CN108072880A - The method of adjustment of laser radar field of view center direction, medium, laser radar system - Google Patents
The method of adjustment of laser radar field of view center direction, medium, laser radar system Download PDFInfo
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- CN108072880A CN108072880A CN201810046634.9A CN201810046634A CN108072880A CN 108072880 A CN108072880 A CN 108072880A CN 201810046634 A CN201810046634 A CN 201810046634A CN 108072880 A CN108072880 A CN 108072880A
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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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
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Abstract
A kind of method of adjustment of laser radar field of view center direction, medium, laser radar system, the method for adjustment that the laser radar field of view center is directed toward include：Current driving information or traffic information are obtained in real time；Based on acquired current driving information or traffic information, the angle of detection it is expected in generation；Based on the angle of the expectation detection generated, the orientation angle for adjusting the field of view center of the laser radar is the angle for it is expected detection.Using said program, real-time driving information or traffic information can be based on, adjusts the orientation angle of the field of view center of laser radar, the different scenes during being travelled with adaptation in real time.
Description
Technical field
The present embodiments relate to the adjustment sides that automatic identification field more particularly to a kind of laser radar field of view center are directed toward
Method, medium, laser radar system.
Background technology
Since the three-dimensional coordinate model of vehicle body surrounding objects can be detected, achieve the purpose that environment sensing, laser radar system
System is widely used in the various fields such as automatic running.Current laser radar system is existing using Velodyne as the machine of representative
Tool laser radar, and have with MEMS (Micro-Electro-Mechanical System, MEMS) galvanometer, optics phase
Control the laser radar based on the technologies such as battle array (Optical Phased Array), Flash.
However, existing laser radar system, field of view center direction is fixed, i.e., field angle is compared with vehicle body coordinate
System is fixed, can not change and adjust.For example, the photomechanical laser radar using electric rotating machine of Velodyne companies exploitation,
For longitudinal visual field by N number of laser, detector to forming, transverse field drives above-mentioned laser, detector to reality by electric rotating machine
Existing, longitudinal field angle is determined by the mechanical arrangement mode of laser, it is impossible to be changed, field of view center is directed toward compared with laser radar
(or vehicle body) is fixed, nonadjustable.
For being used for the laser radar in automatic running field, can not adjust field of view center direction can cause under some scenes
Visual field offset, so as to which effective cloud data can not be gathered.For example, when automobile up slope, refer to since field of view center cannot be adjusted
To laser radar visual field can be caused to be inclined to sky, so as to lose the effective information on many ground.
The content of the invention
The technical issues of embodiment of the present invention solves is how to adjust the field of view center direction of laser radar in real time, with adaptation
Different application scenarios.
In order to solve the above technical problems, the embodiment of the present invention provides the adjustment side that a kind of laser radar field of view center is directed toward
Method, the described method includes：Current driving information or traffic information are obtained in real time；Based on acquired current driving information
Or the angle of detection it is expected in traffic information, generation；Based on the angle of the expectation detection generated, the laser radar is adjusted
The orientation angle of field of view center is the angle for it is expected detection.
Optionally, the orientation angle of the field of view center of the adjustment laser radar system is the angle for it is expected detection
Degree includes：The parameter of the scanning means of the laser radar is adjusted, controls the direction of the field of view center of the laser radar system
Angle is the angle for it is expected detection.
Optionally, the scanning means is：2-D vibration mirror or two are mutually perpendicular to and are capable of the one-dimensional of Independent Vibration and shake
Mirror.
Optionally, the parameter of the scanning means of the adjustment laser radar, controls regarding for the laser radar system
The orientation angle at field center includes for the angle for it is expected detection：When the scanning means is 2-D vibration mirror, described in adjusting
The driving voltage or driving current of 2-D vibration mirror, the orientation angle for controlling the field of view center of the laser radar system are the phase
Hope the angle of detection；When the scanning means is mutually perpendicular to for two and is capable of the one-dimensional galvanometer of Independent Vibration, two are adjusted
The driving voltage or driving current of the one-dimensional galvanometer, the orientation angle for controlling the field of view center of the laser radar system are institute
State the angle for it is expected detection.
Optionally, the parameter of the scanning means of the adjustment laser radar, controls regarding for the laser radar system
The orientation angle at field center includes for the angle for it is expected detection：The laser radar is placed in dimensional turntable, described in adjustment
The parameter of dimensional turntable, the orientation angle for controlling the field of view center of the laser radar system are the angle for it is expected detection.
Optionally, the current traffic information of the real-time acquisition includes：It is obtained and worked as in real time by way of following at least one
Preceding traffic information：The data of map, the point cloud chart of laser radar structure and the camera shooting downloaded in advance.
Optionally, described based on acquired current driving information or traffic information, the angle of detection it is expected in generation
Including：When the driving information is level land traveling or the traffic information is level land road conditions, will be overlapped with vehicle centre-line
Angle as it is expected detection angle；When the driving information is up-hill journey or the traffic information is upward slope road conditions
When, vehicle centre-line is offset downward into the angle of preset first angle as the angle for it is expected detection；When the driving information is
Vehicle centre-line constantly, is offset up the angle of preset second angle by descent run or the traffic information for descending road conditions
As the angle for it is expected detection；When the driving information for turn left when driving, vehicle centre-line is deviated to the default 3rd to the left
The angle of angle is as the angle for it is expected detection；When the driving information is turns right when driving, by vehicle centre-line to right avertence
The angle of default fourth angle is moved as the angle for it is expected detection.
The embodiment of the present invention provides a kind of laser radar system, including：Acquiring unit, suitable for obtaining current traveling in real time
Direction or traffic information；Generation unit, suitable for based on acquired current driving information or traffic information, generation it is expected
The angle of detection；Adjustment unit suitable for the angle based on the expectation detection generated, adjusts the field of view center of the laser radar
Orientation angle for it is described it is expected detection angle.
Optionally, the adjustment unit suitable for adjusting the parameter of the scanning means of the laser radar, controls the laser
The orientation angle of the field of view center of radar system is the angle for it is expected detection.
Optionally, the scanning means is：2-D vibration mirror or two are mutually perpendicular to and are capable of the one-dimensional of Independent Vibration and shake
Mirror.
Optionally, when the scanning means is 2-D vibration mirror, the adjustment unit, suitable for adjusting the 2-D vibration mirror
Driving voltage or driving current, the orientation angle for controlling the field of view center of the laser radar system are the angle for it is expected detection
Degree；When the scanning means is mutually perpendicular to for two and is capable of the one-dimensional galvanometer of Independent Vibration, the adjustment unit, suitable for adjusting
The driving voltage or driving current of two one-dimensional galvanometers are saved, controls the direction angle of the field of view center of the laser radar system
It spends for the angle for it is expected detection.
Optionally, the laser radar system further includes：Dimensional turntable, the adjustment unit, suitable for adjusting the two dimension
The parameter of turntable, the orientation angle for controlling the field of view center of the laser radar system are the angle for it is expected detection.
Optionally, the acquiring unit, suitable for obtaining current traffic information in real time by following at least one mode：In advance
The data of map, the point cloud chart of laser radar structure and the camera shooting first downloaded.
Optionally, the generation unit includes：First generation subelement, suitable for work as the driving information for level land traveling or
When traffic information described in person is level land road conditions, using the angle overlapped with vehicle centre-line as the angle for it is expected detection；Second life
Into subelement, suitable for when the driving information is up-hill journey or the traffic information is upward slope road conditions, by vehicle center
Line offsets downward the angle of preset first angle as the angle for it is expected detection；3rd generation subelement, suitable for working as the traveling
Information be descent run or the traffic information be descending road conditions constantly, vehicle centre-line is offset up into preset second angle
Angle as it is expected detection angle；4th generation subelement is to turn left when driving, by vehicle suitable for working as the driving information
Center line deviates the angle of default third angle as the angle for it is expected detection to the left；5th generation subelement, suitable for working as
Driving information is stated to turn right when driving, vehicle centre-line is deviated to the right to the angle of default fourth angle as expectation detection
Angle.
The embodiment of the present invention provides a kind of computer readable storage medium, is stored thereon with computer instruction, the calculating
The step of any of the above-described kind of the method is performed during machine instruction operation.
The embodiment of the present invention provides a kind of laser radar system, including memory and processor, is stored on the memory
There is the computer instruction that can be run on the processor, the processor performs any of the above-described when running the computer instruction
The step of kind the method.
Compared with prior art, the technical solution of the embodiment of the present invention has the advantages that：
The embodiment of the present invention is then based on current traveling by obtaining current driving information or traffic information in real time
The angle of detection it is expected in information or traffic information generation, and adjusts the orientation angle of the field of view center of laser radar it is expected to visit
The angle of survey can be based on real-time driving information or traffic information, adjust the direction of the field of view center of laser radar in real time
Angle, the different scenes during being travelled with adaptation.
Further, using 2-D vibration mirror, the angle that the orientation angle of the field of view center of laser radar is controlled to be detected for expectation
Degree, convenient for the Project Realization of integrated miniaturization laser radar.
Description of the drawings
Fig. 1 is the detailed process for the method for adjustment that a kind of laser radar field of view center provided in an embodiment of the present invention is directed toward
Figure；
Fig. 2 is a kind of schematic diagram of angle for it is expected detection provided in an embodiment of the present invention；
Fig. 3 is a kind of structure diagram of scanning means provided in an embodiment of the present invention；
Fig. 4 is a kind of schematic diagram of the visual field of laser radar provided in an embodiment of the present invention；
Fig. 5 is a kind of structure diagram of laser radar system provided in an embodiment of the present invention.
Specific embodiment
For being used for the laser radar in automatic running field, can not adjust field of view center direction can cause under some scenes
Visual field offset, so as to which effective cloud data can not be gathered.For example, when automobile up slope, refer to since field of view center cannot be adjusted
To laser radar visual field can be caused to be inclined to sky, so as to lose the effective information on many ground.
The embodiment of the present invention is then based on current traveling by obtaining current driving information or traffic information in real time
The angle of detection it is expected in information or traffic information generation, and adjusts the orientation angle of the field of view center of laser radar it is expected to visit
The angle of survey can be based on real-time driving information or traffic information, adjust the direction of the field of view center of laser radar in real time
Angle, the different scenes during being travelled with adaptation.
It is understandable for above-mentioned purpose, feature and advantageous effect of the invention is enable to become apparent, below in conjunction with the accompanying drawings to this
The specific embodiment of invention is described in detail.
Referring to Fig. 1, an embodiment of the present invention provides the methods of adjustment that a kind of laser radar field of view center is directed toward, and can include
Following steps：
Step S101 obtains current driving information or traffic information in real time.
In specific implementation, due to existing laser radar field of view center compared with vehicle body coordinate system be it is fixed, can not
Different scenes is adapted to, for example, when vehicle is in upward slope, the orientation angle of field of view center can be caused to be inclined to sky, so as to lose
The effective information on many ground.The embodiment of the present invention obtains current driving information or traffic information in real time, then according to reality
When the driving information that obtains or traffic information adjustment laser radar field of view center orientation angle.
In specific implementation, the driving information can include：Up-hill journey, descent run, level land traveling, left-hand bend row
It sails, traveling of turning right.The traffic information can include：Upward slope road conditions, descending road conditions, level land road conditions.
It in specific implementation, can be based on the map downloaded in advance, for example, positioning and map structuring immediately
(Simultaneous Localization And Mapping, SLAM) obtains current traffic information in real time, can also be based on
The point cloud chart of the laser radar structure obtains current traffic information in real time, is also based on the data of vehicle-mounted camera shooting
Current traffic information is obtained in real time.
It in specific implementation, can be based on the sensor parameters inside automated driving system, such as steering wheel parameter, in real time
Current driving information is obtained, the embodiment of the present invention is not limited.
Step S102, based on acquired current driving information or traffic information, the angle of detection it is expected in generation.
In specific implementation, due to different travel directions or different traffic informations, corresponding different expectation is directed toward,
Therefore the angle for it is expected detection can be generated based on acquired current driving information or traffic information.
In specific implementation, the angle for it is expected detection can change along transverse field, can also be regarded along longitudinal direction
Field variation, the embodiment of the present invention are not limited.
It in an embodiment of the present invention, can be based on acquired current driving information or traffic information, with reference to vehicle
Center line (i.e. vehicle body center be directed toward vehicle traveling front center line) generation it is expected detection angle it is as follows：
It, will be with vehicle centre-line weight when the driving information is level land traveling or the traffic information is level land road conditions
The angle of conjunction is as the angle for it is expected detection, to obtain more ambient condition information；
It is when the driving information is up-hill journey or the traffic information is upward slope road conditions, vehicle centre-line is downward
The angle of preset first angle is deviated as the angle for it is expected detection, to obtain more ground environment information, avoids laser thunder
The problem of ground effective information is lost caused by pointing into the sky up to visual field；
It is when the driving information is descent run or the traffic information is descending road conditions, vehicle centre-line is upward
The angle of preset second angle is deviated as the angle for it is expected detection, to obtain more ambient condition information, avoids laser thunder
The problem of being only capable of obtaining the environmental information of closer distance up to visual field；
When the driving information to turn left when driving, the angle that vehicle centre-line is deviated to default third angle to the left is made
It is expected the angle of detection, to obtain more left side environmental information；
When the driving information to turn right when driving, the angle that vehicle centre-line is deviated to the right to default fourth angle is made
It is expected the angle of detection, to obtain more right side environmental information.
To be better understood from those skilled in the art and implementing the present invention, it is expected to visit an embodiment of the present invention provides a kind of
The schematic diagram of the angle of survey, as shown in Figure 2.
Referring to Fig. 2, the relation of the angle for it is expected detection and vehicle centre-line is as follows：
When for level land, when driving, the angle 212 for it is expected detection is overlapped with vehicle centre-line 211, more to obtain
Ambient condition information；
When for up-hill journey when, the angle 222 for it is expected detection is less than vehicle centre-line 221, to obtain more ground
Face environmental information；
When for descent run when, the angle 232 for it is expected detection is higher than vehicle centre-line 231, to obtain more week
Enclose environmental information.
Step S103 based on the angle of the expectation detection generated, adjusts the direction of the field of view center of the laser radar
Angle is the angle for it is expected detection.
In specific implementation, the laser thunder can be controlled by adjusting the parameter of the scanning means of the laser radar
Orientation angle up to the field of view center of system is the angle for it is expected detection.In an embodiment of the present invention, the scanning dress
It is set to：The laser pulse signal that the laser radar emits using 2-D vibration mirror is emitted to two-dimensional space, and connect by 2-D vibration mirror
Receive the laser pulse echo-signal that two-dimensional space reflects.
Using 2-D vibration mirror, the orientation angle of field of view center of laser radar is controlled it is expected the angle of detection, convenient for collection
Cheng Hua, the Project Realization for minimizing laser radar.
In another implementation of the present invention, the scanning means is：Two are mutually perpendicular to and are capable of the one-dimensional of Independent Vibration and shake
Mirror.By two one-dimensional galvanometers, longitudinal scanning of visual field and the scanning of transverse field are controlled respectively.The center of two vibration mirror scannings
Position is controlled respectively by two one-dimensional galvanometers, realizes the two dimension that laser radar field of view center is directed toward.
In specific implementation, when the scanning means is 2-D vibration mirror, the driving electricity of the 2-D vibration mirror can be adjusted
Pressure or driving current, the orientation angle for controlling the field of view center of the laser radar system are the angle for it is expected detection.
In specific implementation, when the scanning means is mutually perpendicular to for two and is capable of the one-dimensional galvanometer of Independent Vibration,
The driving voltage or driving current of two one-dimensional galvanometers can be adjusted, controls the field of view center of the laser radar system
Orientation angle is the angle for it is expected detection.
Using two one-dimensional galvanometers, have the advantages that control is simple, but the volume of system is larger.
To be better understood from those skilled in the art and implementing the present invention, an embodiment of the present invention provides a kind of scanning dresses
The structure diagram put, as shown in Figure 3.
Referring to Fig. 3, the scanning means is made of one-dimensional galvanometer 31 and one-dimensional galvanometer 32, wherein 31 He of one-dimensional galvanometer
The one-dimensional galvanometer 32 is mutually perpendicular to, and can independently be rotated.
In specific implementation, the laser pulse signal of laser radar transmitting first injects the one-dimensional galvanometer 31, then anti-again
The one-dimensional galvanometer 32 is incident upon, space is reflexed to by the one-dimensional galvanometer 32, and passes through one-dimensional 32 reception space of galvanometer
The laser pulse echo-signal fired back.Since the one-dimensional galvanometer 31 and 32 rotation direction of one-dimensional galvanometer are mutually hung down
Directly, it and can independently rotate, therefore 32 respective Independent Vibration of the one-dimensional galvanometer 31 and the one-dimensional galvanometer can be controlled, so as to control
The center of the center direction and longitudinal visual field of making the transverse field of the laser radar is directed toward, and realizes the field of view center of laser radar
The two dimension change of direction.
In specific implementation, the laser radar can also be placed in dimensional turntable, adjusts the parameter of the dimensional turntable,
Such as turn around parameters, the orientation angle for controlling the field of view center of the laser radar system are the angle for it is expected detection.
To be better understood from those skilled in the art and implementing the present invention, an embodiment of the present invention provides a kind of laser thunders
The schematic diagram of the field range reached, as shown in Figure 4.
Referring to Fig. 4, the detectable visual field of laser radar 40 is two dimensional surface 41, from the laser radar 40 to the two dimension
Angle between the central point 42 of plane 41 is the orientation angle of the field of view center of the laser radar 40.
Using said program, by obtaining current driving information or traffic information in real time, current row is then based on
It sails information or the angle of detection it is expected in traffic information generation, and adjust the orientation angle of the field of view center of laser radar it is expected
The angle of detection can be based on real-time driving information or traffic information, adjust the finger of the field of view center of laser radar in real time
To angle, the different scenes during being travelled with adaptation.
To be better understood from those skilled in the art and implementing the present invention, the embodiment of the present invention, which additionally provides, to be realized
The laser radar system for the method for adjustment that above-mentioned laser radar field of view center is directed toward, as shown in Figure 5.
Referring to Fig. 5, the laser radar system 50 can include：Acquiring unit 51, generation unit 52 and adjustment unit 53,
Wherein：
The acquiring unit 51, suitable for obtaining current travel direction or traffic information in real time.
The generation unit 52, suitable for based on acquired current driving information or traffic information, generation it is expected to visit
The angle of survey.
The adjustment unit 53 suitable for the angle based on the expectation detection generated, adjusts the visual field of the laser radar
The orientation angle at center is the angle for it is expected detection.
In an embodiment of the present invention, the adjustment unit 53, suitable for adjusting the ginseng of the scanning means of the laser radar
Number, the orientation angle for controlling the field of view center of the laser radar system are the angle for it is expected detection.
In specific implementation, the scanning means is：2-D vibration mirror or two are mutually perpendicular to and are capable of Independent Vibration
One-dimensional galvanometer.
In specific implementation, when the scanning means is 2-D vibration mirror, the adjustment unit 53, suitable for adjusting described two
The driving voltage or driving current of galvanometer are tieed up, the orientation angle for controlling the field of view center of the laser radar system is the expectation
The angle of detection；When the scanning means is mutually perpendicular to for two and is capable of the one-dimensional galvanometer of Independent Vibration, the adjustment is single
Member 53 suitable for adjusting the driving voltage or driving current of two one-dimensional galvanometers, controls the visual field of the laser radar system
The orientation angle at center is the angle for it is expected detection.
In an embodiment of the present invention, the laser radar system further includes：Dimensional turntable (not shown), the adjustment are single
Member 53, suitable for adjusting the parameter of the dimensional turntable, the orientation angle for controlling the field of view center of the laser radar system is institute
State the angle for it is expected detection.
In specific implementation, the acquiring unit 51, suitable for obtaining current road in real time by following at least one mode
Condition information：The data of map, the point cloud chart of laser radar structure and the camera shooting downloaded in advance.
In specific implementation, the generation unit 52 includes：First generation subelement (not shown), the second generation subelement
(not shown), the 3rd generation subelement (not shown), the 4th generation subelement (not shown), the 5th generation subelement (do not show
Go out), the 6th generation subelement (not shown) and the 7th generation subelement, wherein：
First generation subelement, suitable for working as, the driving information is level land traveling or the traffic information is level land road conditions
When, using the angle overlapped with vehicle centre-line as the angle for it is expected detection.
The second generation subelement, suitable for working as, the driving information is up-hill journey or the traffic information is upward slope
During road conditions, vehicle centre-line is offset downward into the angle of preset first angle as the angle for it is expected detection.
The 3rd generation subelement, suitable for working as, the driving information is descent run or the traffic information is descending
Road conditions constantly, using vehicle centre-line offset up the angle of preset second angle as the angle for it is expected detection.
The 4th generation subelement is to turn left when driving, by vehicle centre-line to the left suitable for working as the driving information
The angle of the default third angle of offset is as the angle for it is expected detection.
The 5th generation subelement is to turn right when driving, by vehicle centre-line to the right suitable for working as the driving information
The angle of the default fourth angle of offset is as the angle for it is expected detection.
In specific implementation, the workflow of the laser radar system 50 and principle may be referred to carry in above-described embodiment
Description in the method for confession, details are not described herein again.
The embodiment of the present invention provides a kind of computer readable storage medium, and computer readable storage medium is deposited to be non-volatile
Storage media or non-transitory storage media, are stored thereon with computer instruction, and the computer instruction performs any of the above-described when running
Step corresponding to kind the method, details are not described herein again.
The embodiment of the present invention provides a kind of laser radar system, including memory and processor, is stored on the memory
There is the computer instruction that can be run on the processor, the processor performs above-mentioned when running the computer instruction
A kind of step corresponding to the method, details are not described herein again.
One of ordinary skill in the art will appreciate that all or part of step in the various methods of above-described embodiment is can
Relevant hardware to be instructed to complete by program, which can be stored in a computer readable storage medium, storage
Medium can include：ROM, RAM, disk or CD etc..
Although present disclosure is as above, present invention is not limited to this.Any those skilled in the art are not departing from this
It in the spirit and scope of invention, can make various changes or modifications, therefore protection scope of the present invention should be with claim institute
Subject to the scope of restriction.
Claims (10)
1. a kind of method of adjustment that laser radar field of view center is directed toward, which is characterized in that including：
Current driving information or traffic information are obtained in real time；
Based on acquired current driving information or traffic information, the angle of detection it is expected in generation；
Based on the angle of the expectation detection generated, the orientation angle for adjusting the field of view center of the laser radar is the expectation
The angle of detection.
2. the method for adjustment that laser radar field of view center according to claim 1 is directed toward, which is characterized in that the adjustment institute
State the orientation angle of the field of view center of laser radar system includes for the angle for it is expected detection：
The parameter of the scanning means of the laser radar is adjusted, controls the orientation angle of the field of view center of the laser radar system
For the angle for it is expected detection.
3. the method for adjustment that laser radar field of view center according to claim 2 is directed toward, which is characterized in that the scanning dress
It is set to：2-D vibration mirror or two one-dimensional galvanometers for being mutually perpendicular to and being capable of Independent Vibration.
4. the method for adjustment that laser radar field of view center according to claim 3 is directed toward, which is characterized in that the adjustment institute
The parameter of the scanning means of laser radar is stated, the orientation angle for controlling the field of view center of the laser radar system is the expectation
The angle of detection includes：
When the scanning means is 2-D vibration mirror, the driving voltage or driving current of the 2-D vibration mirror are adjusted, described in control
The orientation angle of the field of view center of laser radar system is the angle for it is expected detection；
When the scanning means is mutually perpendicular to for two and when being capable of the one-dimensional galvanometer of Independent Vibration, adjusts two and described one-dimensional shake
The driving voltage of mirror, the orientation angle for controlling the field of view center of the laser radar system are the angle for it is expected detection.
5. the method for adjustment that laser radar field of view center according to claim 2 is directed toward, which is characterized in that the adjustment institute
The parameter of the scanning means of laser radar is stated, the orientation angle for controlling the field of view center of the laser radar system is the expectation
The angle of detection includes：
The laser radar is placed in dimensional turntable, adjusts the parameter of the dimensional turntable, controls the laser radar system
The orientation angle of field of view center is the angle for it is expected detection.
6. the method for adjustment that laser radar field of view center according to claim 1 is directed toward, which is characterized in that
The current traffic information of the real-time acquisition includes：
Current traffic information is obtained by following at least one mode in real time：Map, the laser radar structure downloaded in advance
The data for point cloud chart and the camera shooting built.
7. the method for adjustment that laser radar field of view center according to claim 1 is directed toward, which is characterized in that described to be based on institute
The current driving information or traffic information obtained, generation it is expected that the angle of detection includes：
When the driving information is level land traveling or the traffic information is level land road conditions, by what is overlapped with vehicle centre-line
Angle is as the angle for it is expected detection；
When the driving information is up-hill journey or the traffic information is upward slope road conditions, vehicle centre-line is offset downward
The angle of preset first angle is as the angle for it is expected detection；
When the driving information be descent run or the traffic information be descending road conditions constantly, vehicle centre-line is inclined upwards
The angle of preset second angle is moved as the angle for it is expected detection；
When the driving information for turn left when driving, vehicle centre-line is deviated to the angle of default third angle to the left as the phase
Hope the angle of detection；
When the driving information for turn right when driving, vehicle centre-line is deviated to the right to the angle of default fourth angle as the phase
Hope the angle of detection.
8. a kind of laser radar system, which is characterized in that including：
Acquiring unit, suitable for obtaining current travel direction or traffic information in real time；
Generation unit, suitable for based on acquired current driving information or traffic information, the angle of detection it is expected in generation；
Adjustment unit suitable for the angle based on the expectation detection generated, adjusts the direction of the field of view center of the laser radar
Angle is the angle for it is expected detection.
9. a kind of computer readable storage medium, is stored thereon with computer instruction, which is characterized in that the computer instruction fortune
During row any one of perform claim requirement 1 to 7 the step of method.
10. a kind of laser radar system, including memory and processor, being stored on the memory can be on the processor
The computer instruction of operation, which is characterized in that when the processor runs the computer instruction in perform claim requirement 1 to 7
The step of any one the method.
Priority Applications (9)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810046634.9A CN108072880A (en) | 2018-01-17 | 2018-01-17 | The method of adjustment of laser radar field of view center direction, medium, laser radar system |
| JP2020539238A JP2021510819A (en) | 2018-01-17 | 2018-04-09 | Exploration equipment and its parameter adjustment method |
| PCT/CN2018/082396 WO2019140792A1 (en) | 2018-01-17 | 2018-04-09 | Detection apparatus and parameter adjustment method thereof |
| EP23201182.5A EP4321898A3 (en) | 2018-01-17 | 2018-04-09 | Detection device and method for adjusting parameter thereof |
| KR1020207019298A KR20200104871A (en) | 2018-01-17 | 2018-04-09 | Detection device and its parameter adjustment method |
| EP18901411.1A EP3742200B1 (en) | 2018-01-17 | 2018-04-09 | Detection apparatus and parameter adjustment method thereof |
| US16/930,141 US11346926B2 (en) | 2018-01-17 | 2020-07-15 | Detection device and method for adjusting parameter thereof |
| US17/717,773 US20220236392A1 (en) | 2018-01-17 | 2022-04-11 | Detection device and method for adjusting parameter thereof |
| JP2023102741A JP2023112133A (en) | 2018-01-17 | 2023-06-22 | Probe facility and parameter adjustment method thereof |
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| CN109597093A (en) * | 2018-11-14 | 2019-04-09 | 深圳市速腾聚创科技有限公司 | The parameter regulation means and device of laser radar |
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| TWI786765B (en) * | 2021-08-11 | 2022-12-11 | 中華電信股份有限公司 | Radar and method for adaptively configuring radar parameters |
| CN118033598A (en) * | 2024-04-15 | 2024-05-14 | 深圳市速腾聚创科技有限公司 | Laser radar control method, laser radar control device and computer readable storage medium |
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