CN102540195B - Five-path laser radar for vehicle and control method thereof - Google Patents
Five-path laser radar for vehicle and control method thereof Download PDFInfo
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- CN102540195B CN102540195B CN201110449702.4A CN201110449702A CN102540195B CN 102540195 B CN102540195 B CN 102540195B CN 201110449702 A CN201110449702 A CN 201110449702A CN 102540195 B CN102540195 B CN 102540195B
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Abstract
The invention relates to a five-path laser radar for a vehicle and a control method of the five-path laser radar. The five-path laser radar comprises a radar controller, and five paths of transceivers in fan-shaped arrangement, wherein each path of transceiver respectively comprises a laser emitting lens tube and a laser receiving lens tube, the center axes of the five paths of transceivers are all crossed at the same point on the same plane, and in addition, the included angle between the adjacent laser emitting lens tubes is identical. When the five-path laser radar is used, the five paths of transceivers are firstly controlled for sequentially emitting and receiving laser pulses, the interval time is identical, then, the passing time t between the emitting and the receiving of each path of laser pulses is calculated, next, the t is subjected to twice screening through a formula that t is greater than or equal to t<min> and smaller than or equal to 1mus and the variance, the threshold and the circulation number group, then, the qualified t average value in the cyclic number group is calculated, and finally, the region of obstacles, the distance between the obstacles and the vehicle and the relative speed are determined according to the average value, so obstacles are avoided. The design has the advantages that the scanning period is short, the structure is simple, in addition, the cost is lower, the anti-shock performance is higher, and the detection distance, the range and the precision can meet the vehicle requirements.
Description
Technical field
The present invention relates to a kind of automobile-used pulse lidar, relate in particular to a kind of automobile-used No. five laser radar and control methods thereof, be specifically applicable to determine by five road pulse lasers position, distance and the relative velocity of front barrier, and effectively dodge.
Background technology
Laser radar is the radar system with the characteristic quantity such as position, speed of detecting laser beam target.Its principle is to target Emission Lasers bundle, and the echo reflecting from target receiving is compared with transmitting, and obtains target for information about, as target range, speed etc. after doing suitably to process.From principle and structure, laser radar is extremely similar to laser range finder.But the investigative range of laser beam is extremely narrow, can not meet the requirement of Vehicle radar to sensing range.
The Chinese patent patent No. is ZL200310117381.3, Granted publication day is that the patent of invention on September 13rd, 2006 discloses a kind of vehicle scanning Airborne Lidar examining system and surveyed front danger, scan components in this invention contains two block scan eyeglasses and drives the stepper motor of its rotation, by stepper motor driving circuit, to stepper motor, order makes its rotation and stops the instruction output end of controller, stepper motor drives scan mirror to rotate by a cam mechanism and a V-arrangement fork, thereby make laser carry out flyback retrace with certain angular range at vehicle front.Although this invention can utilize the composition such as catoptron, motor scanning mechanism, to realize the scanning range finding in relative broad range, the optical scanning mechanism that it adopts exists the scan period long, and complex structure, shock resistance are not strong, the defect that scanning mirror cost is higher.
Summary of the invention
The defect and the problem that the object of the invention is to overcome scan period of existing in prior art length, complex structure, shock resistance are strong, cost is higher, provide that a kind of scan period is shorter, simple in structure, shock resistance is stronger, lower-cost automobile-used No. five laser radar and control methods thereof.
For realizing above object, technical solution of the present invention is: a kind of automobile-used No. five laser radars, comprise radar controller, laser emission part and laser pick-off parts, output, the input end of described radar controller are connected with laser emission part, laser pick-off parts respectively, described laser emission part comprises driving circuit, laser diode and collimation lens, and described laser pick-off parts comprise condenser lens, photodiode and amplifier;
Described automobile-used No. five laser radars also comprise and are fan-shaped layout Wu road transceiver, every road transceiver all comprises a single channel Laser emission lens barrel, single channel laser pick-off lens barrel, driving circuit, amplifier and a high-speed comparator, the central shaft of five single channel Laser emission lens barrels all in one plane intersects at same point, and angle between adjacent single channel Laser emission lens barrel equates;
Described single channel Laser emission lens barrel comprises barrel shell and inner laser diode, collimation lens and the shaping lens arranging thereof, and the input end of laser diode is connected with the output terminal of radar controller by driving circuit; Described single channel laser pick-off lens barrel comprises barrel shell and inner condenser lens, filter and the photodiode arranging thereof, and the output terminal of photodiode is connected with the input end of radar controller by amplifier, high-speed comparator successively; Described radar controller is FPGA processor.
Angle between described adjacent single channel Laser emission lens barrel is 3 °; The horizontal emission angle of described single channel Laser emission lens barrel is 3 °.
The height of described single channel Laser emission lens barrel is 30mm, distance in single channel Laser emission lens barrel between shaping lens and laser diode output terminal is 80mm, the vertical emission angle of laser diode is that 9 °, horizontal emission angle are 25 °, and the minimum pulse width of the laser pulse that sends of laser diode is 10ns.
The diameter of described single channel laser pick-off lens barrel is 30mm, and the distance in single channel laser pick-off lens barrel between condenser lens and photodiode input end is 80mm, and in single channel laser pick-off lens barrel, the thickness of filter is less than 1mm.
A control method for above-mentioned automobile-used No. five laser radars, described control method comprises the following steps successively:
The first step: initialization: carry out system initialization setting, comprise that the group of the circulation array that impulse ejection X interval time of coverage, the each road Laser emission lens barrel of setting single channel Laser emission lens barrel and every road transceiver are corresponding is counted N, this N is natural number; Impulse ejection X interval time of described each road Laser emission lens barrel is greater than a transmitting-receiving cycle of transceiver;
The acquisition of second step: t: laser pulse is launched, received to radar controller control five road transceivers successively, and calculate the time of the passing through t between the laser pulse transmitting of every road, reception, the emission duration of adjacent transceiver is X;
The renewal of the screening of the 3rd step: t and circulation array: first directly deposit top n t in circulation array, again since N+1 t, the variance of the top n t having deposited in calculated for subsequent t and circulation array successively, until there is t1, the variance of the top n t having deposited in this t1 and circulation array is in threshold value A, then substitute first t in circulation array to upgrade circulation array with t1, the variance of N t in calculated for subsequent t and new circulation array again, until there is t2, in the rear circulation array of this t2 and renewal, the variance of N t is in threshold value A, then substitute second t in circulation array again to upgrade circulation array with t2, screening, renewal process loops successively, described t meets
, the minimum that tmin is laser pulse transmitting, receive is differentiated the time, described threshold value A equal to circulate N t in array mean value 50%,
When since N+1 t screening, renewal process, if the variance of the top n t having deposited in a continuous N t value and circulation array is not in threshold value A, first empty circulation array, directly deposit the top n t obtaining after emptying in circulation array again, then since N+1 t screen, renewal process; Described M is natural number;
The 4th step: obtain mean value: in the process of the screening of above-mentioned t and the renewal of circulation array, in the time being filled with for the first time N t in circulation array, calculate the mean value of this N t, and the mean value that calculates gained is issued to radar controller, subsequently, whenever circulation array is upgraded once the once mean value of the rear circulation array of renewal of just calculating, and the mean value that calculates gained is issued to radar controller again;
The 5th step: regulation and control: in the time that radar controller receives above-mentioned mean value, first disturbance in judgement thing region, and calculate distance and the relative velocity between barrier and car, then according to the result of calculation maneuver vehicle barrier of dodging.
The coverage of described single channel Laser emission lens barrel is: form hot spot wide 3 meters, high 0.3 meter at 100 meters of; Impulse ejection X interval time of described each road Laser emission lens barrel is
, it is 20 that the group of described circulation array is counted N.
The dominant frequency of the FPGA processor that described radar controller adopts is 200MHz.
Compared with prior art, beneficial effect of the present invention is:
1, in a kind of automobile-used No. five laser radars of the present invention and control method thereof by five road transceivers circulate successively transmitting, receive the method for laser pulse and determine position, distance and the relative velocity of vehicle front barrier, dodge thereby be convenient to vehicle.The advantage of control method is as follows: first, a five road transceivers surveyed area of corresponding vehicle front respectively, just can determine barrier is in which region by the laser pulse being reflected back, just can calculate again distance and the relative velocity in barrier and workshop according to the time of the passing through t between laser pulse transmitting, reception, simultaneously, the selection of time t of passing through is very strict, and it first passes through
condition screen, after qualified, more again screen by variance, threshold value and circulation array, finally try to achieve the mean value of all qualified t in circulation array with distance and the relative velocity in dyscalculia thing and workshop, degree of accuracy is very high, is convenient to realize accurate control; Secondly, because a radar period is in second, and the time t that passes through is with microsecond meter, therefore a radar period can obtain very many t data, do not need too much and obtain the required t data of mean value, this just means that just can obtain in a short period of time mean value calculates, and has shortened the scan period greatly.In addition, the advantage of hardware device is as follows: radar controller can be realized high arithmetic speed and high measurement accuracy, laser emission part and laser pick-off parts can be guaranteed distance and the precision surveyed, especially the central shaft that Dang Wu road transceiver is fan-shaped layout, adjacent single channel Laser emission lens barrel all in one plane intersects at angle between same point, adjacent single channel Laser emission lens barrel while being 3 °, the total coverage of the present invention is 15 °, can meet European Union's car requirement, be convenient to expand range of application of the present invention.Therefore the scan period of the present invention shorter, detection range, scope and precision can meet automobile-used requirement.
2, in a kind of automobile-used No. five laser radars of the present invention and control method thereof, mainly comprise radar controller Yu Wu road transceiver, every road comprises single channel Laser emission lens barrel, single channel laser pick-off lens barrel, driving circuit, amplifier and high-speed comparator, not only amount of parts is few, be convenient to manufacture, and simple in structure, cost is lower, in addition, in use, single channel Laser emission lens barrel in the present invention, single channel laser pick-off lens barrel only need be launched and receive, do not need to rotate or move, position is fixed, greatly strengthen shock resistance of the present invention, especially single channel Laser emission lens barrel, the barrel shell of single channel laser pick-off lens barrel can further improve shock resistance and the security of each part in lens barrel.Therefore the present invention not only simple in structure, be convenient to manufacture, and cost is lower, shock resistance is stronger.
3, in a kind of automobile-used No. five laser radars of the present invention and control method thereof, the height of single channel Laser emission lens barrel is 30mm, distance between shaping lens and laser diode output terminal is 80mm, the vertical emission angle of laser diode is 9 °, horizontal emission angle is 25 °, and the minimum pulse width of the laser pulse that laser diode sends is 10ns, this design is not only in order to meet the coverage of the laser pulse that single channel Laser emission lens barrel sends, and can be on the minimum detection distance that meets European Union's laws and regulations requirement radar be the basis of 100 meters, dwindle the emissive power of laser diode by reducing the method for emission angle, thereby reduction manufacturing cost.Therefore cost of the present invention is lower.
4, in a kind of automobile-used No. five laser radars of the present invention and control method thereof, the diameter of single channel laser pick-off lens barrel is 30mm, distance in single channel laser pick-off lens barrel between condenser lens and photodiode input end is 80mm, in single channel laser pick-off lens barrel, the thickness of filter is less than 1mm, this design first focuses on reflected light by condenser lens, again through the light of other wavelength of filter filtering, then enter photodiode, the light signal obtaining through this process is stronger, its electric signal after photodiode converts is also more clear, be convenient to improve reaction sensitivity of the present invention, thereby shorten sweep time.Therefore the scan period of the present invention is shorter.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention.
Fig. 2 is the structural representation of transceiver in the present invention.
Fig. 3 is the structural representation of single channel Laser emission lens barrel in Fig. 2.
Fig. 4 is the vertical view of Fig. 3.
Fig. 5 is the structural representation of single channel laser pick-off lens barrel in Fig. 2.
Fig. 6 is coverage schematic diagram of the present invention.
In figure: radar controller 1, laser emission part 2, laser pick-off parts 3, transceiver 4, single channel Laser emission lens barrel 5, laser diode 51, collimation lens 52, shaping lens 53, single channel laser pick-off lens barrel 6, photodiode 61, condenser lens 62, filter 63, driving circuit 7, amplifier 8, high-speed comparator 9, barrel shell 10.
Embodiment
Below in conjunction with accompanying drawing explanation and embodiment, the present invention is further detailed explanation.
Referring to figure 1 – Fig. 7, a kind of automobile-used No. five laser radars, comprise radar controller 1, laser emission part 2 and laser pick-off parts 3, output, the input end of described radar controller 1 are connected with laser emission part 2, laser pick-off parts 3 respectively, described laser emission part 2 comprises driving circuit 7, laser diode 51 and collimation lens 52, and described laser pick-off parts 3 comprise condenser lens 62, photodiode 61 and amplifier 8;
Described automobile-used No. five laser radars also comprise and are fan-shaped layout Wu road transceiver 4, every road transceiver 4 all comprises a single channel Laser emission lens barrel 5, single channel laser pick-off lens barrel 6, driving circuit 7, amplifier 8 and high-speed comparator 9, the central shaft of five single channel Laser emission lens barrels 5 all in one plane intersects at same point, and angle between adjacent single channel Laser emission lens barrel 5 equates;
Described single channel Laser emission lens barrel 5 comprises barrel shell 10 and the inner laser diode 51 arranging, collimation lens 52 and shaping lens 53, and the input end of laser diode 51 is connected with the output terminal of radar controller 1 by driving circuit 7; Described single channel laser pick-off lens barrel 6 comprises barrel shell 10 and the inner condenser lens 62 arranging, filter 63 and photodiode 61, and the output terminal of photodiode 61 is connected with the input end of radar controller 1 by amplifier 8, high-speed comparator 9 successively; Described radar controller 1 is FPGA processor.
Angle between described adjacent single channel Laser emission lens barrel 5 is 3 °; The horizontal emission angle of described single channel Laser emission lens barrel 5 is 3 °.
The height of described single channel Laser emission lens barrel 5 is 30mm, distance in single channel Laser emission lens barrel 5 between shaping lens 53 and laser diode 51 output terminals is 80mm, the vertical emission angle of laser diode 51 is that 9 °, horizontal emission angle are 25 °, and the minimum pulse width of the laser pulse that sends of laser diode 51 is 10ns.
The diameter of described single channel laser pick-off lens barrel 6 is 30mm, and the distance in single channel laser pick-off lens barrel 6 between condenser lens 62 and photodiode 61 input ends is 80mm, and in single channel laser pick-off lens barrel 6, the thickness of filter 63 is less than 1mm.
A control method for above-mentioned automobile-used No. five laser radars, described control method comprises the following steps successively:
The first step: initialization: carry out system initialization setting, comprise that the group of coverage, impulse ejection X interval time of each road Laser emission lens barrel and the circulation array of every road transceiver 4 correspondences of setting single channel Laser emission lens barrel 5 is counted N, this N is natural number; Impulse ejection X interval time of described each road Laser emission lens barrel is greater than a transmitting-receiving cycle of transceiver 4;
The acquisition of second step: t: radar controller 1 is controlled five road transceivers 4 and launched successively, receives laser pulse, and calculate the laser pulse transmitting of every road, the time of passing through t between receiving, the emission duration of adjacent transceiver 4 is X;
The renewal of the screening of the 3rd step: t and circulation array: first directly deposit top n t in circulation array, again since N+1 t, the variance of the top n t having deposited in calculated for subsequent t and circulation array successively, until there is t1, the variance of the top n t having deposited in this t1 and circulation array is in threshold value A, then substitute first t in circulation array to upgrade circulation array with t1, the variance of N t in calculated for subsequent t and new circulation array again, until there is t2, in the rear circulation array of this t2 and renewal, the variance of N t is in threshold value A, then substitute second t in circulation array again to upgrade circulation array with t2, screening, renewal process loops successively, described t meets
, the minimum that tmin is laser pulse transmitting, receive is differentiated the time, described threshold value A equal to circulate N t in array mean value 50%,
When since N+1 t screening, renewal process, if the variance of the top n t having deposited in a continuous N t value and circulation array is not in threshold value A, first empty circulation array, directly deposit the top n t obtaining after emptying in circulation array again, then since N+1 t screen, renewal process; Described M is natural number;
The 4th step: obtain mean value: in the process of the screening of above-mentioned t and the renewal of circulation array, in the time being filled with for the first time N t in circulation array, calculate the mean value of this N t, and the mean value that calculates gained is issued to radar controller 1, subsequently, whenever circulation array is upgraded once the once mean value of the rear circulation array of renewal of just calculating, and the mean value that calculates gained is issued to radar controller 1 again;
The 5th step: regulation and control: in the time that radar controller 1 receives above-mentioned mean value, first disturbance in judgement thing region, and calculate distance and the relative velocity between barrier and car, then according to the result of calculation maneuver vehicle barrier of dodging.
The coverage of described single channel Laser emission lens barrel 5 is: form hot spot wide 3 meters, high 0.3 meter at 100 meters of; Impulse ejection X interval time of described each road Laser emission lens barrel is
, it is 20 that the group of described circulation array is counted N.
The dominant frequency of the FPGA processor that described radar controller 1 adopts is 200MHz.
Principle of the present invention is described as follows:
One, the acquisition of the time of the passing through t between transmitting, reception:
Radar controller is to signal of the laser diode in single channel Laser emission lens barrel, start timing simultaneously, laser diode sends the laser pulse that minimum pulse width is 10ns, laser runs into barrier generation diffuse reflection, condenser lens in single channel laser pick-off lens barrel receives and diffuses, these line focus lens successively that diffuse, after filter, focus on photodiode to be converted to the electric signal of microampere order, amplify through amplifier again, after filtering, pass to high-speed comparator, high-speed comparator is determining after received pulse rising edge to signal of radar controller, radar controller is received signal and is stopped timing, thereby launched, the time of passing through t between reception.
Two, radar controller:
Radar controller in the present invention is taked FPGA processor, its reason is: FPGA is a kind of parallel processor, it can be regarded as to 5 modules, not contact between each module, be convenient to control respectively separate Ge road transceiver, and deal with data, thereby guarantee that the transmitting-receiving of five road transceivers is all separate with calculating, no matter whether subsequent calculations is effective, not contact between them.Meanwhile, differentiate the time for obtaining applicable minimum, the dominant frequency of normal FPGA processor is set to 200MHz.
Three, impulse ejection A interval time of each road Laser emission lens barrel:
For guaranteeing not have interference between the transceiver of each road, the emission duration of adjacent transceiver must be greater than a transmitting-receiving cycle of single channel transceiver, after Laser emission, there will be no reflection remaining light through 5 μ s, thereby the desirable 5 μ s of the emission duration of adjacent transceiver.
Four, threshold value:
This threshold value is determined according to system performance, requirement and testing environment, generally can be made as 50% of period cell mean.
Embodiment:
Hardware setting:
Referring to Fig. 1, Fig. 2 and Fig. 6, a kind of automobile-used No. five laser radars, comprise radar controller 1 and be fan-shaped layout Wu road transceiver 4, every road transceiver 4 all comprises a single channel Laser emission lens barrel 5, single channel laser pick-off lens barrel 6, driving circuit 7, amplifier 8 and high-speed comparator 9, the central shaft of five single channel Laser emission lens barrels 5 all in one plane intersects at same point, and angle between adjacent single channel Laser emission lens barrel 5 is 3 °.
Radar controller 1: it is FPGA processor, its dominant frequency is 200MHz, dominant frequency is relevant with minimum discriminating time tmin.
Referring to Fig. 3, Fig. 4, single channel Laser emission lens barrel 5: comprise barrel shell 10 and the inner laser diode 51 arranging thereof, collimation lens 52 and shaping lens 53, the input end of laser diode 51 is connected with the output terminal of radar controller 1 by driving circuit 7; The height of described single channel Laser emission lens barrel 5 is 30mm, distance in single channel Laser emission lens barrel 5 between shaping lens 53 and laser diode 51 output terminals is 80mm, the vertical emission angle of laser diode 51 is that 9 °, horizontal emission angle are 25 °, and the minimum pulse width of the laser pulse that sends of laser diode 51 is 10ns; The horizontal emission angle of described single channel Laser emission lens barrel 5 is 3 °; The coverage of described single channel Laser emission lens barrel 5 is: form hot spot wide 3 meters, high 0.3 meter at 100 meters of.
Referring to Fig. 5, single channel laser pick-off lens barrel 6: comprise barrel shell 10 and the inner condenser lens 62 arranging thereof, filter 63 and photodiode 61, the output terminal of photodiode 61 is connected with the input end of radar controller 1 by amplifier 8, high-speed comparator 9 successively; The diameter of described single channel laser pick-off lens barrel 6 is 30mm, and the distance in single channel laser pick-off lens barrel 6 between condenser lens 62 and photodiode 61 input ends is 80mm, and in single channel laser pick-off lens barrel 6, the thickness of filter 63 is less than 1mm.
Control method:
A control method for above-mentioned automobile-used No. five laser radars, described control method comprises the following steps successively:
The first step: initialization: carry out system initialization setting, comprise the group several 20 of coverage, impulse ejection s interval times 5 of each road Laser emission lens barrel and the circulation array of every road transceiver 4 correspondences of setting single channel Laser emission lens barrel 5; Impulse ejection s interval times 5 of described each road Laser emission lens barrel is greater than a transmitting-receiving cycle of transceiver 4;
The acquisition of second step: t: radar controller 1 is controlled five road transceivers 4 and launched successively, receives laser pulse, and calculate the laser pulse transmitting of every road, the time of passing through t between receiving, the emission duration of adjacent transceiver 4 is 5 s;
The renewal of the screening of the 3rd step: t and circulation array: first directly deposit front 20 t in circulation array, again since the 21st t, the variance of front 20 t that deposited in calculated for subsequent t and circulation array successively, until there is t1, the variance of front 20 t that deposited in this t1 and circulation array is in threshold value A, then substitute first t in circulation array to upgrade circulation array with t1, the variance of 20 t in calculated for subsequent t and new circulation array again, until there is t2, in the rear circulation array of this t2 and renewal, the variance of 20 t is in threshold value A, then substitute second t in circulation array again to upgrade circulation array with t2, screening, renewal process loops successively, described t meets
, the minimum that tmin is laser pulse transmitting, receive is differentiated the time, described threshold value A equal to circulate 20 t in array mean value 50%, this threshold value A is constantly to change, and after the array that at every turn circulates is upgraded, all can generate new threshold value A to continue the follow-up t of screening,
When since the 21st t screening, renewal process, if the variance of front 20 t that deposited in continuous 20 t values and circulation array is not in threshold value A, first empty circulation array, directly deposit front 20 t that obtain after emptying in circulation array again, then since the 21st t screen, renewal process;
The 4th step: obtain mean value: in the process of the screening of above-mentioned t and the renewal of circulation array, in the time being filled with for the first time 20 t in circulation array, calculate the mean value of these 20 t, and the mean value that calculates gained is issued to radar controller 1, subsequently, whenever circulation array is upgraded once the once mean value of the rear circulation array of renewal of just calculating, and the mean value that calculates gained is issued to radar controller 1 again;
The 5th step: regulation and control: in the time that radar controller 1 receives above-mentioned mean value, first disturbance in judgement thing region, and calculate distance and the relative velocity between barrier and car, then according to the result of calculation maneuver vehicle barrier of dodging.
Therefore, the present invention not only the scan period shorter, simple in structure, and cost is lower, shock resistance is stronger, its detection range, scope and precision can meet automobile-used requirement.
Claims (7)
1. automobile-used No. five laser radars, comprise radar controller (1), laser emission part (2) and laser pick-off parts (3), output, the input end of described radar controller (1) are connected with laser emission part (2), laser pick-off parts (3) respectively, described laser emission part (2) comprises driving circuit (7), laser diode (51) and collimation lens (52), described laser pick-off parts (3) comprise condenser lens (62), photodiode (61) and amplifier (8), it is characterized in that:
Described automobile-used No. five laser radars also comprise and are fan-shaped layout Wu road transceiver (4), every road transceiver (4) all comprises a single channel Laser emission lens barrel (5), a single channel laser pick-off lens barrel (6), driving circuit (7), amplifier (8) and high-speed comparator (9), the central shaft of five single channel Laser emission lens barrels (5) all in one plane intersects at same point, and angle between adjacent single channel Laser emission lens barrel (5) equates;
Described single channel Laser emission lens barrel (5) comprises barrel shell (10) and the inner laser diode (51) arranging, collimation lens (52) and shaping lens (53), and the input end of laser diode (51) is connected with the output terminal of radar controller (1) by driving circuit (7); Described single channel laser pick-off lens barrel (6) comprises barrel shell (10) and the inner condenser lens (62) arranging, filter (63) and photodiode (61), and the output terminal of photodiode (61) is connected with the input end of radar controller (1) by amplifier (8), high-speed comparator (9) successively; Described radar controller (1) is FPGA processor.
2. automobile-used No. five laser radars of one according to claim 1, is characterized in that: the angle between described adjacent single channel Laser emission lens barrel (5) is 3 °; The horizontal emission angle of described single channel Laser emission lens barrel (5) is 3 °.
3. automobile-used No. five laser radars of one according to claim 2, it is characterized in that: the diameter of described single channel Laser emission lens barrel (5) is 30mm, distance in single channel Laser emission lens barrel (5) between shaping lens (53) and laser diode (51) output terminal is 80mm, the vertical emission angle of laser diode (51) is that 9 °, horizontal emission angle are 25 °, and the minimum pulse width of the laser pulse that sends of laser diode (51) is 10ns.
4. according to automobile-used No. five laser radars of the one described in claim 1,2 or 3, it is characterized in that: the diameter of described single channel laser pick-off lens barrel (6) is 30mm, distance in single channel laser pick-off lens barrel (6) between condenser lens (62) and photodiode (61) input end is 80mm, and in single channel laser pick-off lens barrel (6), the thickness of filter (63) is less than 1mm.
5. a control method for automobile-used No. five laser radars claimed in claim 1, is characterized in that described control method comprises the following steps successively:
The first step: initialization: carry out system initialization setting, the group that comprises coverage, impulse ejection X interval time of each road Laser emission lens barrel and the circulation array of every road transceiver (4) correspondence of setting single channel Laser emission lens barrel (5) is counted N, and this N is natural number; Impulse ejection X interval time of described each road Laser emission lens barrel is greater than a transmitting-receiving cycle of transceiver (4);
The acquisition of second step: t: radar controller (1) is controlled five road transceivers (4) and launched successively, receives laser pulse, and calculate the time of the passing through t between the laser pulse transmitting of every road, reception, the emission duration of adjacent transceiver (4) is X;
The renewal of the screening of the 3rd step: t and circulation array: first directly deposit top n t in circulation array, again since N+1 t, the variance of the top n t having deposited in calculated for subsequent t and circulation array successively, until there is t1, the variance of the top n t having deposited in this t1 and circulation array is in threshold value A, then substitute first t in circulation array to upgrade circulation array with t1, the variance of N t in calculated for subsequent t and new circulation array again, until there is t2, in the rear circulation array of this t2 and renewal, the variance of N t is in threshold value A, then substitute second t in circulation array again to upgrade circulation array with t2, screening, renewal process loops successively, described t meet tmin≤t≤
, the minimum that tmin is laser pulse transmitting, receive is differentiated the time, described threshold value A equal to circulate N t in array mean value 50%,
When since N+1 t screening, renewal process, if the variance of the top n t having deposited in a continuous N t value and circulation array is not in threshold value A, first empty circulation array, directly deposit the top n t obtaining after emptying in circulation array again, then since N+1 t screen, renewal process; Described M is natural number;
The 4th step: obtain mean value: in the process of the screening of above-mentioned t and the renewal of circulation array, in the time being filled with for the first time N t in circulation array, calculate the mean value of this N t, and the mean value that calculates gained is issued to radar controller (1), subsequently, whenever circulation array is upgraded once the once mean value of the rear circulation array of renewal of just calculating, and the mean value that calculates gained is issued to radar controller (1) again;
The 5th step: regulation and control: in the time that radar controller (1) receives above-mentioned mean value, first disturbance in judgement thing region, and calculate distance and the relative velocity between barrier and car, then according to the result of calculation maneuver vehicle barrier of dodging.
6. the control method of automobile-used No. five laser radars according to claim 5, is characterized in that: the coverage of described single channel Laser emission lens barrel (5) is: form hot spot wide 3 meters, high 0.3 meter at 100 meters of; Impulse ejection X interval time of described each road Laser emission lens barrel is
, it is 20 that the group of described circulation array is counted N, described M value 20.
7. the control method of automobile-used No. five laser radars according to claim 5, is characterized in that: the dominant frequency of the FPGA processor that described radar controller (1) adopts is 200MHz.
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| CN103278808B (en) * | 2013-05-28 | 2015-12-23 | 中国科学院合肥物质科学研究院 | A kind of multi-thread scanning type laser radar installations |
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