CN102749626B - Radar sensor, automobile and target direction identification method - Google Patents
Radar sensor, automobile and target direction identification method Download PDFInfo
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Abstract
The invention provides a radar sensor which comprises an optical transmitting unit and an optical receiving unit. The optical transmitting unit is used for transmitting a single laser beam and can divide the single laser beam into three laser beams, the optical receiving unit is used for receiving reflected target light echo signals of the three laser beams in a projection area, and consists of two optical receiving modules, and each optical receiving module is used for receiving the reflected target light echo signals of the corresponding two adjacent laser beams of the three laser beams in the projection area. Correspondingly, the invention further provides a target direction identification method implemented by the aid of the laser sensor and an automobile comprising the laser sensor. Compared with the prior art, the laser sensor is simple in structure and low in hardware cost, and targets within a large-range area in front of the automobile can be identified.
Description
Technical field
The present invention is specifically related to a kind of radar sensor, comprises the automobile of described radar sensor and target azimuth recognition methods.
Background technology
Along with people improve constantly the requirement of the security in car steering process, comfortableness, radar sensor is widely used in automobile.Radar sensor is generally used for the orientation measuring other target (i.e. other barrier such as vehicle, pedestrian) around this car in the car, and the relative distance of Ben Che and other target of surrounding and relative velocity, so that Ben Che and around there is risk of collision between other target time, can driver be reminded in time to brake, notify that motor vehicle braking system automatically performs brake in time when driver does not make a response or inevitable collision situation occurs, to avoid the degree colliding or alleviate collision.
Traditional approach adopts multi-thread (or single line) scanning laser radar measured automobiles surrounding objects, and this mode possesses very high spatial resolution and measuring distance far away, but due to its cost very high, can't be accepted by market at present.Adopt the mode of single laser instrument single beam laser Non-scanning mode can not realize again the target detection in large space region, can not meet the requirement to the target detection of motor vehicle environment extensive area.Another kind of mode adopts the detection of multi-laser non-scanning type, but this mode still significantly can increase system cost.
For above-mentioned situation, prior art proposes the three beams of laser that a kind of single beam laser light splitting produced by single laser instrument becomes to have certain angle of divergence, and described three beams of laser is incident upon a vehicle front left side respectively, in, the area of space that three, the right side is different, to realize the scheme to the detection of vehicle front extensive area internal object, comparatively multi-laser non-scanning type radar sensor is low for the cost of the program, but after single beam laser is divided into three beams of laser by the program, the orientation of single photodetector None-identified target is adopted in radar sensor, therefore, radar sensor need adopt three light-collecting lens and three corresponding with it respectively photodetectors, and each light-collecting lens is for receiving the target heliogram of beam of laser and described target heliogram being focused on photodetector corresponding with it, to determine the orientation of target.Though the cost of the radar sensor of this scheme comparatively multi-laser non-scanning type radar sensor is low, is the increase in the complicacy of the optical receiver unit of radar sensor and the quantity of photodetector, thus adds system cost.
Summary of the invention
Technical matters to be solved by this invention is for above-mentioned defect existing in prior art, provide that a kind of structure is simple, hardware cost is low and can identify vehicle front extensive area internal object orientation radar sensor, apply the target azimuth recognition methods of described radar sensor and adopt the automobile of described radar sensor.
The technical scheme that solution the technology of the present invention problem adopts is:
Described radar sensor comprises optical emitting unit and optical receiver unit, described optical emitting unit is for launching single beam laser and can being divided into three beams of laser, described optical receiver unit is for receiving the target heliogram of view field's reflection of described three beams of laser, wherein, described optical receiver unit comprises two optical receiver module, and each optical receiver module is for receiving the target heliogram of view field's reflection of the adjacent two bundle laser in described three beams of laser.
Preferably, described each optical receiver module includes a light-collecting lens; The field of view of each light-collecting lens all covers or part covers the view field that adjacent two in described three beams of laser restraints laser.
Further preferably, adjacent two view fields of restrainting laser that the field of view part of each light-collecting lens covers in described three beams of laser are specially:
The side that the view field of laser is restrainted with adjacent two in described three beams of laser respectively in the edge of the field of view of described each light-collecting lens is tangent, with the most of view field making the field of view of described each light-collecting lens can cover the adjacent two bundle laser in described three beams of laser.
Preferably, described each optical receiver module also comprises a photodetector corresponding with the light-collecting lens in it, described light-collecting lens is used for the target heliogram of view field's reflection of two bundle laser adjacent in its field of view to be sent to photodetector corresponding with it, described photodetector for receive the light-collecting lens of its correspondence field of view in the heliogram of the nearest target of this photodetector of distance, and the heliogram of this target is converted to corresponding electric signal and exports;
Described radar sensor also comprises processing unit, it is connected respectively with two photodetectors in two optical receiver module, for receiving electric signal that described two photodetectors export and described electric signal analysis being obtained to the orientation of the target in the view field of described three beams of laser.
Further preferably, described processing unit comprises judge module and analysis module, and the view field of described three beams of laser is in three sub regions in region to be measured respectively,
Described judge module is used for the destination number judged according to the electric signal received in the field of view of two light-collecting lens that described two photodetectors are corresponding, if judge each existence target in two field of view, then judge that whether two targets in described two field of view are same targets, then judged result is sent to analysis module further; If judge only there is a target in two field of view, then this judged result is sent to analysis module;
Described analysis module is used for the orientation carrying out evaluating objects according to described judged result: if judged result is two targets in two field of view is same targets, then judge that described target is positioned at the subregion corresponding to view field of the laser of the office, overlapping portion of two field of view; If judged result is two targets in two field of view is not same target, then judge that target is as two, and the institute of view field that described two targets lay respectively at two bundle laser of non-overlapping portion office in two described field of view distinguishes in two sub regions of correspondence; If judged result is only there is a target in two field of view, then judge that described target is positioned at the subregion corresponding to view field of the laser of the non-overlapping portion office of the field of view at this target place.
Preferably, in this radar sensor, also include measuring unit,
When the judge module in described processing unit judges each existence target in two field of view, described judge module is also for sending measuring-signal to measuring unit;
The measuring-signal that described measuring unit sends for receiving judge module, and according to the relative distance between two targets in this measuring-signal difference simultaneously measurement two field of view and described measuring unit, and the relative velocity between two targets simultaneously measured respectively in two field of view and described measuring unit, then be sent to described judge module by measuring the measurement result obtained;
Described judge module is also for comparing respectively the described measurement result obtained, and whether be same target according to two targets that comparative result judges in described two field of view: if comparative result is that two relative distances between target with measuring unit are equal respectively with relative velocity, then judge that described two targets are same targets; If comparative result is two, the relative distance between target and measuring unit is unequal and/or relative velocity is unequal, then judge that described two targets are not same targets.
Preferably, described optical emitting unit comprises laser instrument and spectral module; Described laser instrument is for launching single beam laser to spectral module, and the single beam laser that described spectral module is used for laser instrument is launched is divided into three beams of laser; View field's spatially non-overlapping copies of described three beams of laser, and the view field of described three beams of laser is isosceles triangle distribution.
Preferably, described light-collecting lens adopts single optical eyeglass; The sensitive volume of described photodetector covers the wavelength of the laser that optical emitting unit is launched.
The present invention provides a kind of automobile simultaneously, comprises radar sensor, and described radar sensor adopts above-mentioned radar sensor.
The present invention also provides the recognition methods of a kind of target azimuth simultaneously, comprises the steps:
1) region to be measured is divided into three sub regions, launches beam of laser respectively to form three view fields to described three sub regions;
2) respectively adjacent two in described three beams of laser is restrainted the view field of laser as a field of view, to form two partly overlapping field of view;
3) situation about occurring according to described two field of view internal objects judges the concrete orientation of target in region to be measured.
Preferably, described step 3) comprises the steps:
31) if each in described two field of view exist a target, then judge whether two targets in described two field of view are same targets: same target in this way, then judge that described target is positioned at the subregion corresponding to view field of the laser of the office, overlapping portion of described two field of view; If not being same target, then judge that described target is as two, and the institute of view field that described two targets lay respectively at two bundle laser of non-overlapping portion office in described two field of view distinguishes in two sub regions of correspondence;
32) if only there is a target in described two field of view, then judge that described target is positioned at the subregion corresponding to view field of the laser of the non-overlapping portion office of the field of view at this target place.
Preferably, described step 31) in, whether two targets judging in described two field of view are same order calibration methods is:
The relative distance measured two targets in described two field of view respectively simultaneously and measure between body, and the relative velocity between two targets simultaneously measured respectively in described two field of view and measurement body, and judge that whether two targets in described two field of view are equal respectively with relative velocity with the relative distance between described measurement body, if equal respectively, then judge that two targets in described two field of view are same targets; If two the relative distance between target and measuring unit is unequal and/or relative velocity is unequal, then judge that two targets in described two field of view are not same targets.
Preferably, judge that the method whether relative distance between two targets with described measurement body is equal is:
The relative distance set between two targets and described measurement body is respectively d1 and d2, if | d1-d2|<b, then judge d1=d2; If | d1-d2| >=b, then judge d1 ≠ d2, and wherein b is relative distance error;
Judge that the method whether relative velocity between two targets with described measurement body is equal is: the relative velocity set between two targets and described measurement body is respectively v1 and v2, if | v1-v2|<a, then judge v1=v2; If | v1-v2| >=a, then judge v1 ≠ v2, and wherein, a is relative velocity error.
Beneficial effect:
1) radar sensor of the present invention only need adopt two optical receiver module, namely two photodetectors and two light-collecting lens are adopted just can to realize vehicle front left, in, the identification in right three area of space internal object orientation, thus a left side, detection vehicle front is come with needing to adopt three light-collecting lens identical with the quantity of laser and three corresponding with three light-collecting lens respectively photodetectors in prior art, in, the scheme in right three area of space internal object orientation is compared, save the quantity of photodetector and light-collecting lens, thus the hardware cost of radar sensor is reduced,
2) the radar sensor of the present invention identification that adopts the mode of pure optics just can realize the target azimuth in vehicle front extensive area, has the simple and low cost and other advantages of structure compared with scanning type laser sensor;
3) target azimuth of the present invention recognition methods simple and reliable, be easy to realize and apply.
Accompanying drawing explanation
Fig. 1 is the structural representation of radar sensor in the embodiment of the present invention 1;
Fig. 2 (a) is the principle of work schematic diagram of the optical receiver unit of radar sensor in the embodiment of the present invention 1, the field of view of Fig. 2 (b) for the first light-collecting lens in Fig. 2 (a) and the corresponding relation schematic diagram of the field of view of second condenser lens sheet and the view field of three beams of laser;
Fig. 3 is the process flow diagram of target azimuth recognition methods in the embodiment of the present invention 1;
Fig. 4 is the detailed process schematic diagram of target azimuth recognition methods in the embodiment of the present invention 1.
In figure: the view field of 1-first laser; The view field of 2-second laser; The view field of 3-the 3rd laser; The field of view of 4-first light-collecting lens; The field of view of 5-second condenser lens sheet; 6-first light-collecting lens; 7-second condenser lens sheet; 8-first photodetector; 9-second photodetector.
Embodiment
For making those skilled in the art understand technical scheme of the present invention better, below in conjunction with the drawings and specific embodiments to radar sensor of the present invention, adopt the automobile of described radar sensor and target azimuth recognition methods and be described in further detail.
Described radar sensor comprises optical emitting unit and optical receiver unit, described optical emitting unit is for launching single beam laser and can being divided into three beams of laser, described optical receiver unit is for receiving the target heliogram of view field's reflection of described three beams of laser, wherein, described optical receiver unit comprises two optical receiver module, and each optical receiver module is for receiving the target heliogram of view field's reflection of the adjacent two bundle laser in described three beams of laser.
A kind of automobile, described automobile comprises above-mentioned radar sensor.
The recognition methods of described target azimuth comprises the steps:
1) region to be measured is divided into three sub regions, launches beam of laser respectively to form three view fields to described three sub regions;
2) respectively adjacent two in described three beams of laser is restrainted the view field of laser as a field of view, to form two partly overlapping field of view;
3) situation about occurring according to described two field of view internal objects judges the concrete orientation of target in region to be measured.
Embodiment 1:
As shown in Figure 1, in the present embodiment, described radar sensor comprises optical emitting unit, optical receiver unit and processing unit.
Wherein, described optical emitting unit is for launching single beam laser and can being divided into three beams of laser, and in the present embodiment, the view field of described three beams of laser is arranged in order; The target heliogram received for receiving the target heliogram of view field's reflection of described three beams of laser, and is converted to corresponding electric signal by described optical receiver unit; Described processing unit is connected with optical receiver unit, for receiving described electric signal and it being analyzed to the orientation of the target obtained in the view field of described three beams of laser.The view field of preferred described three beams of laser is spatially not overlapping, and the view field of described three beams of laser is isosceles triangle distribution (as Suo Shi Fig. 2 (b)).
In the present embodiment, preferred described optical emitting unit comprises laser instrument (LD) and spectral module.Described laser instrument is for launching single beam laser to spectral module, and described laser instrument can adopt existing infrared semiconductor pulsed laser; The single beam laser that described spectral module is used for laser instrument is launched is divided into three beams of laser, and described spectral module can adopt existing diffraction spectroscope sheet.
Preferred described optical receiver unit comprises two optical receiver module, and each optical receiver module is for receiving the target heliogram of view field's reflection of the adjacent two bundle laser in described three beams of laser.
In the present embodiment, described each optical receiver module comprises a light-collecting lens and a photodetector corresponding with described light-collecting lens, and the field of view part of each light-collecting lens covers the view field of the adjacent two bundle laser in described three beams of laser.The side that the view field of laser is restrainted with adjacent two in described three beams of laser respectively in the edge of the field of view of preferred described each light-collecting lens is tangent, with the most of view field making the field of view of described each light-collecting lens can cover the adjacent two bundle laser in described three beams of laser.Preferred described light-collecting lens adopts single optical eyeglass.
Described light-collecting lens is used for the target heliogram of view field's reflection of two bundle laser adjacent in its field of view to be sent to photodetector corresponding with it, described photodetector for receive the light-collecting lens of its correspondence field of view in the heliogram of the nearest target of this photodetector of distance, and the heliogram of this target is converted to corresponding electric signal and exports.The sensitive volume (in other words spectral response curve) of preferred described photodetector covers the wavelength of the laser that the laser instrument in optical emitting unit is launched.
Described processing unit is connected respectively with two photodetectors in two optical receiver module, for receiving electric signal that described two photodetectors export and it being analyzed to the orientation of the target obtained in the view field of described three beams of laser.
Preferred described processing unit comprises judge module and analysis module, and the view field of described three beams of laser is in three sub regions in region to be measured respectively.
Described judge module is used for the destination number judged according to the electric signal received in the field of view of two light-collecting lens that described two photodetectors are corresponding, concrete, if described photodetector can receive target heliogram, then there is target in the field of view that judge module judges the light-collecting lens that this photodetector is corresponding.If judge each existence target in two field of view, then judge that whether two targets in described two field of view are same targets, then judged result is sent to analysis module further; If judge only there is a target in two field of view, then this judged result is sent to analysis module.
Described analysis module is used for the orientation carrying out evaluating objects according to described judged result: if judged result is two targets in two field of view is same targets, then judge that described target is positioned at the subregion corresponding to view field of the laser of the office, overlapping portion of two field of view; If judged result is two targets in two field of view is not same target, then judge that target is as two, and the institute of view field that described two targets lay respectively at two bundle laser of non-overlapping portion office in two described field of view distinguishes in two sub regions of correspondence; If judged result is only there is a target in two field of view, then judge that described target is positioned at the subregion corresponding to view field of the laser of the non-overlapping portion office of the field of view at this target place.
Also can include measuring unit in described radar sensor, when the judge module in described processing unit judges each existence target in two field of view, described judge module is also for sending measuring-signal to measuring unit; The measuring-signal that described measuring unit sends for receiving judge module, and according to the relative distance between two targets in this measuring-signal difference simultaneously measurement two field of view and described measuring unit, and the relative velocity between two targets simultaneously measured respectively in two field of view and described measuring unit, then be sent to described judge module by measuring the measurement result obtained; Described judge module is also for comparing respectively the described measurement result obtained, and whether be same target according to two targets that comparative result judges in described two field of view: if comparative result is that two relative distances between target with measuring unit are equal respectively with relative velocity, then judge that described two targets are same targets; If comparative result is two, the relative distance between target and measuring unit is unequal and/or relative velocity is unequal, then judge that described two targets are not same targets.
Also can include display unit in described radar sensor, described display unit is connected with the analysis module in processing unit, for receiving and the analysis result exported in display analysis module.
As shown in Figure 2, in the present embodiment, described three beams of laser is respectively the first laser, the second laser and the 3rd laser, and the view field of the view field of the view field of the first laser, the second laser and the 3rd laser is adjacent successively.
In described optical receiver unit, two light-collecting lens of two optical receiver module are respectively the first light-collecting lens 6 and second condenser lens sheet 7, two photodetectors are respectively the first photodetector 8 and the second photodetector 9.The field of view 4 of described first light-collecting lens covers the view field 1 of the first laser and the view field 2 of the second laser, and the field of view 5 of described second condenser lens sheet covers the view field 1 of the first laser and the view field 3 of the 3rd laser.Corresponding first photodetector 8 of described first light-collecting lens 6, corresponding second photodetector 9 of described second condenser lens sheet 7, the i.e. all corresponding photodetector of each light-collecting lens.First light-collecting lens 6 is sent to the first photodetector 8(for the target heliogram view field 1 of the first laser in the field of view 4 of the first light-collecting lens and the view field 2 of the second laser reflected and namely focuses on the first photodetector 8), described first photodetector 8 is for being converted to corresponding electric signal by the target received heliogram and being sent to the judge module in processing unit; Second condenser lens sheet 7 is sent to the second photodetector 9(for the target heliogram view field 3 of the view field 1 of the first laser in the field of view 5 of second condenser lens sheet and the 3rd laser reflected and namely focuses on the second photodetector 9), described second photodetector 9 is for being converted to corresponding electric signal by the target received heliogram and being sent to the judge module in processing unit.Further, outside the field of view 4 being positioned at the first light-collecting lens, reflected light can not focus on the first photodetector 8, and outside the field of view 5 being positioned at second condenser lens sheet, reflected light can not focus on the second photodetector 9.
As shown in Figure 2, the field of view 4 of the first light-collecting lens covers the view field 1 of the first laser and the view field 2 of the second laser, the field of view 5 of second condenser lens sheet covers the view field 1 of the first laser and the view field 3 of the 3rd laser, that is, the view field 1 of the first laser had both been positioned at the field of view 4 of the first light-collecting lens, be positioned at again the field of view 5 of second condenser lens sheet, namely the view field 1 of the first laser is positioned at the office, overlapping portion of the field of view 4 of the first light-collecting lens and the field of view 5 of second condenser lens sheet, the view field 2 of the second laser is positioned at the non-overlapping portion office of the field of view 4 of the first light-collecting lens, the view field 3 of the 3rd laser is positioned at the non-overlapping portion office of the field of view 5 of second condenser lens sheet.In the present embodiment, the edge of the field of view 4 of the first light-collecting lens is tangent with the side of the side of the view field 1 of the first laser and the view field 2 of the second laser respectively, with the major part making the field of view 4 of the first light-collecting lens can cover the view field 1 of the first laser and the view field 2 of the second laser; The edge of the field of view 5 of second condenser lens sheet is tangent with the side of the side of the view field 1 of the first laser and the view field 3 of the 3rd laser respectively, with the major part making the field of view 5 of second condenser lens sheet can cover the view field 1 of the first laser and the view field 3 of the 3rd laser.That is, the target heliogram being only positioned at the part regional reflex of the field of view 4 of the first light-collecting lens in the view field 1 of the first laser and the view field 2 of the second laser could be received by the first photodetector 8, and the target heliogram being only positioned at the part regional reflex of the field of view 5 of second condenser lens sheet in the view field 1 of the first laser and the view field 3 of the 3rd laser could be received by the second photodetector 9.
The present embodiment also provides a kind of automobile, and it comprises above-mentioned radar sensor.That is, preferred described radar sensor is trailer-mounted radar sensor.
Preferred described radar sensor to be arranged in vehicle top in front windshield, so be arranged so that the three beams of laser that optical emitting unit is launched is incident upon in the different area of space in three, vehicle front left, center, right respectively, to make radar sensor to identify to be positioned at the orientation of the target of three area of space in vehicle front left, center, right, and to obtain the information such as relative distance and relative velocity of described target and this car.
The present embodiment also provides the recognition methods of a kind of target azimuth simultaneously, and as shown in Figure 3, the method comprises the steps:
S101. region to be measured is divided into three sub regions, launches beam of laser respectively to form three view fields to described three sub regions;
S102. respectively adjacent two in described three beams of laser is restrainted the view field of laser as a field of view, to form two partly overlapping field of view;
Situation about s103. occurring according to described two field of view internal objects judges the concrete orientation of target in region to be measured.
Described step s103 specifically comprises the steps:
A target is there is if each in described two field of view of s103-1, then judge whether two targets in described two field of view are same targets: same target in this way, then judge that described target is positioned at the subregion corresponding to view field of the laser of the office, overlapping portion of described two field of view; If not being same target, then judge that described target is as two, and the institute of view field that described two targets lay respectively at two bundle laser of non-overlapping portion office in described two field of view is distinguished in two sub regions of correspondence.It should be noted that, if respectively there is multiple target in described two field of view, then only selecting in each field of view apart from measuring a nearest target of body.
Concrete, whether two targets judging in described two field of view are same order calibration methods is:
The relative distance measured two targets in described two field of view respectively simultaneously and measure between body, and the relative velocity between two targets simultaneously measured respectively in described two field of view and measurement body, and judge that whether two targets in described two field of view are equal respectively with relative velocity with the relative distance between described measurement body, if equal respectively, then judge that two targets in described two field of view are same targets; If two the relative distance between target and measuring unit is unequal and/or relative velocity is unequal, then judge that two targets in described two field of view are not same targets.
Wherein, judge that the method whether relative distance between two targets with described measurement body is equal is:
The relative distance set between two targets and described measurement body is respectively d1 and d2, if | d1-d2|<b, then judge d1=d2; If | d1-d2| >=b, then judge d1 ≠ d2, and wherein b is relative distance error;
Judge that the method whether relative velocity between two targets with described measurement body is equal is: the relative velocity set between two targets and described measurement body is respectively v1 and v2, if | v1-v2|<a, then judge v1=v2; If | v1-v2| >=a, then judge v1 ≠ v2, and wherein, a is relative velocity error.
Wherein, the span of a and b depends on described relative velocity measuring accuracy and described Relative ranging precision respectively.Such as, if described relative velocity measuring accuracy is ± 2km/h, described Relative ranging precision is ± 0.1m, then a≤4km/h, b≤0.2m.That is, the span of a and b can by those skilled in the art according to actual conditions sets itself, and this is well-known to those skilled in the art, repeats no more here.
If only there is a target in described two field of view of s103-2, then judge that described target is positioned at the subregion corresponding to view field of the laser of the non-overlapping portion office of the field of view at this target place.
Certainly, if all there is not target in described two field of view, then illustrate in region to be measured to there is not target.
As shown in Figure 4, the recognition methods of described target azimuth can be applied in radar sensor and for identifying the target azimuth being positioned at three, vehicle front left, center, right area of space (i.e. three sub regions), and specify: if target is positioned at the subregion of view field 2 correspondence of the second laser, illustrate that target is positioned at vehicle left front; If target is positioned at the subregion of view field 1 correspondence of the first laser, illustrate that target is positioned at right ahead; If target is positioned at the subregion of view field 3 correspondence of the 3rd laser, illustrate that target is positioned at vehicle right front.The specific implementation process of described target azimuth recognition methods is as follows:
For ease of describing this detailed process, preset the variablees such as z1, z2, and the constant such as relative velocity error a, relative distance error b.
S201. whether there is target in the field of view 4 judging the first light-collecting lens, if any, perform step s202; As nothing, perform step s203.
S202. the relative distance d 1 between target in the field of view 4 of the first light-collecting lens and radar sensor and relative velocity v1 is measured in real time; Make z1=1.
S203. v1=0 is made, d1=∞, z1=0.
S204. whether there is target in the field of view 5 judging second condenser lens sheet, if any, perform step s205; As nothing, perform step s206.
S205. the relative distance d 2 between target in the field of view 5 of second condenser lens sheet and radar sensor and relative velocity v2 is measured in real time; Make z2=1.
S206. v2=0 is made, d2=∞, z2=0.
S207. judge whether z1=z2=0, in this way, perform step s208; As no, perform step s209.
S208. vehicle front driftlessness.
S209. judge whether z1=z2=1, in this way, perform step s210; As no, perform step s211.
S210. judge whether | v1-v2|<a and | d1-d2|<b, in this way, perform step s214; As no, perform step s215.
S211. judge whether z1=1, in this way, perform step s212; As no, perform step s213.
S212. there is a target in vehicle left front.
S213. there is a target in vehicle right front.
S214. there is a target in right ahead.
S215. respectively there is a target in vehicle left front and right front.
Embodiment 2:
The difference of the present embodiment and embodiment 1 is:
In the optical receiver unit of described radar sensor, the view field 1 of the first laser and the view field 2 of the second laser all cover by the field of view 4 of the first light-collecting lens, and the view field 3 of the view field 1 of the first laser and the 3rd laser all covers by the field of view 5 of second condenser lens sheet.Namely the field of view of each light-collecting lens all can cover the view field of the adjacent two bundle laser in described three beams of laser.
Additive method in the present embodiment, structure and effect are all identical with embodiment 1, repeat no more here.
Be understandable that, the illustrative embodiments that above embodiment is only used to principle of the present invention is described and adopts, but the present invention is not limited thereto.For those skilled in the art, without departing from the spirit and substance in the present invention, can make various modification and improvement, these modification and improvement are also considered as protection scope of the present invention.
Claims (9)
1. a radar sensor, comprise optical emitting unit and optical receiver unit, described optical emitting unit is for launching single beam laser and can being divided into three beams of laser, described optical receiver unit is for receiving the target heliogram of view field's reflection of described three beams of laser, it is characterized in that, described optical receiver unit comprises two optical receiver module, and each optical receiver module is for receiving the target heliogram of view field's reflection of the adjacent two bundle laser in described three beams of laser; Spatially non-overlapping copies is also adjacent successively in the view field of described three beams of laser, and the view field of described three beams of laser is isosceles triangle distribution;
Described each optical receiver module includes a light-collecting lens; The field of view of each light-collecting lens all covers or part covers the view field that adjacent two in described three beams of laser restraints laser;
Described each optical receiver module also comprises a photodetector corresponding with the light-collecting lens in it, described light-collecting lens is used for the target heliogram of view field's reflection of two bundle laser adjacent in its field of view to be sent to photodetector corresponding with it, described photodetector for receive the light-collecting lens of its correspondence field of view in the heliogram of the nearest target of this photodetector of distance, and the heliogram of this target is converted to corresponding electric signal and exports;
Described radar sensor also comprises processing unit, it is connected respectively with two photodetectors in two optical receiver module, for receiving electric signal that described two photodetectors export and described electric signal analysis being obtained to the orientation of the target in the view field of described three beams of laser;
Particularly, described processing unit comprises judge module and analysis module, and the view field of described three beams of laser is in three sub regions in region to be measured respectively,
Described judge module is used for the destination number judged according to the electric signal received in the field of view of two light-collecting lens that described two photodetectors are corresponding, if judge each existence target in two field of view, then judge that whether two targets in described two field of view are same targets, then judged result is sent to analysis module further; If judge only there is a target in two field of view, then this judged result is sent to analysis module;
Described analysis module is used for the orientation carrying out evaluating objects according to described judged result: if judged result is two targets in two field of view is same targets, then judge that described target is positioned at the subregion corresponding to view field of the laser of the office, overlapping portion of two field of view; If judged result is two targets in two field of view is not same target, then judge that target is as two, and the institute of view field that described two targets lay respectively at two bundle laser of non-overlapping portion office in two described field of view distinguishes in two sub regions of correspondence; If judged result is only there is a target in two field of view, then judge that described target is positioned at the subregion corresponding to view field of the laser of the non-overlapping portion office of the field of view at this target place.
2. radar sensor according to claim 1, is characterized in that,
The view field that the field of view part of each light-collecting lens covers the adjacent two bundle laser in described three beams of laser is specially:
The side that the view field of laser is restrainted with adjacent two in described three beams of laser respectively in the edge of the field of view of described each light-collecting lens is tangent, with the most of view field making the field of view of described each light-collecting lens can cover the adjacent two bundle laser in described three beams of laser.
3. radar sensor according to claim 1, is characterized in that, also includes measuring unit in this radar sensor,
When the judge module in described processing unit judges each existence target in two field of view, described judge module is also for sending measuring-signal to measuring unit;
The measuring-signal that described measuring unit sends for receiving judge module, and according to the relative distance between two targets in this measuring-signal difference simultaneously measurement two field of view and described measuring unit, and the relative velocity between two targets simultaneously measured respectively in two field of view and described measuring unit, then be sent to described judge module by measuring the measurement result obtained;
Described judge module is also for comparing respectively the described measurement result obtained, and whether be same target according to two targets that comparative result judges in described two field of view: if comparative result is that two relative distances between target with measuring unit are equal respectively with relative velocity, then judge that described two targets are same targets; If comparative result is two, the relative distance between target and measuring unit is unequal and/or relative velocity is unequal, then judge that described two targets are not same targets.
4., according to described radar sensor arbitrary in claim 1-3, it is characterized in that, described optical emitting unit comprises laser instrument and spectral module; Described laser instrument is for launching single beam laser to spectral module, and the single beam laser that described spectral module is used for laser instrument is launched is divided into three beams of laser.
5. radar sensor according to claim 1, is characterized in that, described light-collecting lens adopts single optical eyeglass; The sensitive volume of described photodetector covers the wavelength of the laser that optical emitting unit is launched.
6. an automobile, comprises radar sensor, it is characterized in that, described radar sensor adopts arbitrary described radar sensor in claim 1-5.
7. a target azimuth recognition methods, is characterized in that, comprises the steps:
1) region to be measured is divided into three sub regions, launches beam of laser respectively to form three view fields to described three sub regions;
2) respectively adjacent two in described three beams of laser is restrainted the view field of laser as a field of view, to form two partly overlapping field of view; Spatially non-overlapping copies is also adjacent successively in the view field of described three beams of laser, and the view field of described three beams of laser is isosceles triangle distribution;
3) situation about occurring according to described two field of view internal objects judges the concrete orientation of target in region to be measured;
Described step 3) comprise the steps:
31) if each in described two field of view exist a target, then judge whether two targets in described two field of view are same targets: same target in this way, then judge that described target is positioned at the subregion corresponding to view field of the laser of the office, overlapping portion of described two field of view; If not being same target, then judge that described target is as two, and the institute of view field that described two targets lay respectively at two bundle laser of non-overlapping portion office in described two field of view distinguishes in two sub regions of correspondence;
32) if only there is a target in described two field of view, then judge that described target is positioned at the subregion corresponding to view field of the laser of the non-overlapping portion office of the field of view at this target place.
8. method according to claim 7, is characterized in that, described step 31) in, whether two targets judging in described two field of view are same order calibration methods is:
The relative distance measured two targets in described two field of view respectively simultaneously and measure between body, and the relative velocity between two targets simultaneously measured respectively in described two field of view and measurement body, and judge that whether two targets in described two field of view are equal respectively with relative velocity with the relative distance between described measurement body, if equal respectively, then judge that two targets in described two field of view are same targets; If two the relative distance between target and measuring unit is unequal and/or relative velocity is unequal, then judge that two targets in described two field of view are not same targets.
9. method according to claim 8, it is characterized in that, judge that the method whether relative distance between two targets with described measurement body is equal is: the relative distance set between two targets and described measurement body is respectively d1 and d2, if | d1-d2|<b, then judge d1=d2; If | d1-d2| >=b, then judge d1 ≠ d2, and wherein b is relative distance error;
Judge that the method whether relative velocity between two targets with described measurement body is equal is: the relative velocity set between two targets and described measurement body is respectively v1 and v2, if | v1-v2|<a, then judge v1=v2; If | v1-v2| >=a, then judge v1 ≠ v2, and wherein, a is relative velocity error.
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| KR20160081506A (en) | 2014-12-31 | 2016-07-08 | 현대모비스 주식회사 | Alignment correction system and a control method of a radar and the side of the vehicle |
| CN107976681A (en) * | 2016-10-21 | 2018-05-01 | 北醒（北京）光子科技有限公司 | A kind of multi-thread optical distance measurement apparatus |
| US10473767B2 (en) | 2017-06-19 | 2019-11-12 | Hesai Photonics Technology Co., Ltd. | Lidar system and method |
| US20240027587A1 (en) | 2017-06-19 | 2024-01-25 | Hesai Technology Co., Ltd. | Lidar system and method |
| EP3742199A4 (en) * | 2018-01-15 | 2021-06-23 | Hesai Photonics Technology Co., Ltd | Laser radar and operation method therefor |
| CN108318887B (en) * | 2018-01-18 | 2024-07-16 | 西安工业大学 | Laser-assisted binocular range finding system |
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