified structure, reduce costs, Applicable scope is more extensive, meets the needs of actual conditions.
Summary of the invention
The object of the invention is to, a kind of multilasered optical radar grating map emerging system based on intelligent car is provided, solve existing the problems referred to above in prior art, make its simplified structure, reduce costs, Applicable scope is more extensive, meets the needs of actual conditions.
For achieving the above object, the invention provides a kind of multilasered optical radar grating map emerging system based on intelligent car, comprise laser radar, exchange and industrial computer, described laser radar comprises the line laser radar and the four line laser radars that are arranged on intelligent car front, and is arranged on eight line laser radars of roof, and is arranged on the line laser radar after car, described industrial computer comprises the first industrial computer and the second industrial computer, described laser radar is by exchange and utilize ethernet to be connected with the first industrial computer, the data of laser radar utilize ethernet to reach the first industrial computer by exchange, by the first industrial computer, data are resolved and pretreatment, then be for data processing respectively for different laser radars, after handling, valid data are carried out rasterizing coding and by ethernet, encoded radio reached to the first industrial computer of being responsible for data fusion, recycling grating map fusion method is carried out data fusion and data is carried out to rasterizing coding, finally by ethernet, encoded radio is reached to the second industrial computer.
In above scheme preferably, the described multilasered optical radar grating map emerging system based on intelligent car, one line laser radar, having obstacle is 1, clear is 0; In transmitting procedure, be only transmitted as the coordinate at 1 grid map place; The data coordinates of each laser radar is converted into front one line laser radar fix to be as the criterion; The laser radar data of then, rasterizing having been encoded utilizes grating map fusion method to carry out data fusion.
In above arbitrary scheme preferably, described grating map fusion method, its as merge strategy, regulation eight line laser radar datas priority the highest, four lines take second place, a line priority is minimum, and its encoded radio is merged.
In above arbitrary scheme, preferably, described rasterizing is encoded, and its process is the process that grating map is realized, and it represents each little grid as the mode of data transmission with (x, y, value, U); Wherein, x represents the line number of each little grid, and y represents the columns of each little grid, value represents the data encoding that little grid is filled, this data value is the data encoding that dissimilar laser radar is exported, and U treats that expansion is used, and then encodes the coordinate that has obstacle.
In above arbitrary scheme preferably, described grating map fusion method, its difference according to value value merges.
In above arbitrary scheme, preferably, described rasterizing is encoded, and its origin of coordinates taking a line laser radar is initial point, and 10cm*10cm is a grid, and horizontal direction is X-axis, and vertical direction is Y-axis, sets up cartesian coordinate system.
In above arbitrary scheme preferably, described rasterizing coding, its acquisition range is front 30m, the each 10m in left and right, car rear 30m, does not comprise vehicle body, whole grating map length equals 60m and adds a vehicle body, wide 20m.
In above arbitrary scheme, preferably, described rasterizing is encoded, and vehicle body is 4m, and whole grating map is made up of 640*200 grid.
In above arbitrary scheme, preferably, described rasterizing is encoded, and it encodes to it with the form of sparse matrix in the process of data transmission.
In above arbitrary scheme preferably, described rasterizing coding, when it encodes the coordinate that has obstacle, an obstacle spot projection is to grating map, the coordinate of its point is (a, b) and its encoded radio be 128 o'clock, it belongs to a point of eight line laser radars, represents road marginal information.
In above arbitrary scheme preferably, described grating map fusion method, its as merge strategy, regulation eight line laser radar datas priority the highest, four lines take second place, a line priority is minimum, and its encoded radio is merged.
In above arbitrary scheme preferably, the described multilasered optical radar grating map emerging system based on intelligent car, first it transmit image data by ethernet, and the data of radar collection are carried out to pretreatment; Then be for data processing respectively for different laser radars; Data after complete for a line laser radar pretreatment are carried out filtering processing again, then valid data are carried out to rasterizing coding and are transmitted and reached the computing machine of being responsible for data fusion by UDP; For the complete data of four line laser radar pretreatments, also need to carry out filtering, cluster and tracking operation, the point of extracting actv. obstacle comprises relative velocity the disturbance in judgement thing type of static and dynamic obstacle, obstacle, then valid data is carried out to rasterizing coding and is transmitted and reached the computing machine of being responsible for data fusion by UDP; Carry out filtering, cluster and tracking operation for the data after eight line laser radar pretreatments, extract road marginal information and intersection information, then valid data encoded and transmit and reach the computing machine of being responsible for data fusion by UDP.
In above arbitrary scheme preferably, the described multilasered optical radar grating map emerging system based on intelligent car, in the computing machine of responsible data fusion, each laser radar is passed to the data of coming to be set up four by-pass journeys and receives respectively, then in main thread, each laser radar data is utilized grating map fusion method to carry out data fusion and data are carried out to rasterizing coding, then transmit encoded radio is reached to decision-making end computing machine by UDP, then resolve above-mentioned information by decision-making end computing machine.
In above arbitrary scheme preferably, the described multilasered optical radar grating map emerging system based on intelligent car, there is corresponding algorithm flow for each laser radar, this algorithm flow comprises five modules, is respectively data acquisition module, data processing module, data transmission module, data memory module and upper computer display module.
Compared with prior art, the present invention has the following advantages:
A kind of multilasered optical radar grating map emerging system based on intelligent car of the present invention, can solve existing the problems referred to above in prior art, make intelligent car can obtain abundant ambient condition information, comprise road edge, crossing, obstacle type, obstacle point and other obstacle object points; It can be good at merging intelligent car these environmental informations around, can provide quantity of information few and active data information to decision-making end computing machine, thereby solve intelligent car and the auxiliary problem that drives a car and bump with obstacle, improve the safety in Vehicle Driving Cycle process; It provides a kind of technical guarantee for intelligent car driverless operation; Simplified structure, reduces costs simultaneously, and Applicable scope is more extensive, can meet the needs of actual conditions.
Brief description of the drawings
Below in conjunction with drawings and embodiments, the invention will be further described:
Fig. 1 is the grating map emerging system composition frame chart of a kind of multilasered optical radar grating map emerging system based on intelligent car of the present invention;
Fig. 2 is the grating map emerging system hardware configuration of a kind of multilasered optical radar grating map emerging system based on intelligent car of the present invention;
Fig. 3 is the grating map emerging system data fusion block diagram of a kind of multilasered optical radar grating map emerging system based on intelligent car of the present invention;
Fig. 4 is the laser radar program flow diagram of a kind of multilasered optical radar grating map emerging system based on intelligent car of the present invention;
Fig. 5 is a line laser radar data processing flow chart of a kind of multilasered optical radar grating map emerging system based on intelligent car of the present invention;
Fig. 6 is four line laser radar data processing flow charts of a kind of multilasered optical radar grating map emerging system based on intelligent car of the present invention;
Fig. 7 is eight line laser radar data processing flow charts of a kind of multilasered optical radar grating map emerging system based on intelligent car of the present invention;
Fig. 8 is the last line laser radar grid map of a kind of multilasered optical radar grating map emerging system based on intelligent car of the present invention;
Fig. 9 is a rear line laser radar grid map of a kind of multilasered optical radar grating map emerging system based on intelligent car of the present invention;
Figure 10 is the front four line laser radar grid maps of a kind of multilasered optical radar grating map emerging system based on intelligent car of the present invention;
Figure 11 is the top eight line laser radar grid maps of a kind of multilasered optical radar grating map emerging system based on intelligent car of the present invention;
Figure 12 is the grid map after the laser radar of a kind of multilasered optical radar grating map emerging system based on intelligent car of the present invention merges.
Detailed description of the invention
In order to understand better the present invention, below in conjunction with specific embodiment, the present invention is explained in detail.But, obviously can carry out different modification and remodeling and not exceed the wider spirit and scope of the present invention that appended claim limits the present invention.Therefore, following examples have exemplary and hard-core implication.
Embodiment 1:
A multilasered optical radar grating map emerging system based on intelligent car, comprises laser radar, exchange and industrial computer, described laser radar comprises the line laser radar and the four line laser radars that are arranged on intelligent car front, and is arranged on eight line laser radars of roof, and is arranged on the line laser radar after car, described industrial computer comprises the first industrial computer and the second industrial computer, described laser radar is by exchange and utilize ethernet to be connected with the first industrial computer, the data of laser radar utilize ethernet to reach the first industrial computer by exchange, by the first industrial computer, data are resolved and pretreatment, then be for data processing respectively for different laser radars, after handling, valid data are carried out rasterizing coding and by ethernet, encoded radio reached to the first industrial computer of being responsible for data fusion, recycling grating map fusion method is carried out data fusion and data is carried out to rasterizing coding, finally by ethernet, encoded radio is reached to the second industrial computer.
Embodiment 2:
A multilasered optical radar grating map emerging system based on intelligent car, similar to embodiment 1, difference is, one line laser radar, having obstacle is 1, clear is 0; In transmitting procedure, be only transmitted as the coordinate at 1 grid map place; The data coordinates of each laser radar is converted into front one line laser radar fix to be as the criterion; The laser radar data of then, rasterizing having been encoded utilizes grating map fusion method to carry out data fusion.
Embodiment 3:
A kind of multilasered optical radar grating map emerging system based on intelligent car, similar to embodiment 2, difference is, described grating map fusion method, it is as the strategy merging, and the priority of regulation eight line laser radar datas is the highest, and four lines take second place, one line priority is minimum, and its encoded radio is merged.
Embodiment 4:
A kind of multilasered optical radar grating map emerging system based on intelligent car, similar to embodiment 3, difference is, described rasterizing coding, its process is the process that grating map is realized, it is as the mode of data transmission, by each little (x for grid, y, value, U) represent; Wherein, x represents the line number of each little grid, and y represents the columns of each little grid, value represents the data encoding that little grid is filled, this data value is the data encoding that dissimilar laser radar is exported, and U treats that expansion is used, and then encodes the coordinate that has obstacle.
Embodiment 5:
A multilasered optical radar grating map emerging system based on intelligent car, similar to embodiment 4, difference is, described grating map fusion method, its difference according to value value merges.
Embodiment 6:
A kind of multilasered optical radar grating map emerging system based on intelligent car, similar to embodiment 5, difference is, described rasterizing coding, its origin of coordinates taking a line laser radar is initial point, and 10cm*10cm is a grid, and horizontal direction is X-axis, vertical direction is Y-axis, sets up cartesian coordinate system.
Embodiment 7:
A kind of multilasered optical radar grating map emerging system based on intelligent car, similar to embodiment 6, difference is, described rasterizing coding, its acquisition range is front 30m, the each 10m in left and right, car rear 30m, do not comprise vehicle body, whole grating map length equals 60m and adds a vehicle body, wide 20m.
Embodiment 8:
A multilasered optical radar grating map emerging system based on intelligent car, similar to embodiment 7, difference is, described rasterizing coding, vehicle body is 4m, whole grating map is made up of 640*200 grid.
Embodiment 9:
A multilasered optical radar grating map emerging system based on intelligent car, similar to embodiment 8, difference is, described rasterizing coding, it encodes to it with the form of sparse matrix in the process of data transmission.
Embodiment 10:
A kind of multilasered optical radar grating map emerging system based on intelligent car, similar to embodiment 9, difference is, described rasterizing coding, when it encodes the coordinate that has obstacle, an obstacle spot projection is to grating map, the coordinate of its point is (a, b) and its encoded radio be 128 o'clock, it belongs to a point of eight line laser radars, represents road marginal information.
Embodiment 11:
A kind of multilasered optical radar grating map emerging system based on intelligent car, similar to embodiment 10, difference is, described grating map fusion method, it is as the strategy merging, and the priority of regulation eight line laser radar datas is the highest, and four lines take second place, one line priority is minimum, and its encoded radio is merged.
Embodiment 12:
A kind of multilasered optical radar grating map emerging system based on intelligent car, similar to embodiment 11, difference is, the described multilasered optical radar grating map emerging system based on intelligent car, first it transmit image data by ethernet, and the data of radar collection are carried out to pretreatment; Then be for data processing respectively for different laser radars; Data after complete for a line laser radar pretreatment are carried out filtering processing again, then valid data are carried out to rasterizing coding and are transmitted and reached the computing machine of being responsible for data fusion by UDP; For the complete data of four line laser radar pretreatments, also need to carry out filtering, cluster and tracking operation, the point of extracting actv. obstacle comprises relative velocity the disturbance in judgement thing type of static and dynamic obstacle, obstacle, then valid data is carried out to rasterizing coding and is transmitted and reached the computing machine of being responsible for data fusion by UDP; Carry out filtering, cluster and tracking operation for the data after eight line laser radar pretreatments, extract road marginal information and intersection information, then valid data encoded and transmit and reach the computing machine of being responsible for data fusion by UDP.
Embodiment 13:
A kind of multilasered optical radar grating map emerging system based on intelligent car, similar to embodiment 12, difference is, the described multilasered optical radar grating map emerging system based on intelligent car, in the computing machine of responsible data fusion, each laser radar is passed to the data of coming to be set up four by-pass journeys and receives respectively, then in main thread, each laser radar data is utilized grating map fusion method to carry out data fusion and data are carried out to rasterizing coding, then transmit encoded radio is reached to decision-making end computing machine by UDP, resolve above-mentioned information by decision-making end computing machine again.
Embodiment 14:
A kind of multilasered optical radar grating map emerging system based on intelligent car, similar to embodiment 13, difference is, the described multilasered optical radar grating map emerging system based on intelligent car, there is corresponding algorithm flow for each laser radar, this algorithm flow comprises five modules, is respectively data acquisition module, data processing module, data transmission module, data memory module and upper computer display module.
A kind of multilasered optical radar grating map emerging system based on intelligent car of the present invention, its rasterizing coding is as a kind of form of data transmission; If each little (x, y, value for grid, U) represent, wherein x represents the line number of each little grid, and y represents the columns of each little grid, value represents the data encoding that little grid is filled, and this data value is the data encoding that dissimilar laser radar is exported; U is expansion use in the future; Such as, the data structure being defined as follows:
Typedef struct Point // be converted to x and the y coordinate of matrix,
{
?uint?x;
?uint?y;
?uchar?value;
?uchar?U;
}?Point;
Typedef struct Matrix // sparse matrix data structure
{
?int?Num;
?Point?point[MAXSIZE];?//
}?Matrix;
Matrix?matrix;
The work that will do is below exactly there being the coordinate of obstacle to encode; Such as, obstacle spot projection to the coordinate of the point on grating map be (12,34) we can be write as form below:
matrix.point[obs].x?=?12;
matrix.point[obs].y?=?34;
matrix.point[obs].value?=?128;
A kind of multilasered optical radar grating map emerging system based on intelligent car of the present invention, its multilasered optical radar grating map emerging system based on intelligent car, the information that multisensor is gathered is carried out actv. fusion, the data message of the multiple sensors of comprehensive application; By multilasered optical radar data message is reasonably arranged and used, realize the data sharing between multilasered optical radar, thereby can obtain the conformability explanation of observed object and describe; And by the data rasterizing coding after merging, then reach decision-making end computing machine by ethernet.This is of great importance with safety traffic performance to improving keeping in obscurity of intelligent car system.
Claims (10)
1. the multilasered optical radar grating map emerging system based on intelligent car, comprises laser radar, exchange and industrial computer, it is characterized in that: described laser radar comprises the line laser radar and the four line laser radars that are arranged on intelligent car front, and be arranged on eight line laser radars of roof, and be arranged on the line laser radar after car, described industrial computer comprises the first industrial computer and the second industrial computer, described laser radar is by exchange and utilize ethernet to be connected with the first industrial computer, the data of laser radar utilize ethernet to reach the first industrial computer by exchange, by the first industrial computer, data are resolved and pretreatment, then be for data processing respectively for different laser radars, after handling, valid data are carried out rasterizing coding and by ethernet, encoded radio reached to the first industrial computer of being responsible for data fusion, recycling grating map fusion method is carried out data fusion and data is carried out to rasterizing coding, finally by ethernet, encoded radio is reached to the second industrial computer.
2. the multilasered optical radar grating map emerging system based on intelligent car as claimed in claim 1, is characterized in that: one line laser radar, and having obstacle is 1, clear is 0; In transmitting procedure, be only transmitted as the coordinate at 1 grid map place; The data coordinates of each laser radar is converted into front one line laser radar fix to be as the criterion; The laser radar data of then, rasterizing having been encoded utilizes grating map fusion method to carry out data fusion.
3. the multilasered optical radar grating map emerging system based on intelligent car as claimed in claim 2, it is characterized in that: described grating map fusion method, it is as the strategy merging, the priority that specifies eight line laser radar datas is the highest, four lines take second place, one line priority is minimum, and its encoded radio is merged.
4. the multilasered optical radar grating map emerging system based on intelligent car as claimed in claim 3, is characterized in that: described rasterizing coding, and its process is the process that grating map is realized, it is as the mode of data transmission, by each little (x, y for grid, value, U) represent; Wherein, x represents the line number of each little grid, and y represents the columns of each little grid, value represents the data encoding that little grid is filled, this data value is the data encoding that dissimilar laser radar is exported, and U treats that expansion is used, and then encodes the coordinate that has obstacle.
5. the multilasered optical radar grating map emerging system based on intelligent car as claimed in claim 4, is characterized in that: described grating map fusion method, its difference according to value value merges.
6. the multilasered optical radar grating map emerging system based on intelligent car as claimed in claim 5, it is characterized in that: described rasterizing coding, its origin of coordinates taking a line laser radar is initial point, 10cm*10cm is a grid, horizontal direction is X-axis, vertical direction is Y-axis, sets up cartesian coordinate system.
7. the multilasered optical radar grating map emerging system based on intelligent car as claimed in claim 6, it is characterized in that: described rasterizing coding, its acquisition range is front 30m, the each 10m in left and right, car rear 30m, do not comprise vehicle body, whole grating map length equals 60m and adds a vehicle body, wide 20m.
8. the multilasered optical radar grating map emerging system based on intelligent car as claimed in claim 7, is characterized in that: described rasterizing coding, and vehicle body is 4m, whole grating map is made up of 640*200 grid.
9. the multilasered optical radar grating map emerging system based on intelligent car as claimed in claim 8, is characterized in that: described rasterizing coding, it encodes to it with the form of sparse matrix in the process of data transmission.
10. the multilasered optical radar grating map emerging system based on intelligent car as claimed in claim 9, it is characterized in that: described rasterizing coding, when it encodes the coordinate that has obstacle, an obstacle spot projection is to grating map, the coordinate of its point is (a, b) and its encoded radio be 128 o'clock, it belongs to a point of eight line laser radars, represents road marginal information.
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