CN108169729A - The method of adjustment of the visual field of laser radar, medium, laser radar system - Google Patents
The method of adjustment of the visual field of laser radar, medium, laser radar system Download PDFInfo
- Publication number
- CN108169729A CN108169729A CN201810046635.3A CN201810046635A CN108169729A CN 108169729 A CN108169729 A CN 108169729A CN 201810046635 A CN201810046635 A CN 201810046635A CN 108169729 A CN108169729 A CN 108169729A
- Authority
- CN
- China
- Prior art keywords
- visual field
- laser radar
- target area
- resolution
- adjustment
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
-
- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
Abstract
A kind of method of adjustment of the visual field of laser radar, medium, laser radar system, the method for adjustment of the visual field of the laser radar include：Current traffic information is obtained in real time；Based on acquired current traffic information, resolution requirements and visual field demand are determined, and target area is determined according to the resolution requirements and the visual field demand；It is described to determine that target area includes according to the resolution requirements and the visual field demand：When the resolution requirements are first resolution and the visual field demand is the first visual field, it is target area to determine the first range areas；When the resolution requirements are second resolution and the visual field demand is the second visual field, it is target area to determine the second range areas；The visual field for adjusting the laser radar is the target area.Using the above method, the visual field size of laser radar under the premise of not increasing cost and not influencing ranging, can be adjusted in real time, to be adapted to different resolution scenes.
Description
Technical field
The present embodiments relate to automatic Pilot field more particularly to a kind of method of adjustment of the visual field of laser radar, it is situated between
Matter, 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 quilt
It is widely used in the various fields such as automatic Pilot.With the development of unmanned technology, big visual field, high-resolution, remote ranging
As the following main developing direction of laser radar.
Since high-resolution can so that distribution of the laser in space is more intensive, the laser power threshold of eye-safe is reduced
Value, and then reduce the ranging of laser radar, therefore the high-resolution of laser radar and remote ranging are conflicting.Meanwhile for
The laser radar of similary pixel, since the visual field that becomes larger means the resolution ratio of reduction image, therefore in the case where cost is constant,
The big visual field and high-resolution of laser radar are also conflicting, i.e., visual field is bigger, and resolution ratio is lower, and visual field is smaller, are differentiated
Rate is higher.Existing laser radar, visual field size are fixed.Such as the rotary machine laser radar of Velodyne companies
HDL-64E is longitudinally N number of transceiver module pair, per a pair of visual field for being responsible for some angle of longitudinal direction, corresponding fixed visual field area
Domain.
For being used for the laser radar in automatic Pilot field, since its visual field size is fixed, therefore in some scenarios,
In order to improve the angular resolution of laser radar, it is merely able to increase the logarithm of transceiver module, so as to cause laser radar system
Volume, power consumption and cost improve.The threshold value of eye-safe can be additionally improved, reduces ranging.
Invention content
The technical issues of embodiment of the present invention solves is how under the premise of not increasing cost and not influencing ranging, in real time
The visual field size of laser radar is adjusted, to be adapted to different resolution scenes.
In order to solve the above technical problems, the embodiment of the present invention provides a kind of method of adjustment of the visual field of laser radar, it is described
Method includes：Current traffic information is obtained in real time；Based on acquired current traffic information, determine resolution requirements and regard
Field demand, and determine target area according to the resolution requirements and the visual field demand；It is described according to the resolution requirements
Determine that target area includes with the visual field demand：When the resolution requirements are first resolution and the visual field demand is
During one visual field, it is target area to determine the first range areas；When the resolution requirements are needed for second resolution and the visual field
When asking as the second visual field, it is target area to determine the second range areas；The first resolution is higher than the second resolution, institute
The first visual field is stated less than second visual field, first range areas is less than second range areas；Adjust the laser
The visual field of radar is the target area.
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 camera shooting downloaded in advance.
Optionally, the visual field of the adjustment laser radar includes for the target area：Adjust the laser radar
Scanning means parameter, control the laser radar system visual field be the target area.
Optionally, the scanning means is 2-D vibration mirror.
Optionally, the parameter of the scanning means of the adjustment laser radar, controls regarding for the laser radar system
Field includes for the target area：The driving voltage of the 2-D vibration mirror is adjusted, the visual field for controlling the laser radar is described
Target area.
Optionally, the visual field of the adjustment laser radar includes for the target area：Adjust the laser radar
Optical parameter, control the laser radar visual field be the target area.
Optionally, the optical parameter is：The focal length parameter of optical transmitting system and the focal length parameter of receiving optics.
The embodiment of the present invention provides a kind of laser radar system, including：Acquiring unit, suitable for obtaining current road conditions in real time
Information；Determination unit, suitable for based on acquired current traffic information, determining resolution requirements and visual field demand, and according to
The resolution requirements and the visual field demand determine target area；It is described according to the resolution requirements and the visual field demand
Determine that target area includes：When the resolution requirements are first resolution and the visual field demand is the first visual field, determine
First range areas is target area；When the resolution requirements are second resolution and the visual field demand is the second visual field
When, it is target area to determine the second range areas；The first resolution is higher than the second resolution, and first visual field is small
In second visual field, first range areas is less than second range areas；Adjustment unit, suitable for adjusting the laser
The visual field of radar is the target area.
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 camera shooting first downloaded.
Optionally, the adjustment unit suitable for adjusting the parameter of the scanning means of the laser radar, controls the laser
The visual field of radar system is the target area.
Optionally, the scanning means is 2-D vibration mirror.
Optionally, the adjustment unit suitable for adjusting the driving voltage of the 2-D vibration mirror, controls the laser radar
Visual field is the target area.
Optionally, the adjustment unit suitable for adjusting the optical parameter of the laser radar, controls the laser radar
Visual field is the target area.
Optionally, the optical parameter is：The focal length parameter of optical transmitting system and the focal length parameter of receiving optics.
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 being 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 acquired current road conditions letter by obtaining current traffic information in real time
Breath, determines target area, and the visual field for adjusting the laser radar is target area, can not increase cost and not influence to survey
Under the premise of journey, target area size is adjusted based on current traffic information in real time, so as to adjust the visual field of laser radar in real time
Size, to be adapted to different resolution scenes.
Description of the drawings
Fig. 1 is a kind of detail flowchart of the method for adjustment of the visual field of laser radar provided in an embodiment of the present invention；
Fig. 2 is a kind of schematic diagram of the visual field size of laser radar provided in an embodiment of the present invention；
Fig. 3 is a kind of schematic diagram of the point cloud data of laser radar provided in an embodiment of the present invention；
Fig. 4 is a kind of structure diagram of laser radar system provided in an embodiment of the present invention.
Specific embodiment
Existing laser radar, since its visual field size is fixed, therefore in some scenarios, in order to improve laser radar
Angular resolution, be merely able to increase transceiver module logarithm, carried so as to cause the volume, power consumption and cost of laser radar system
It is high.In addition, the logarithm for increasing transceiver module can also improve the laser power threshold of eye-safe, the ranging of laser radar is reduced.
The embodiment of the present invention is then based on acquired current road conditions letter by obtaining current traffic information in real time
Breath, determines target area, and the visual field for adjusting the laser radar is target area, can be real-time based on current traffic information
Target area size is adjusted, so as to adjust the visual field size of laser radar in real time, to be adapted to different resolution scenes.
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 a kind of method of adjustment of the visual field of laser radar, the method can wrap
Include following steps：
Step S101 obtains current traffic information in real time.
In specific implementation, due to the visual field of existing laser radar (Field of View, FOV) size be it is fixed,
In some scenarios, in order to improve the angular resolution of laser radar, it is merely able to increase the logarithm of transceiver module, so as to cause swashing
Volume, power consumption and the cost of optical detection and ranging system improve, therefore the present invention obtains current traffic information in real time, then according to acquisition
Traffic information adjusts the visual field size of laser radar in real time, to be adapted to the angular resolution demand of different scenes.
In specific implementation, the traffic information obtained in real time is all target informations for being detected, for example, described
Traffic information can be that front distant location has a doubtful vehicle target.
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.
Step S102 based on acquired current traffic information, determines resolution requirements and visual field demand, and according to institute
It states resolution requirements and the visual field demand determines target area；It is described true according to the resolution requirements and the visual field demand
The region that sets the goal includes：When the resolution requirements are first resolution and the visual field demand is the first visual field, is determined
One range areas is target area；When the resolution requirements are second resolution and the visual field demand is the second visual field,
It is target area to determine the second range areas；The first resolution is higher than the second resolution, and first visual field is less than
Second visual field, first range areas are less than second range areas.
In specific implementation, can resolution requirements and visual field demand be determined based on acquired current traffic information,
It is then based on resolution requirements and visual field demand determines target area.For example, when the traffic information has for front distant location
During one doubtful vehicle target, due to the relatively low None- identified target of resolution ratio, therefore current resolution requirements are first resolution, example
Such as high-resolution, the visual field demand is the first visual field, such as small field of view, can be by the doubtful vehicle mesh of front distant location
The first range areas around marking, such as small range region are determined as target area, so that the follow-up laser radar diminution regards
Field, which is concentrated, scans the target area, obtains more accurately information.
Step S103, the visual field for adjusting the laser radar are the target area.
In specific implementation, the visual field for adjusting the laser radar is the target area.Refer to the adjustment laser thunder
Up to the target area is directed toward, the target area is detected.
In specific implementation, the first range areas can be selected as target area, and adjust regarding for the laser radar
Field is the target area.For example, suspicious object point is found based on current traffic information, but due to limited resolution, nothing
Method obtains the integrity profile information of suspicious object point, therefore current resolution requirements are first resolution, such as high-resolution,
The visual field demand is the first visual field, such as compared with small field of view, can be such as small by the first range areas around suspicious object point
Range areas adjusts the laser radar and is directed toward the target area as target area, since visual field becomes smaller, thus it is described sharp
Optical radar can clearly distinguish the integrity profile information of suspicious object point.Based on complete profile information, unmanned system
The perception processing unit of system may determine that the type and other key messages of suspicious object by simple process, so as to carry
The reliability of high automatic Pilot.
In specific implementation, the second range areas, such as extensive area can also be selected as target area, and adjusted
The visual field of the laser radar is the target area.For example, it is found based on current traffic information without any suspicious object point
When, therefore current resolution requirements are second resolution, such as low resolution, the visual field demand are the second visual field, such as
Larger field, it may be considered that expand the field range of the laser radar, determine target area, and adjust the laser radar and refer to
To the target area, since visual field becomes larger, therefore the laser radar can carry out wide scope in all relevant regions to surrounding
Detection, to find suspicious object point.
In specific implementation, the laser thunder can be controlled by adjusting the parameter of the scanning means of the laser radar
Visual field up to system is the target area.
In an embodiment of the present invention, when the scanning means is 2-D vibration mirror, the driving of the 2-D vibration mirror is adjusted
Voltage, the visual field for controlling the laser radar are the target area.
In specific implementation, the laser thunder can also be controlled by adjusting the optical parameter of the laser radar is adjusted
Visual field up to system is the target area.
In an embodiment of the present invention, the optical parameter is the focal length parameter and receiving optics of optical transmitting system
Focal length parameter.
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 visual field size reached, as shown in Figure 2.
Referring to Fig. 2, based on the real-time point cloud chart of the laser radar 20, the traffic information of a wide range of visual field 21 is obtained；So
Afterwards based on the doubtful vehicle 22 in the traffic information obtained in real time, small range target area 23 is determined, and adjust the laser thunder
Visual field up to 20 is the small range target area 23, that is, adjusts the laser radar and be directed toward the small range target area 23.
Since visual field becomes smaller, therefore the laser radar 20 can clearly distinguish the integrity profile information of doubtful vehicle 22.
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 point cloud data reached, as shown in Figure 3.
Referring to Fig. 3, for the target vehicle in space, using the point cloud data that a wide range of field detection arrives, use is small for 31
The point cloud data that range field detection arrives is 32, it can be seen that the point cloud data 31 that a wide range of field detection arrives is seldom, and only two
Item, can not tell the profile information of target vehicle, and the perception processing unit of Unmanned Systems can not judge target vehicle
Specifying information；And after reducing visual field, small range visual field can detect more point cloud datas 32, can clearly distinguish mesh
The profile information of vehicle is marked, it is unpiloted to perceive the type and other keys that target vehicle is judged by simple process
Information.
Using said program, by obtaining current traffic information in real time, it is then based on acquired current road conditions letter
Breath, determines target area, and the visual field for adjusting the laser radar is target area, can not increase cost and not influence to survey
Under the premise of journey, target area size is adjusted based on current traffic information in real time, so as to adjust the visual field of laser radar in real time
Size, to be adapted to different resolution scenes.
To be better understood from those skilled in the art and implementing the present invention, the embodiment of the present invention additionally provides one kind can
Realize the laser radar system of the method for adjustment of the visual field of above-mentioned laser radar, as shown in Figure 4.
Referring to Fig. 4, the laser radar system 40 includes：Acquiring unit 41, determination unit 42 and adjustment unit 43,
In：
The acquiring unit 41, suitable for obtaining current traffic information in real time.
The determination unit 42, suitable for based on acquired current traffic information, determining that resolution requirements and visual field need
It asks, and target area is determined according to the resolution requirements and the visual field demand；It is described according to the resolution requirements and institute
It states visual field demand and determines that target area includes：When the resolution requirements are first resolution and the visual field demand is first to regard
During field, it is target area to determine the first range areas；When the resolution requirements are second resolution and the visual field demand is
During the second visual field, it is target area to determine the second range areas；The first resolution is higher than the second resolution, and described the
One visual field is less than second visual field, and first range areas is less than second range areas.
The adjustment unit 43 is the target area suitable for adjusting the visual field of the laser radar.
In specific implementation, the acquiring unit 41, 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 camera shooting downloaded in advance.
In specific implementation, the adjustment unit 43, suitable for adjusting the parameter of the scanning means of the laser radar, control
The visual field of the laser radar system is the target area.
In an embodiment of the present invention, the scanning means is 2-D vibration mirror.
In specific implementation, the adjustment unit 43 suitable for adjusting the driving voltage of the 2-D vibration mirror, controls described sharp
The visual field of optical radar is the target area.
In specific implementation, the adjustment unit 43 suitable for adjusting the optical parameter of the laser radar, controls described sharp
The visual field of optical radar is the target area.
In an embodiment of the present invention, the optical parameter is：The focal length parameter of optical transmitting system and reception optical system
The focal length parameter of system.
In specific implementation, the workflow of the laser radar system 40 and principle can refer to carries 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
It is completed with instructing relevant hardware 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 range of restriction.
Claims (10)
1. a kind of method of adjustment of the visual field of laser radar, which is characterized in that including：
Current traffic information is obtained in real time；
Based on acquired current traffic information, resolution requirements and visual field demand are determined, and according to the resolution requirements
Target area is determined with the visual field demand；It is described to determine that target area is wrapped according to the resolution requirements and the visual field demand
It includes：When the resolution requirements are first resolution and the visual field demand is the first visual field, determine that the first range areas is
Target area；When the resolution requirements are second resolution and the visual field demand is the second visual field, the second range is determined
Region is target area；The first resolution is higher than the second resolution, and first visual field is less than second visual field,
First range areas is less than second range areas；
The visual field for adjusting the laser radar is the target area.
2. the method for adjustment of the visual field of laser radar according to claim 1, which is characterized in that the real-time acquisition is current
Traffic information include：
Current traffic information is obtained by following at least one mode in real time：Map, the laser radar structure downloaded in advance
The data of point cloud chart and camera shooting built.
3. the method for adjustment of the visual field of laser radar according to claim 1, which is characterized in that the adjustment laser
The visual field of radar includes for the target area：
The parameter of the scanning means of the laser radar is adjusted, the visual field for controlling the laser radar system is the target area
Domain.
4. the method for adjustment of the visual field of laser radar according to claim 3, which is characterized in that the scanning means is two
Tie up galvanometer.
5. the method for adjustment of the visual field of laser radar according to claim 4, which is characterized in that the adjustment laser
The parameter of the scanning means of radar controls the visual field of the laser radar system to include for the target area：
The driving voltage of the 2-D vibration mirror is adjusted, the visual field for controlling the laser radar is the target area.
6. the method for adjustment of the visual field of laser radar according to claim 1, which is characterized in that the adjustment laser
The visual field of radar includes for the target area：
The optical parameter of the laser radar is adjusted, the visual field for controlling the laser radar is the target area.
7. the method for adjustment of the visual field of laser radar according to claim 6, which is characterized in that the optical parameter is：
The focal length parameter of optical transmitting system and the focal length parameter of receiving optics.
8. a kind of laser radar system, which is characterized in that including：
Acquiring unit, suitable for obtaining current traffic information in real time；
Determination unit, suitable for based on acquired current traffic information, determining resolution requirements and visual field demand, and according to institute
It states resolution requirements and the visual field demand determines target area；It is described true according to the resolution requirements and the visual field demand
The region that sets the goal includes：When the resolution requirements are first resolution and the visual field demand is the first visual field, is determined
One range areas is target area；When the resolution requirements are second resolution and the visual field demand is the second visual field,
It is target area to determine the second range areas；The first resolution is higher than the second resolution, and first visual field is less than
Second visual field, first range areas are less than second range areas；
Adjustment unit is the target area suitable for adjusting the visual field of the laser radar.
9. a kind of computer readable storage medium, is stored thereon with computer instruction, which is characterized in that the computer instruction fortune
Perform claim requires the step of any one of 1 to 7 the method during row.
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 |
|---|---|---|---|
| CN201810046635.3A CN108169729A (en) | 2018-01-17 | 2018-01-17 | The method of adjustment of the visual field of laser radar, medium, laser radar system |
| EP23201182.5A EP4321898A3 (en) | 2018-01-17 | 2018-04-09 | Detection device and method for adjusting parameter thereof |
| EP18901411.1A EP3742200B1 (en) | 2018-01-17 | 2018-04-09 | Detection apparatus and parameter adjustment method thereof |
| 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 |
| KR1020207019298A KR20200104871A (en) | 2018-01-17 | 2018-04-09 | Detection device and its parameter adjustment method |
| 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 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810046635.3A CN108169729A (en) | 2018-01-17 | 2018-01-17 | The method of adjustment of the visual field of laser radar, medium, laser radar system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108169729A true CN108169729A (en) | 2018-06-15 |
Family
ID=62514694
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810046635.3A Pending CN108169729A (en) | 2018-01-17 | 2018-01-17 | The method of adjustment of the visual field of laser radar, medium, laser radar system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108169729A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN110703223A (en) * | 2019-11-07 | 2020-01-17 | 上海禾赛光电科技有限公司 | Adjusting method applied to laser radar and electronic equipment |
| CN111830517A (en) * | 2019-04-17 | 2020-10-27 | 北京地平线机器人技术研发有限公司 | Method and device for adjusting scanning range of laser radar and electronic equipment |
| WO2021051736A1 (en) * | 2020-01-22 | 2021-03-25 | 深圳市速腾聚创科技有限公司 | Method and apparatus for determining sensing area, and storage medium and vehicle |
| CN113703003A (en) * | 2021-08-09 | 2021-11-26 | 北京一径科技有限公司 | Laser scanning control method and device and storage medium |
| 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 |
| WO2023141782A1 (en) * | 2022-01-25 | 2023-08-03 | 华为技术有限公司 | Laser radar and control method for laser radar |
| CN112789521B (en) * | 2020-01-22 | 2024-04-26 | 深圳市速腾聚创科技有限公司 | Method and device for determining perception area, storage medium and vehicle |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080272955A1 (en) * | 2007-05-04 | 2008-11-06 | Yonak Serdar H | Active radar system |
| CN106291509A (en) * | 2016-10-12 | 2017-01-04 | 北京万集科技股份有限公司 | Laser radar optical system |
-
2018
- 2018-01-17 CN CN201810046635.3A patent/CN108169729A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080272955A1 (en) * | 2007-05-04 | 2008-11-06 | Yonak Serdar H | Active radar system |
| CN106291509A (en) * | 2016-10-12 | 2017-01-04 | 北京万集科技股份有限公司 | Laser radar optical system |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN111830517A (en) * | 2019-04-17 | 2020-10-27 | 北京地平线机器人技术研发有限公司 | Method and device for adjusting scanning range of laser radar and electronic equipment |
| CN110703223A (en) * | 2019-11-07 | 2020-01-17 | 上海禾赛光电科技有限公司 | Adjusting method applied to laser radar and electronic equipment |
| WO2021051736A1 (en) * | 2020-01-22 | 2021-03-25 | 深圳市速腾聚创科技有限公司 | Method and apparatus for determining sensing area, and storage medium and vehicle |
| CN112789521A (en) * | 2020-01-22 | 2021-05-11 | 深圳市速腾聚创科技有限公司 | Method and device for determining perception area, storage medium and vehicle |
| CN112789521B (en) * | 2020-01-22 | 2024-04-26 | 深圳市速腾聚创科技有限公司 | Method and device for determining perception area, storage medium and vehicle |
| CN113703003A (en) * | 2021-08-09 | 2021-11-26 | 北京一径科技有限公司 | Laser scanning control method and device and storage medium |
| CN113703003B (en) * | 2021-08-09 | 2022-11-18 | 北京一径科技有限公司 | Laser scanning control method and device and storage medium |
| 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 |
| WO2023141782A1 (en) * | 2022-01-25 | 2023-08-03 | 华为技术有限公司 | Laser radar and control method for laser radar |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108169729A (en) | The method of adjustment of the visual field of laser radar, medium, laser radar system | |
| US11915502B2 (en) | Systems and methods for depth map sampling | |
| CN110458854B (en) | Road edge detection method and device | |
| KR102650541B1 (en) | Method and system for generating and using location reference data | |
| JP2021534481A (en) | Obstacle or ground recognition and flight control methods, devices, equipment and storage media | |
| KR102387774B1 (en) | Variable range and frame-rate radar operation for automated vehicles | |
| US11204610B2 (en) | Information processing apparatus, vehicle, and information processing method using correlation between attributes | |
| CN110782465B (en) | Ground segmentation method and device based on laser radar and storage medium | |
| US11544868B2 (en) | Object location coordinate determination | |
| US11150096B2 (en) | Method and device for the localization of a vehicle based on a degree of robustness of the localization | |
| CN110341621B (en) | Obstacle detection method and device | |
| CN115273039B (en) | Small obstacle detection method based on camera | |
| CN112106111A (en) | Calibration method, calibration equipment, movable platform and storage medium | |
| CN109840463A (en) | A kind of Lane detection method and apparatus | |
| JPWO2018180081A1 (en) | Degraded feature identifying apparatus, degraded feature identifying method, degraded feature identifying program, and computer-readable recording medium recording the degraded feature identifying program | |
| US20210364637A1 (en) | Object localization using machine learning | |
| CN110390252B (en) | Obstacle detection method and device based on prior map information and storage medium | |
| KR102003387B1 (en) | Method for detecting and locating traffic participants using bird's-eye view image, computer-readerble recording medium storing traffic participants detecting and locating program | |
| US11435191B2 (en) | Method and device for determining a highly precise position and for operating an automated vehicle | |
| KR20180097004A (en) | Method of position calculation between radar target lists and vision image ROI | |
| CN108416305B (en) | Pose estimation method and device for continuous road segmentation object and terminal | |
| JP2019132701A (en) | Map information creation method | |
| US20230276133A1 (en) | Exposure time control using map data | |
| US20240112363A1 (en) | Position estimation system, position estimation method, and program | |
| CN107885194B (en) | Unmanned exploration device and control method and system thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180615 |
|
| RJ01 | Rejection of invention patent application after publication |