CN108732588A - A kind of radar scanner, method and equipment - Google Patents
A kind of radar scanner, method and equipment Download PDFInfo
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- CN108732588A CN108732588A CN201710264547.6A CN201710264547A CN108732588A CN 108732588 A CN108732588 A CN 108732588A CN 201710264547 A CN201710264547 A CN 201710264547A CN 108732588 A CN108732588 A CN 108732588A
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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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- Computer Networks & Wireless Communication (AREA)
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- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
A kind of radar scanner of present invention offer, method and equipment, wherein radar scanner includes forward detection unit, backward probe unit, left-hand probe unit and dextrad probe unit；The forward detection unit is more than the detection range of the left-hand probe unit and the dextrad probe unit with the detection range of the backward probe unit.Radar scanner provided by the present invention reduces unnecessary data on the detection direction of left and right by the differentiation to detection range on different directions, is needed closer to practical drive, to further promote the safety and reliability of automatic driving vehicle.
Description
【Technical field】
The present invention relates to a kind of automatic Pilot technical field more particularly to radar scanner, method and equipment.
【Background technology】
Laser radar is the key equipment in automatic driving vehicle.Automated driving system in automatic driving vehicle is by swashing
Optical radar obtains surrounding enviroment data, according to the analysis to surrounding enviroment data, sends steering instructions to automatic driving vehicle, makes
Obtaining vehicle can automatically, safely travel.
In practical driving environment, due to drive demand, automatic driving vehicle detection range in the front-back direction needs enough
Far, so that it is guaranteed that vehicle has the enough reaction time when emergency occurs.Laser radar is quick using one 360 ° at present
The probe unit of rotation sweep, detection range in each direction is all identical, therefore in order to ensure practical driving needs,
Detection range on all directions must all meet the detection demand on front-rear direction, so as to cause due to long on left and right directions
Detection range the problem of bringing unnecessary data.
【Invention content】
In view of this, the present invention provides a kind of radar scanner, method and equipment, for reducing left and right detection side
Upward unnecessary data need closer to practical drive, further promote the safety and reliability of automatic driving vehicle.
Specific technical solution is as follows：
The present invention provides a kind of radar scanner, which includes forward detection unit, backward probe unit, left-hand
Probe unit and dextrad probe unit；The detection range of the forward detection unit and the backward probe unit is more than described
The detection range of left-hand probe unit and the dextrad probe unit.
According to one preferred embodiment of the present invention, each probe unit is scanned within the scope of respective preset detection angle,
The sum of wherein described preset detection angle range of each probe unit is 360 °.
According to one preferred embodiment of the present invention, the detection angle range of the left-hand probe unit and dextrad probe unit
It is determined by lane width, the detection angle range of forward detection unit and backward probe unit is from controlling the spy to probe unit
Measuring angle range determines.
According to one preferred embodiment of the present invention, the detection angle of the left-hand probe unit and the dextrad probe unit is
160 °, the detection angle of the forward detection unit and the backward probe unit is 20 °.
According to one preferred embodiment of the present invention, the detection range phase of the forward detection unit and the backward probe unit
Together, the left-hand probe unit is identical as the detection range of dextrad probe unit.
According to one preferred embodiment of the present invention, the detection range of the forward detection unit and the backward probe unit is
The detection range of 200m, the left-hand probe unit and the dextrad probe unit is 30m.
According to one preferred embodiment of the present invention, each probe unit carries out rotation sweep successively according to preset direction.
According to one preferred embodiment of the present invention, each probe unit carries out rotation sweep packet successively according to preset direction
It includes：After probe unit completes the scanning of corresponding preset detection angle range according to preset direction, triggering on preset direction with
Its adjacent next probe unit is scanned, and progress is recycled with this；Each probe unit completes corresponding preset detection
It is resetted after the scanning of angular range.
According to one preferred embodiment of the present invention, described device further includes：Data processing unit, for receiving each probe unit
The scan data for carrying probe unit mark of transmission identifies corresponding scanning sequency according to probe unit, will be received
Scan data is spliced.
The present invention also provides a kind of radar scanning method, the method includes：
Utilize the radar including forward detection unit, backward probe unit, left-hand probe unit and dextrad probe unit
Scanning means is scanned；The detection range of the wherein described forward detection unit and the backward probe unit is more than the left-hand
The detection range of probe unit and the dextrad probe unit.
According to one preferred embodiment of the present invention, each probe unit is scanned within the scope of respective preset detection angle,
The sum of wherein described preset detection angle range of each probe unit is 360 °.
According to one preferred embodiment of the present invention, the detection angle range of the left-hand probe unit and dextrad probe unit
It is determined by lane width, the detection angle range of forward detection unit and backward probe unit is from controlling the spy to probe unit
Measuring angle range determines.
According to one preferred embodiment of the present invention, the detection angle of the left-hand probe unit and the dextrad probe unit is
160 °, the detection angle of the forward detection unit and the backward probe unit is 20 °.
According to one preferred embodiment of the present invention, the detection range phase of the forward detection unit and the backward probe unit
Together, the left-hand probe unit is identical as the detection range of dextrad probe unit.
According to one preferred embodiment of the present invention, the detection range of the forward detection unit and the backward probe unit is
The detection range of 200m, the left-hand probe unit and the dextrad probe unit is 30m.
According to one preferred embodiment of the present invention, each probe unit carries out rotation sweep successively according to preset direction.
According to one preferred embodiment of the present invention, each probe unit carries out rotation sweep packet successively according to preset direction
It includes：After probe unit completes the scanning of corresponding preset detection angle range according to preset direction, triggering on preset direction with
Its adjacent next probe unit is scanned, and progress is recycled with this；Each probe unit completes corresponding preset detection
It is resetted after the scanning of angular range.
According to one preferred embodiment of the present invention, the method further includes：Each probe unit will carry probe unit mark
Scan data is sent to data processing unit；The data processing unit identifies corresponding scanning sequency according to probe unit, will
The scan data received is spliced.
Left and right is reduced by the differentiation to detection range on different directions using technical solution provided by the present invention
Unnecessary data on detection direction are needed closer to practical drive, further promoted the safety of automatic driving vehicle with can
By property.
【Description of the drawings】
Fig. 1 is the schematic diagram for the scanning means that one embodiment of the invention provides.
Fig. 2 is the calculating schematic diagram for the detection angle range that one embodiment of the invention provides.
Fig. 3 is the block diagram for the computer system/server that one embodiment of the invention provides.
【Specific implementation mode】
To make the objectives, technical solutions, and advantages of the present invention clearer, right in the following with reference to the drawings and specific embodiments
The present invention is described in detail.
The term used in embodiments of the present invention is the purpose only merely for description specific embodiment, is not intended to be limiting
The present invention.In the embodiment of the present invention and "an" of singulative used in the attached claims, " described " and "the"
It is also intended to including most forms, unless context clearly shows that other meanings.
It should be appreciated that term "and/or" used herein is only a kind of incidence relation of description affiliated partner, indicate
There may be three kinds of relationships, for example, A and/or B, can indicate：Individualism A, exists simultaneously A and B, individualism B these three
Situation.In addition, character "/" herein, it is a kind of relationship of "or" to typically represent forward-backward correlation object.
Depending on context, word as used in this " if " can be construed to " ... when " or " when ...
When " or " in response to determination " or " in response to detection ".Similarly, depend on context, phrase " if it is determined that " or " if detection
(condition or event of statement) " can be construed to " when determining " or " in response to determination " or " when the detection (condition of statement
Or event) when " or " in response to detection (condition or event of statement) ".
Laser radar obtains the environmental data of automatic Pilot vehicle-surroundings, therefore in a manner of 360 ° of rotation sweeps at present
Existing laser radar is all identical to detection range in each direction.But in the driving process of vehicle, in each direction
Required detection range is practical to be different.Under normal conditions, the detection range on front-rear direction needs remote enough, and right and left
Upward detection range disclosure satisfy that certain condition.Therefore, the scan mode of existing laser radar is to automatic driving vehicle
Bring many unnecessary data.The present invention provides a kind of radar scanner, method and equipment, for realizing difference
The differentiation of detection range on direction, reduces unnecessary data, to be needed closer to practical drive.
The present invention provides a kind of radar scanner, which is made of 4 independent probe units, including
Forward detection unit 1, dextrad probe unit 2, backward probe unit 3 and left-hand probe unit 4, wherein forward detection unit 1
It is more than the detection range of dextrad probe unit 2 and left-hand probe unit 4 with the detection range of backward probe unit 3.In the present invention
Radar scanner on the whole be a radar equipment, i.e., by the redesign to radar internal structure, make originally only 1
The radar of a probe unit (or detecting head) becomes the radar to be collectively constituted by 4 standalone probe units, and 4 detections are single
Member carries out the detection of different distance within the scope of respective preset detection angle.
In the present invention, each probe unit is detected within the scope of respective preset detection angle, and 4 detections are single
The sum of preset detection angle range of member is 360 °.Each respective detection angle range of probe unit can be as shown in fig. 1, figure
360 ° of investigative range shown in middle circle is made of four sections of camber lines, and each section of camber line respectively represents the corresponding search angle of each probe unit
Spend range.Wherein, the detection angle range of dextrad probe unit 2 and left-hand probe unit 4 is carried out true by practical lane width
It is fixed, and after determining detection angle range of the left and right to probe unit, since the sum of detection angle range is 360 °, then forward direction is visited
Surveying the detection angle range of unit 1 and backward probe unit 3 also can accordingly determine.
Specifically, when determining detection angle range of the left and right to probe unit according to lane width, computational methods are：Such as
Shown in Fig. 2, illustrated by taking left-hand probe unit as an example.The width of normal car lane is 3.5m~3.75m, the present invention at present
It is calculated with 3.75m, then the distance of the farthest boundary in current driving vehicle distances next door track is 5.25m, the second vehicle of distance
The distance of the farthest boundary in road is 8.75m, and the distance apart from the farthest boundary of third lane is 12.25m, then left and right is single to detection
The a diameter of 24.5m of detection of member.In order to there be safe distance, then left and right is set to 30m to the detection diameter of probe unit.And
Left-hand probe unit will not only detect front-left to but also also needing to detect left front direction, therefore by left-hand probe unit on a left side
The detection range of front direction is set as 30m.And then by distance (5.25m) of the driving vehicle apart from the farthest boundary in next door track with
Left-hand probe unit acquires the two in left front upward detection range (30m) form right angle triangle, according to anticosine formula
Between angle be about 80 °, it is determined that the detection angle of left and right directions probe unit is respectively 160 °, due to needing to carry out 360 °
Scanning, then the detection angle of front-rear direction probe unit is respectively 20 °.
It is understood that each preset detection angle of probe unit may range from other values, i.e. the present invention can
According to practical driving environment, the detection angle range of each probe unit is modified.If for example, the spy needed for left and right directions
When ranging is from increasing, then the detection angle range of left and right directions probe unit is increased, the search angle of front-rear direction probe unit
Degree range then accordingly reduces；If for another example when the detection range needed for left and right directions reduces, left and right directions is detected single
The detection angle range of member reduces, and the detection angle range of front-rear direction probe unit accordingly increases.
Preferably, the present invention makes forward detection unit 1 be used with backward probe unit 3 in order to which cost-effective, design is easy
Same type of probe unit, dextrad probe unit 2 use same type of probe unit with left-hand probe unit 4.Namely
It says, forward detection unit 1 and 1 detection range having the same of backward probe unit, dextrad probe unit 2 and left-hand probe unit
4 detection ranges having the same.It is understood that the present invention can be directed to institute in each direction according to drive demand
The actual detection distance needed chooses different types of probe unit in different directions, and the present invention is to this without limiting.
It optionally, can be by forward detection unit 1 and backward detection during a specific implementation of the present embodiment
The detection range of unit 3 is set as identical, detection range 200m, by the spy of dextrad probe unit 2 and left-hand probe unit 4
Ranging is from being set as identical, detection range 30m.Or set the detection range of forward detection unit 1 to 300m, after
It is set as 200m to the detection range of probe unit 3, the detection range of dextrad probe unit 2 is set as 20m, left-hand probe unit
4 detection range is set as 30m.The present invention is to the detection range of each probe unit without limiting.
In the present invention, each probe unit is rotated within the scope of respective detection angle successively according to preset direction
Scanning.Wherein, preset direction can be clockwise, or counterclockwise.But it should be recognized that each visit
It must be unified to survey direction of rotation of the unit when being scanned, it is not possible to be that some probe unit is revolved according to counter clockwise direction
Turn scanning when, and some probe unit according to be rotated clockwise scanning.
Optionally, during a specific implementation of the present embodiment, each probe unit can pass through mechanical scanning
Mode carries out rotation sweep, such as is scanned using the scan mode of 64 traditional line laser radars.Electromagnetism can also be passed through
The mode of scanning carries out rotation sweep, such as is scanned using the scan mode of solid-state laser radar.The present invention to this not into
Row limits.
And each probe unit is when carrying out rotation sweep successively according to preset direction, specially：Probe unit is according to pre-
After set direction completes the scanning within the scope of corresponding preset detection angle, triggering next spy adjacent thereto on preset direction
It surveys unit to scan within the scope of its preset detection angle, progress is recycled with this.For example, forward detection unit 1 is according to default side
To after completing 20 ° of scanning, triggering dextrad probe unit 2 is scanned, and dextrad probe unit 2 completes 160 ° according to preset direction
Scanning after, be scanned to probe unit 3 after triggering, after backward probe unit 3 completes 20 ° of scanning according to preset direction,
Triggering left-hand probe unit 4 is scanned, after left-hand probe unit 4 completes 160 ° of scanning according to preset direction, then before triggering
It is scanned to probe unit 1, is carried out again and again with this.
Mechanical system realization may be used in triggering between wherein above-mentioned probe unit, and electric signal mode can also be used real
It is existing, it can also be realized by the way of message or instruction, the present invention does not limit this.
In the present invention, each probe unit is answered after completing the scanning within the scope of respectively preset detection angle
Scanning initial position is returned to after the completion of bit manipulation, i.e. probe unit scanning.It is operated by the reset of probe unit, ensures each visit
It is unified always to survey the scanning direction of unit, avoids the occurrence of the data caused by the disunity of probe unit scanning direction
Distortion.
Further include data processing unit in radar scanner described in the invention.The data processing unit is used for
The scan data for carrying probe unit mark that each probe unit is sent is received, then identifies corresponding scanning according to probe unit
Sequentially, received scan data is spliced.In the present invention, the mode reality of software may be used in data processing unit
It is existing, such as by setting data processor, the scan data transmitted by each probe unit is spliced according to scanning sequency.
It can also be realized by the way of hardware, such as by integrated chip, by the scan data transmitted by each probe unit integrated
Spliced according to scanning sequency in chip.
For example, it if scan data transmitted by forward detection unit 1 is identified as 1, is swept transmitted by dextrad probe unit 2
That retouches data is identified as 2, and scan data transmitted by backward probe unit 3 is identified as 3, the transmitted scanning of left-hand probe unit 4
Data are identified as 4, then data processing unit, will be by the scanning number transmitted by probe unit according to 1,2,3,4 scanning sequency
According to being spliced, to obtain the environmental data of 360 ° of vehicle-surroundings.
The present invention also provides a kind of radar scanning method, which is：Using including forward detection unit, backward spy
The radar scanner for surveying unit, left-hand probe unit and dextrad probe unit is scanned；Wherein forward detection unit with
The detection range of backward probe unit is more than the detection range of left-hand probe unit and dextrad probe unit.
In the present invention, each probe unit is scanned within the scope of respective preset detection angle, and respectively detection is single
The sum of preset detection angle range of member is 360 °.Wherein, the detection angle model of left-hand probe unit and dextrad probe unit
It encloses and is determined by lane width, the detection angle range of forward detection unit and backward probe unit is from controlling to probe unit
Detection angle range determines.
Preferably, in the present invention, according to the developed width in current motor vehicle track, the search angle of each probe unit is determined
Spend range.Wherein, according to the lane width of 3.75m calculate and learn, the detection of left-hand probe unit and dextrad probe unit
Angle is 160 °, then the detection angle of forward detection unit and backward probe unit is 20 °.It is understood that each detection
The preset detection angle of unit may range from other values, i.e. the present invention can be single to each detection according to practical driving environment
The detection angle range of member is modified.For example, when if the detection range needed for left and right directions increases, left and right directions is detected
The detection angle range of unit increases, and the detection angle range of front-rear direction probe unit then accordingly reduces；If for another example
When detection range needed for left and right directions reduces, then the detection angle range of left and right directions probe unit is reduced, front-rear direction
The detection angle range of probe unit accordingly increases.
Optionally, can be that forward detection unit and backward detection are single during a specific implementation of the present embodiment
The detection range of member is identical, and left-hand probe unit is identical as the detection range of dextrad probe unit.For example, forward detection unit 1
And the detection range of backward probe unit 3 is 200m, the detection range of dextrad probe unit 2 and left-hand probe unit 4 is
30m.Or the detection range of each probe unit is set as different.For example, the detection range setting of forward detection unit 1
Detection range for 300m, backward probe unit 3 is set as 200m, and the detection range of dextrad probe unit 2 is set as 20m, left
It is set as 30m to the detection range of probe unit 4.In order to which cost-effective, design is easy, the preferred forward detection unit of the present invention with
Backward probe unit detection range having the same, left-hand probe unit and dextrad probe unit detection range having the same.
In the present invention, each probe unit carries out rotation sweep successively according to preset direction.Specifically, probe unit according to
After preset direction completes the scanning of corresponding preset detection angle range, triggering next spy adjacent thereto on preset direction
Unit is surveyed to be scanned, then after scanning of the probe unit according to the corresponding preset detection angle range of preset direction completion,
Next probe unit adjacent thereto on preset direction is triggered again to be scanned, and progress is recycled with this.For example, forward detection list
After member 1 completes 20 ° of scanning according to preset direction, triggering dextrad probe unit 2 is scanned, and dextrad probe unit 2 is according to pre-
After set direction completes 160 ° of scanning, it is scanned to probe unit 3 after triggering, backward probe unit 3 is complete according to preset direction
After 20 ° of scannings, triggering left-hand probe unit 4 is scanned, and left-hand probe unit 4 is completed 160 ° according to preset direction and swept
It after retouching, then triggers forward detection unit 1 and is scanned, carried out again and again with this.Wherein, preset direction can be clockwise
Direction, or counterclockwise.
Also, each probe unit is resetted after the scanning for completing preset detection angle range, i.e. probe unit
Scanning initial position is returned to after the completion of scanning, to ensure that the scanning direction of each probe unit is always unified, is avoided out
The now data distortion caused by the disunity of probe unit scanning direction.
In the present invention, each probe unit is completed after the scanning of preset detection angle range, can will carry detection
The scan data of unit marks is sent to data processing unit, and data processing unit is suitable according to the corresponding scanning of probe unit mark
Sequence splices received scan data, to form 360 ° of periphery, on different directions different detection ranges environment
Data.
Fig. 3 shows the frame of the exemplary computer system/server 012 suitable for being used for realizing embodiment of the present invention
Figure.The computer system/server 012 that Fig. 3 is shown is only an example, function that should not be to the embodiment of the present invention and use
Range band carrys out any restrictions.
As shown in figure 3, computer system/server 012 is showed in the form of universal computing device.Computer system/clothes
The component of business device 012 can include but is not limited to：One or more processor or processing unit 016, system storage
028, the bus 018 of connection different system component (including system storage 028 and processing unit 016).
Bus 018 indicates one or more in a few class bus structures, including memory bus or Memory Controller,
Peripheral bus, graphics acceleration port, processor or the local bus using the arbitrary bus structures in a variety of bus structures.It lifts
For example, these architectures include but not limited to industry standard architecture (ISA) bus, microchannel architecture (MAC)
Bus, enhanced isa bus, Video Electronics Standards Association (VESA) local bus and peripheral component interconnection (PCI) bus.
Computer system/server 012 typically comprises a variety of computer system readable media.These media can be appointed
The usable medium what can be accessed by computer system/server 012, including volatile and non-volatile media, movably
With immovable medium.
System storage 028 may include the computer system readable media of form of volatile memory, such as deposit at random
Access to memory (RAM) 030 and/or cache memory 032.Computer system/server 012 may further include other
Removable/nonremovable, volatile/non-volatile computer system storage medium.Only as an example, storage system 034 can
For reading and writing immovable, non-volatile magnetic media (Fig. 3 do not show, commonly referred to as " hard disk drive ").Although in Fig. 3
It is not shown, can provide for the disc driver to moving non-volatile magnetic disk (such as " floppy disk ") read-write, and pair can
The CD drive that mobile anonvolatile optical disk (such as CD-ROM, DVD-ROM or other optical mediums) is read and write.In these situations
Under, each driver can be connected by one or more data media interfaces with bus 018.Memory 028 may include
There is one group of (for example, at least one) program module, these program modules to be configured at least one program product, the program product
To execute the function of various embodiments of the present invention.
Program/utility 040 with one group of (at least one) program module 042, can be stored in such as memory
In 028, such program module 042 includes --- but being not limited to --- operating system, one or more application program, other
Program module and program data may include the realization of network environment in each or certain combination in these examples.Journey
Sequence module 042 usually executes function and/or method in embodiment described in the invention.
Computer system/server 012 can also with one or more external equipments 014 (such as keyboard, sensing equipment,
Display 024 etc.) communication, in the present invention, computer system/server 012 is communicated with outside radar equipment, can also be with
One or more enable a user to the equipment interacted with the computer system/server 012 communication, and/or with make the meter
Any equipment that calculation machine systems/servers 012 can be communicated with one or more of the other computing device (such as network interface card, modulation
Demodulator etc.) communication.This communication can be carried out by input/output (I/O) interface 022.Also, computer system/clothes
Being engaged in device 012 can also be by network adapter 020 and one or more network (such as LAN (LAN), wide area network (WAN)
And/or public network, such as internet) communication.As shown, network adapter 020 by bus 018 and computer system/
Other modules of server 012 communicate.It should be understood that although not shown in the drawings, computer system/server 012 can be combined
Using other hardware and/or software module, including but not limited to：Microcode, device driver, redundant processing unit, external magnetic
Dish driving array, RAID system, tape drive and data backup storage system etc..
Processing unit 016 is stored in program in system storage 028 by operation, to perform various functions using with
And data processing, such as a kind of processing method of scan data, may include：
The scan data for carrying probe unit mark that each probe unit is sent is received, is identified according to probe unit corresponding
Scanning sequency splices received scan data.
Above-mentioned computer program can be set in computer storage media, i.e., the computer storage media is encoded with
Computer program, the program by one or more computers when being executed so that one or more computers execute in the present invention
State method flow shown in embodiment and/or device operation.For example, the method stream executed by said one or multiple processors
Journey may include：
The scan data for carrying probe unit mark that each probe unit is sent is received, is identified according to probe unit corresponding
Scanning sequency splices received scan data.
It reduces left and right by the differentiation to detection range on different directions using technical solution provided by the invention and visits
Survey unnecessary data on direction, needed closer to practical drive, to further promoted the safety of automatic driving vehicle with
Reliability.
In several embodiments provided by the present invention, it should be understood that disclosed system, device and method can be with
It realizes by another way.For example, the apparatus embodiments described above are merely exemplary, for example, the unit
It divides, only a kind of division of logic function, formula that in actual implementation, there may be another division manner.
The unit illustrated as separating component may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, you can be located at a place, or may be distributed over multiple
In network element.Some or all of unit therein can be selected according to the actual needs to realize the mesh of this embodiment scheme
's.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, it can also
It is that each unit physically exists alone, it can also be during two or more units be integrated in one unit.Above-mentioned integrated list
The form that hardware had both may be used in member is realized, can also be realized in the form of hardware adds SFU software functional unit.
The above-mentioned integrated unit being realized in the form of SFU software functional unit can be stored in one and computer-readable deposit
In storage media.Above-mentioned SFU software functional unit is stored in a storage medium, including some instructions are used so that a computer
It is each that equipment (can be personal computer, server or the network equipment etc.) or processor (processor) execute the present invention
The part steps of embodiment the method.And storage medium above-mentioned includes：USB flash disk, mobile hard disk, read-only memory (Read-
Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disc or CD etc. it is various
The medium of program code can be stored.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
With within principle, any modification, equivalent substitution, improvement and etc. done should be included within the scope of protection of the invention god.
Claims (19)
1. a kind of radar scanner, which is characterized in that described device includes forward detection unit, backward probe unit, left-hand
Probe unit and dextrad probe unit；
The detection range of the forward detection unit and the backward probe unit is more than the left-hand probe unit and the right side
To the detection range of probe unit.
2. the apparatus according to claim 1, which is characterized in that each probe unit is within the scope of respective preset detection angle
It is scanned, wherein the sum of preset detection angle range of each probe unit is 360 °.
3. the apparatus according to claim 1, which is characterized in that the spy of the left-hand probe unit and dextrad probe unit
Measuring angle range is determined that the detection angle range of forward detection unit and backward probe unit is from controlling to spy by lane width
The detection angle range for surveying unit determines.
4. the apparatus of claim 2, which is characterized in that the left-hand probe unit and the dextrad probe unit
Detection angle is 160 °, and the detection angle of the forward detection unit and the backward probe unit is 20 °.
5. the apparatus according to claim 1, which is characterized in that the forward detection unit and the backward probe unit
Detection range is identical, and the left-hand probe unit is identical as the detection range of dextrad probe unit.
6. device according to claim 5, which is characterized in that the forward detection unit and the backward probe unit
Detection range is 200m, and the detection range of the left-hand probe unit and the dextrad probe unit is 30m.
7. the apparatus of claim 2, which is characterized in that each probe unit is rotated successively according to preset direction
Scanning.
8. device according to claim 7, which is characterized in that each probe unit carries out successively according to preset direction
Rotation sweep includes：
After probe unit completes the scanning of corresponding preset detection angle range according to preset direction, triggering on preset direction with
Its adjacent next probe unit is scanned, and progress is recycled with this；
Each probe unit is resetted after the scanning for completing corresponding preset detection angle range.
9. the apparatus according to claim 1, which is characterized in that the device further includes：
Data processing unit, the scan data for carrying probe unit mark sent for receiving each probe unit, according to detection
The corresponding scanning sequency of unit marks, received scan data is spliced.
10. a kind of radar scanning method, which is characterized in that this method includes：
Utilize the radar scanning including forward detection unit, backward probe unit, left-hand probe unit and dextrad probe unit
Device is scanned；
The detection range of the wherein described forward detection unit and the backward probe unit is more than the left-hand probe unit and institute
State the detection range of dextrad probe unit.
11. according to the method described in claim 10, it is characterized in that, each probe unit is in respective preset detection angle range
It is inside scanned, wherein the sum of preset detection angle range of each probe unit is 360 °.
12. according to the method described in claim 10, it is characterized in that, the left-hand probe unit and dextrad probe unit
Detection angle range determines by lane width, the detection angle range of forward detection unit and backward probe unit from left and right to
The detection angle range of probe unit determines.
13. according to the method for claim 11, which is characterized in that the left-hand probe unit and the dextrad probe unit
Detection angle be 160 °, the detection angle of the forward detection unit and the backward probe unit is 20 °.
14. according to the method described in claim 10, it is characterized in that, the forward detection unit and the backward probe unit
Detection range it is identical, the left-hand probe unit is identical as the detection range of dextrad probe unit.
15. according to the method for claim 14, which is characterized in that the forward detection unit and the backward probe unit
Detection range be 200m, the detection range of the left-hand probe unit and the dextrad probe unit is 30m.
16. according to the method for claim 11, which is characterized in that each probe unit is revolved successively according to preset direction
Turn scanning.
17. according to the method for claim 16, which is characterized in that each probe unit according to preset direction successively into
Row rotation sweep includes：
After probe unit completes the scanning of corresponding preset detection angle range according to preset direction, triggering on preset direction with
Its adjacent next probe unit is scanned, and progress is recycled with this；
Each probe unit is resetted after the scanning for completing corresponding preset detection angle range.
18. according to the method described in claim 10, it is characterized in that, this method further includes：
The scan data for carrying probe unit mark is sent to data processing unit by each probe unit；
The data processing unit identifies corresponding scanning sequency according to probe unit, and the scan data received is spelled
It connects.
19. a kind of equipment, which is characterized in that the equipment includes：
One or more processors；
Storage device, for storing one or more programs；
Radar scanner as described in any claim of claim 1 to 8；
When one or more of programs are executed by one or more of processors so that one or more of processors are held
Row：
The scan data for carrying probe unit mark that each probe unit is sent is received, corresponding scanning is identified according to probe unit
Sequentially, received scan data is spliced.
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