CN108052564A - A kind of method and system for establishing unmanned database - Google Patents
A kind of method and system for establishing unmanned database Download PDFInfo
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- CN108052564A CN108052564A CN201711274645.4A CN201711274645A CN108052564A CN 108052564 A CN108052564 A CN 108052564A CN 201711274645 A CN201711274645 A CN 201711274645A CN 108052564 A CN108052564 A CN 108052564A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
- G01S13/867—Combination of radar systems with cameras
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
- G06F16/90—Details of database functions independent of the retrieved data types
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
- G06F16/90—Details of database functions independent of the retrieved data types
- G06F16/901—Indexing; Data structures therefor; Storage structures
- G06F16/9027—Trees
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Abstract
The present invention provides a kind of method and system for establishing unmanned database.This method includes：Acquisition to laser radar data, millimetre-wave radar, camera, on-vehicle information data；The foundation of data acquisition hardware system；The foundation of data acquisition software system.This invention ensures that the real-time and synchronism of data information acquisition, therefore, have wide range of applications.
Description
Technical field
The present invention relates to unmanned fields, more particularly, to a kind of method for establishing unmanned database and are
System.
Background technology
Since second industrial revolution, automobile industry has been developed more than 100 years.In past more than 100 years, as
The important symbol of modern civilization, automobile have overturned the life style of the mankind, have expanded the activity space of the mankind, change entire society
Meeting form greatly improves the movable living quality of the mankind, but automobile, which needs driver to drive, to travel, and occupy excessive
Human resources, and substantial amounts of traffic accident is caused, with the development of depth learning technology, unmanned technology is like a raging fire to be opened
Exhibition is got up.
Pilotless automobile research extremely relies on the truthful data of a large amount of high quality, because it is needed before public way deployment
Exploitation, test and verification algorithm.It is unmanned to have a series of automatic Pilot data set of view-based access control models at present in the industry, wherein
Including KITTI and Citycapes data sets.KITTI data sets are a cooperation item 2012 by KIT and TTIC
Mesh, website is in http://www.cvlibs.net/datasets/kitti/, the main purpose of this project are to establish a tool
Test set challenging, from real world.The RobotCar data sets that Oxonian researcher releases.
The RobotCar data sets data sets includes the repetition driving data that ride 100 times is fixed in England Oxford city in 1 year.
The data set captures many different weather, traffic, the road conditions of pedestrian's combination out, also comprising building and road construction so
Change in long term.
Using international data center, academic research can only be carried out, can not be applied on engineering, so needing suggestion
The database of team oneself demand so far, still establishes unmanned database without disclosed method.It consults related special
Profit, the domestic patent on unmanned Database not yet is because rare team has the ability to develop with financial resources and maintain
One applicable unmanned data acquisition platform, periodic calibration simultaneously collect new data.
The content of the invention
The technical problem to be solved in the present invention is to provide a kind of method for establishing unmanned database, comprising unmanned
Database acquisition hardware system and unmanned database acquisition software system, can be in state by the combination of software and hardware system
Unmanned database is established on interior any road, further, unmanned correlation technique can be carried out on this database
Research.
The technical solution used in the present invention is:A kind of method for establishing unmanned database, comprises the following steps,
(1) unmanned database acquisition hardware system is established, laser radar, camera, millimeter wave are installed on the car body
Radar and CAN analyzers, while a vehicle-mounted computer is installed；Laser radar is communicated by UDP (User Datagram Protocol), ether
Network interface is connected on vehicle-mounted computer；Camera is connected to vehicle-mounted computer by USB (universal serial bus)；Millimetre-wave radar leads to
CAN (controller local area network) agreement is crossed, vehicle-mounted computer is connected to using CAN analyzers；On-vehicle information (speed, vehicle corner etc.)
CAN analyzers are connected to by the CBD interfaces of automobile itself；
(2) using ad hoc fashion Calibration of Laser radar and camera, their imaging coordinate system relations, the ginseng that will be obtained are obtained
Number is inputted to unmanned database software acquisition system；
(3) the on-vehicle information decoding process of vehicle is inputted to unmanned database acquisition software system, it will obtain
The information of vehicles such as correct speed, vehicle corner, vehicle acceleration
(4) unmanned database acquisition software system is run, which can receive, parse, storing four automatically
Sensing data：Laser radar data, millimetre-wave radar data, camera data, on-vehicle information；Ensure gathered data simultaneously
Synchronism and real-time can accomplish the picking rate of 10fps；
Operating and controlling vehicle is multiple in target road traveling in turn for (5) 20 experienced drivers, the acquisition period need to be related to daytime,
Night, various weather conditions, time in the four seasons；In the process of moving, unmanned database acquisition hardware system and software systems
It works at the same time.
Further, the vehicle-mounted computer include a 3G dominant frequency CPU, 4G memory, a 220V electric pressure converter, one
Power interface, a network interface, two USB ports and a 1T mechanical hard disk.
Further, the laser radar is containing 32 laser emitter/receivers, distance range 1-70m, distance point
Resolution is less than 2cm；Laser radar supply voltage is 220V, and a 48V-220V inverter is accessed from vehicle itself accumulator, is
Laser radar and the power supply of vehicle-mounted brain.
Further, the CAN analyzers contain 2 CAN passages, with CAN protocol function interface storehouse；The camera
Possess 200W pixels for USB interface.
Further, the ad hoc fashion Calibration of Laser radar and camera are to use the chessboard mark in KITTI databases
Determine the relation that method obtains laser infrared radar imaging coordinate system and camera coordinate system.
Further, the unmanned database acquisition software system includes five parts:Laser radar data receives
Parsing part, millimetre-wave radar data receiver and parsing, on-vehicle information data receiver and parsing part, camera image reading part
Divide, data storage section after parsing.
Further, the synchronism of the gathered data refers to：Laser radar data, millimetre-wave radar data, vehicle-mounted letter
Data and camera image data acquisition are ceased in synchronization, remains to synchronism, and the cooperation between data is just significant.
Further, the real-time of the gathered data refers to：Laser radar data, millimetre-wave radar data, vehicle-mounted letter
Time spent by the process that breath data are stored with camera image data from sensor to data is small, keeps all modules
Data be all current time newest data.
Due to the adoption of the above technical scheme, advantageous effect caused by the present invention is：
(1) it is of the present invention to establish unmanned data base method, it can be fitted in modification software systems Program on a small quantity
It, can the operation in wind and rain weather for any manufacturer's vehicle.
(2) it is of the present invention to establish unmanned data base method, it can completely establish a set of unmanned data
Storehouse,
It is applicable to a variety of actual scenes such as unmanned middle speed decision-making, obstacle judgement, lane detection.
Description of the drawings
Fig. 1:Unmanned database file storage organization
Fig. 2:Unmanned database acquisition software system program flow chart
Specific embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to the accompanying drawings and embodiments, it is right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention：
(1) unmanned database acquisition hardware system is established, laser radar, camera, millimeter wave are installed on the car body
Radar and CAN analyzers, while a vehicle-mounted computer is installed；Laser radar is communicated by UDP (User Datagram Protocol), with
Too network interface is connected on vehicle-mounted computer；Camera is connected to vehicle-mounted computer by USB (universal serial bus)；Millimetre-wave radar
By CAN (controller local area network) agreement, vehicle-mounted computer is connected to using CAN analyzers；On-vehicle information (speed, vehicle corner
Deng) CAN analyzers are connected to by the CBD interfaces of automobile itself；
(2) using ad hoc fashion Calibration of Laser radar and camera, their imaging coordinate system relations, the ginseng that will be obtained are obtained
Number is inputted to unmanned database software acquisition system；
(3) the on-vehicle information decoding process of vehicle is inputted to unmanned database acquisition software system, it will obtain
The information of vehicles such as correct speed, vehicle corner, vehicle acceleration
(4) unmanned database acquisition software system is run, which can receive, parse, storing four automatically
Sensing data：Laser radar data, millimetre-wave radar data, camera data, on-vehicle information；Ensure gathered data simultaneously
Synchronism and real-time can accomplish the picking rate of 10fps；
Operating and controlling vehicle is multiple in target road traveling in turn for (5) 20 experienced drivers, the acquisition period need to be related to daytime,
Night, various weather conditions, time in the four seasons；In the process of moving, unmanned database acquisition hardware system and software systems
It works at the same time.
Further, the vehicle-mounted computer include a 3G dominant frequency CPU, 4G memory, a 220V electric pressure converter, one
Power interface, a network interface, two USB ports and a 1T mechanical hard disk.
Further, the laser radar is containing 32 laser emitter/receivers, distance range 1-70m, distance point
Resolution is less than 2cm；Laser radar supply voltage is 220V, and a 48V-220V inverter is accessed from vehicle itself accumulator, is
Laser radar and the power supply of vehicle-mounted brain.
Further, the CAN analyzers contain 2 CAN passages, with CAN protocol function interface storehouse；The camera
Possess 200W pixels for USB interface.
Further, the ad hoc fashion Calibration of Laser radar and camera are to use the chessboard mark in KITTI databases
Determine the relation that method obtains laser infrared radar imaging coordinate system and camera coordinate system.
Further, the unmanned database acquisition software system includes five parts:Laser radar data receives
Parsing part, millimetre-wave radar data receiver and parsing, on-vehicle information data receiver and parsing part, camera image reading part
Divide, data storage section after parsing.
Further, the synchronism of the gathered data refers to：Laser radar data, millimetre-wave radar data, vehicle-mounted letter
Data and camera image data acquisition are ceased in synchronization, remains to synchronism, and the cooperation between data is just significant.
Further, the real-time of the gathered data refers to：Laser radar data, millimetre-wave radar data, vehicle-mounted letter
Time spent by the process that breath data are stored with camera image data from sensor to data is small, keeps all modules
Data be all current time newest data.
The above-described embodiments are merely illustrative of preferred embodiments of the present invention, not to the structure of the present invention
Think and scope is defined.On the premise of design concept of the present invention is not departed from, ordinary people in the field is to the technology of the present invention
The all variations and modifications that scheme is made, should all drop into protection scope of the present invention, the claimed technology contents of the present invention,
All it is documented in claims.
Claims (8)
1. a kind of method and system for establishing unmanned database, which is characterized in that comprise the following steps,
(1) unmanned database acquisition hardware system is established, laser radar, camera, millimetre-wave radar are installed on the car body
With CAN analyzers, while install a vehicle-mounted computer；Laser radar is communicated by UDP (User Datagram Protocol), and Ethernet connects
Mouth is connected on vehicle-mounted computer；Camera is connected to vehicle-mounted computer by USB (universal serial bus)；Millimetre-wave radar passes through
CAN (controller local area network) agreement, vehicle-mounted computer is connected to using CAN analyzers；On-vehicle information (speed, vehicle corner etc.) is logical
The CBD interfaces for crossing automobile itself are connected to CAN analyzers；
(2) using ad hoc fashion Calibration of Laser radar and camera, their imaging coordinate system relations are obtained, obtained parameter is defeated
Enter to unmanned database software acquisition system；
(3) the on-vehicle information decoding process of vehicle is inputted to unmanned database acquisition software system, it will obtain correct
The information of vehicles such as speed, vehicle corner, vehicle acceleration；
(4) unmanned database acquisition software system is run, which can receive, parse, storing four sensings automatically
Device data：Laser radar data, millimetre-wave radar data, camera data, on-vehicle information；Ensure the synchronization of gathered data simultaneously
Property and real-time can accomplish the picking rate of 10fps；
Operating and controlling vehicle is multiple in target road traveling in turn for (5) 20 experienced drivers, and the acquisition period needs to be related to daytime, black
Night, various weather conditions, time in the four seasons；In the process of moving, unmanned database acquisition hardware system and software systems are same
When work.
2. the method and system according to claim 1 for establishing unmanned database, which is characterized in that the step
(1) vehicle-mounted computer in include a 3G dominant frequency CPU, 4G memory, a 220V electric pressure converter, a power interface, one
Network interface, two USB ports and a 1T mechanical hard disk.
3. the method and system according to claim 1 for establishing unmanned database, which is characterized in that the step
(1) laser radar in, containing 32 laser emitter/receivers, distance range 1-70m, distance resolution is less than 2cm；Swash
Optical radar supply voltage is 220V, and a 48V-220V inverter is accessed from vehicle itself accumulator, is laser radar and vehicle-mounted
Brain is powered.
4. the method and system according to claim 1 for establishing unmanned database, which is characterized in that the step
(1) the CAN analyzers in contain 2 CAN passages, with CAN protocol function interface storehouse；The camera is gathered around for USB interface
There are 200W pixels.
5. the method and system according to claim 1 for establishing unmanned database, which is characterized in that the step
(2) in, ad hoc fashion Calibration of Laser radar and camera refer to obtain laser using the chessboard calibration method in KITTI databases
The relation of radar imagery coordinate system and camera coordinate system.
6. the method and system according to claim 1 for establishing unmanned database, which is characterized in that the step
(4) in, unmanned database acquisition software system includes five parts:Laser radar data receives parsing part, millimeter wave
Radar data is received to be deposited with parsing, on-vehicle information data receiver and data after parsing part, camera image reading part, parsing
Store up part.
7. the method and system according to claim 1 for establishing unmanned database, which is characterized in that the step
(4) in, the synchronism of gathered data refers to：Laser radar data, millimetre-wave radar data, on-vehicle information data and camera figure
As data acquisition is in synchronization, synchronism is remained to, the cooperation between data is just significant.
8. the method and system according to claim 1 for establishing unmanned database, which is characterized in that the step
(4) in, the real-time of gathered data refers to：Laser radar data, millimetre-wave radar data, on-vehicle information data and camera figure
The time as spent by the process that data are stored from sensor to data is small, when the data of all modules being kept all to be current
Carve newest data.
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Cited By (5)
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| CN110009765A (en) * | 2019-04-15 | 2019-07-12 | 合肥工业大学 | A kind of automatic driving vehicle contextual data system and scene format method for transformation |
| CN111376851A (en) * | 2018-12-29 | 2020-07-07 | 浙江吉利控股集团有限公司 | Automobile positioning system and method and automobile |
| CN114755673A (en) * | 2020-12-25 | 2022-07-15 | 欧特明电子股份有限公司 | Multi-sensor automatic driving system |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109094574A (en) * | 2018-08-01 | 2018-12-28 | 长安大学 | A kind of unmanned vehicle driving condition Measurement and Control System based on rack |
| CN109094574B (en) * | 2018-08-01 | 2021-06-25 | 长安大学 | Unmanned vehicle driving state measurement control system based on rack |
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| CN110009765A (en) * | 2019-04-15 | 2019-07-12 | 合肥工业大学 | A kind of automatic driving vehicle contextual data system and scene format method for transformation |
| CN110009765B (en) * | 2019-04-15 | 2021-05-07 | 合肥工业大学 | Scene format conversion method of automatic driving vehicle scene data system |
| CN114755673A (en) * | 2020-12-25 | 2022-07-15 | 欧特明电子股份有限公司 | Multi-sensor automatic driving system |
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Application publication date: 20180518 |