CN109597088B - Laser radar fusion system - Google Patents
Laser radar fusion system Download PDFInfo
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- CN109597088B CN109597088B CN201811358817.0A CN201811358817A CN109597088B CN 109597088 B CN109597088 B CN 109597088B CN 201811358817 A CN201811358817 A CN 201811358817A CN 109597088 B CN109597088 B CN 109597088B
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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
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
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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
- 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
- G01S7/497—Means for monitoring or calibrating
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Abstract
The invention relates to a laser radar fusion system. The system comprises: the system comprises a master machine laser radar and a plurality of slave machine laser radars; the host laser radar is used for outputting a first synchronization signal; and the slave laser radar is used for synchronous scanning according to the first synchronous signal. Because the master laser radar and the multiple slave laser radars in the system can synchronously scan the same target object, when one laser radar fails, other laser radars can still continuously scan the target object, and the reliability of ranging by using the laser radars is improved; in addition, the master laser radar and the multiple slave laser radars in the system can synchronously scan different target objects, so that the field range, the detection distance and the scanning density of laser radar scanning are increased, and the application scene of the laser radar is enlarged.
Description
Technical Field
The invention relates to the field of laser radars, in particular to a laser radar fusion system.
Background
With the development of the laser radar technology, the laser radar ranging has been widely applied in the fields of automatic driving, auxiliary driving, environmental perception and the like due to the excellent characteristics and strong adaptability to the external environment.
In the traditional laser radar range finding scheme that utilizes, adopt single laser radar, by laser radar's transmitter to target object transmission laser, on laser hits target object and can reflect some light waves to laser radar's receiver, according to information such as time and the amplitude power of the laser signal that target object reflection returned, can acquire information such as the distance between target object and the laser radar receiver.
However, the traditional single laser radar ranging has the problems of limited application scenes and low reliability.
Disclosure of Invention
Therefore, a laser radar fusion system is needed to be provided for solving the problems of limited application scenarios and low reliability of the traditional single laser radar ranging.
A lidar fusion system comprising: the system comprises a master machine laser radar and a plurality of slave machine laser radars;
the host laser radar is used for outputting a first synchronization signal;
and the slave laser radar is used for synchronous scanning according to the first synchronous signal.
In one embodiment, the master lidar is further configured to, when a failure of a first slave lidar is detected, control each second slave lidar to update a scanning range, so that the updated scanning range of each second slave lidar covers the scanning range of the first slave lidar; the second slave lidar is a slave lidar other than the first slave lidar.
In one embodiment, the master lidar is specifically configured to control each of the second slave lidar to update the scanning range from a different dimension; the dimensions include a horizontal dimension and/or a vertical dimension.
In one embodiment, the scanning ranges of the master lidar and each of the slave lidar cover a key scanning area.
In one embodiment, the configuration information corresponding to each lidar of the system is different.
In one embodiment, the configuration information includes a serial number, a geometric mounting position, a scanning range, a scanning angle, a detection range, and a transmission power.
In one embodiment, the serial number of the master lidar is smaller than the serial number of each of the slave lidar.
In one embodiment, the master lidar is specifically configured to generate the first synchronization signal in a logical or manner based on second synchronization signals output by all of the lidar in the system.
In one embodiment, when the lidar in the system is arranged in the horizontal direction, the smaller the distance between the lidar and the central point, the smaller the field range of the lidar in the horizontal direction, the larger the range.
In one embodiment, when the lidar in the system is arranged in the vertical direction, the larger the distance between the lidar and the ground, the smaller the field range of the lidar in the horizontal direction, the larger the range.
The laser radar fusion system comprises a host laser radar and a plurality of slave laser radars, wherein the host laser radar outputs a first synchronous signal, and the slave laser radars receive the first synchronous signal and perform synchronous scanning according to the first synchronous signal. Because the master laser radar and the multiple slave laser radars in the system can synchronously scan the same target object, when one laser radar fails, other laser radars can still continuously scan the target object, and the reliability of ranging by using the laser radars is improved; in addition, the master laser radar and the multiple slave laser radars in the system can synchronously scan different target objects, so that the field range, the detection distance and the scanning density of laser radar scanning are increased, and the application scene of the laser radar is enlarged.
Drawings
FIG. 1 is a schematic diagram of a lidar fusion system provided by an embodiment;
FIG. 2 is a schematic diagram of a lidar fusion system according to another embodiment;
FIG. 3 is a schematic diagram of a lidar fusion system according to another embodiment;
fig. 4 is a schematic diagram of a lidar fusion system according to another embodiment.
Description of reference numerals:
a laser radar fusion system 10; a host laser radar 100; a plurality of slave laser radars 200;
a first slave laser radar 201; each second slave lidar 202.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
According to the traditional ranging scheme utilizing the laser radar, a single laser radar is adopted to obtain information such as the distance between a target object and a laser radar receiver, but certain limitation exists in the aspects of a view field range, a detection distance, scanning density, reliability and the like of the single laser radar, so that the problems of limited application scene and low reliability existing in ranging utilizing the laser radar are caused. Therefore, the embodiment of the invention provides a laser radar ranging system, aiming at solving the technical problems in the prior art.
The following describes the technical solution of the present invention and how to solve the above technical problems with specific examples. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments. Embodiments of the present invention will be described below with reference to the accompanying drawings.
Fig. 1 is a schematic diagram of a lidar fusion system according to an embodiment. As shown in fig. 1, lidar fusion system 10 includes: a master lidar 100 and a plurality of slave lidar 200; the host laser radar 100 is configured to output a first synchronization signal; the slave laser radar 200 is configured to perform synchronous scanning according to the first synchronization signal.
Specifically, the master lidar 100 outputs a first synchronization signal at a fixed time, and the plurality of slave lidar 200 receives the first synchronization signal and synchronously scans the target object according to the first synchronization signal. The first synchronization signal is a pulse signal output by the host lidar 100 at a fixed time. Alternatively, host lidar 100 may output a synchronization signal every 30 seconds, or may output a synchronization signal every 60 seconds. Optionally, the master lidar 100 may be any one lidar in a lidar fusion system, and the plurality of slave lidar 200 are other lidar in the lidar fusion system except for the master lidar 100. For example, master lidar 100 may be the first lidar in the system and the other lidars may be multiple slave lidars 200. Optionally, the master lidar 100 and the multiple slave lidar 200 may perform synchronous scanning on the same target object according to the first synchronous signal, or may perform synchronous scanning on different target objects according to the first synchronous signal.
In the prior art, when a single laser radar is used for ranging a target object, the target object cannot be scanned if the laser radar fails, and the reliability is low; in addition, the single laser radar has the problems of limited field range and low scanning density when scanning the target object, and cannot perform accurate detection on the single laser radar of the long-distance target object, so that the application scene of the laser radar is limited.
In the embodiment, the laser radar fusion system comprises a host laser radar and a plurality of slave laser radars, the host laser radar outputs a first synchronization signal, the plurality of slave laser radars receive the first synchronization signal and synchronously scan a target object according to the first synchronization signal, and because the host laser radar and the plurality of slave laser radars in the system can synchronously scan the same target object at the same time, when a certain laser radar fails, other laser radars can still continuously scan the target object, so that the reliability of ranging by using the laser radars is improved; in addition, the master laser radar and the multiple slave laser radars in the system can synchronously scan different target objects, so that the field range, the detection distance and the scanning density of laser radar scanning are increased, and the application scene of the laser radar is enlarged.
Based on the embodiment shown in fig. 1, optionally, the host lidar 100 is specifically configured to generate the first synchronization signal according to the second synchronization signals output by all the lidars in the system in a logical or manner.
Specifically, in the lidar fusion system 10, all the lidar outputs a second synchronization signal, and the master lidar 100 generates a first synchronization signal for controlling the multiple slave lidar 200 to perform synchronous scanning in a logical or manner according to the second synchronization signal output by all the lidar in the system, that is, in the lidar fusion system 10, at most one lidar generates the first synchronization signal at a certain time.
In this embodiment, the master lidar in the lidar fusion system generates the first synchronization signal according to the second synchronization signals output by all the lidar in the system in a logical or manner, and at most only one lidar generates the first synchronization signal at a certain time, so that each slave lidar can perform synchronous scanning according to the first synchronization signal, each lidar in the system can be effectively controlled, and the reliability of lidar ranging is improved.
Fig. 2 is a schematic diagram of a lidar fusion system according to another embodiment. As shown in fig. 2, the master lidar 100 is further configured to, when a failure of the first slave lidar 201 is detected, control each second slave lidar 202 to update the scanning range, so that the updated scanning range of each second slave lidar 202 covers the scanning range of the first slave lidar 201; the second slave lidar 202 is a slave lidar other than the first slave lidar 201.
Specifically, in the lidar fusion system 10, each second slave lidar 202 may transmit a normal operating state signal to the master lidar 100, and when the first slave lidar 201 fails and the master lidar 100 cannot detect the state signal transmitted by the first slave lidar 201, it is determined that the first slave lidar 201 has failed, the master lidar 100 controls each second slave lidar 202 to update the configuration parameters, and controls each second slave lidar 202 to update the scanning range, so that the updated scanning range of each second slave lidar 202 covers the scanning range of the first slave lidar 201. Note that second slave lidar 202 is a slave lidar other than first slave lidar 201. Optionally, the failure of the first slave laser radar 201 may be that the first slave laser radar 201 cannot receive the first synchronization signal sent by the master laser radar 100, or that the first slave laser radar 201 cannot emit laser to the target object. Optionally, the fault detection of each lidar in the lidar fusion system 10 may be performed in a system of a higher layer of each lidar, and whether the operation of each lidar is normal or not is identified by detecting the state of each lidar and the point cloud data, and the configuration of each lidar is changed when the operation is abnormal.
In this embodiment, if the first slave laser radar in the laser radar fusion system fails and the master laser radar detects that the first slave laser radar fails, the master laser radar controls each second slave laser radar to update the scanning range, so that the updated scanning range of each second slave laser radar covers the scanning range of the first slave laser radar, the problem of inaccurate scanning range caused by the failure of the first slave laser radar is avoided, and the reliability of ranging by using the laser radar is improved.
Optionally, in the scenario of the failure of the first slave lidar 201, the master lidar 100 is specifically configured to control each of the second slave lidars 202 to update the scanning range from different dimensions; the dimensions include a horizontal dimension and/or a vertical dimension.
Specifically, when the first slave lidar 201 fails, the master lidar 100 controls each second slave lidar 202 to update the scanning range from different dimensions. Optionally, master lidar 100 may control each second slave lidar 202 to update the scanning range from both the horizontal dimension and the vertical dimension, or may control each second slave lidar 202 to update the scanning range from the horizontal dimension or the vertical dimension individually. In this embodiment, if the master lidar 100 controls each second slave lidar 202 to update the scanning range from the two dimensions of the horizontal dimension and the vertical dimension, the range of the second slave lidar 202 in the horizontal direction is increased while the field range of each second slave lidar 202 in the horizontal direction is enlarged; if the master lidar 100 controls each second slave lidar 202 to update the scanning range independently from the horizontal dimension, the field range of each second slave lidar 202 in the horizontal direction is enlarged; if master lidar 100 controls each second slave lidar 202 to update the scanning range separately from the vertical dimension, the ranging range of each second slave lidar 202 is increased.
In this embodiment, the master lidar controls each second slave lidar to update the scanning range from different dimensions, so that the application performance of the lidar fusion system in an actual scene can be better met, the application scene of a single lidar is enlarged, and the reliability of ranging by using the lidar is improved.
In a scenario where the laser radar fusion system 10 scans a plurality of scan-emphasized regions, the scan ranges of the master laser radar 100 and each of the slave laser radars 200 both cover the scan-emphasized regions.
It should be noted that in this embodiment, the scan-emphasized region may be an area of interest, or may be a specific area, or may be an area containing more information, or may be an area playing an important role, such as an area containing a signal light during automatic driving, an area containing a road sign, and the like.
Specifically, when the laser radar fusion system 10 scans some key scanning areas, the scanning ranges of the master laser radar 100 and the plurality of slave laser radars 200 all cover the key scanning areas, for example, when the laser radar fusion system 10 is used in the field of automatic driving, it is desired to acquire specific information of a vehicle ahead, the scanning ranges of the master laser radar 100 and the plurality of slave laser radars 200 can simultaneously cover the area where the vehicle ahead is located, and acquire information such as the position coordinates and speed of the vehicle and the distance between the vehicle and the laser radar system.
In this embodiment, when scanning a key scanning area, the scanning ranges of the master lidar and each of the slave radars cover the key scanning area, and the multiple lidar scans the key scanning area simultaneously, so that the scanning density of the key scanning area is increased, the spatial resolution of the lidar fusion system is improved, the application scenario of a single lidar is enlarged, and the reliability of ranging by using the lidar is improved.
In one embodiment, in order to ensure that the system can cover a large scanning range, the configuration information corresponding to each lidar of the system 10 is different, and includes a serial number, a geometric assembly position, a scanning range, a scanning angle, a detection range, and a transmission power.
Specifically, in the laser radar fusion system 10, each laser radar needs to be labeled, and each laser radar is configured with a different serial number; in addition, the configuration information such as the geometric assembly position, the scanning range, the scanning angle, the detection range, the transmission power, and the like corresponding to each lidar may be different, for example, in an application scenario in which the lidar fusion system 10 scans some key scanning areas, the geometric assembly position of each lidar may be set differently according to an actual scenario, each lidar may be set in the horizontal dimension independently at the same time, may also be set in the vertical dimension independently at the same time, or may be set in both the horizontal dimension and the vertical dimension at the same time; different scanning ranges, scanning angles, detection ranges, emission powers and the like can also be set, and the scanning density of the key scanning area is increased.
In this embodiment, each laser radar has its own serial number, which facilitates effective management of each radar in the laser radar fusion system; in addition, the geometric assembly position, the scanning range, the scanning angle, the detection range, the transmitting power and other configuration information of each laser radar are different, the scanning density of a scanning area and the spatial resolution of a laser radar fusion system are improved, the application scene of a single laser radar is enlarged, and the reliability of ranging by using the laser radar is improved.
In one embodiment, if the master lidar needs to be determined in the system, a certain selection rule needs to be set to determine the master lidar, and optionally, the serial number of the master lidar 100 is smaller than the serial number of each of the slave radars 200.
Specifically, in the lidar fusion system 10, the default number 1 of the lidar is the master lidar 100, the default number of the other lidars is the plurality of slave lidars 200, that is, the number 2,3,4 … … of the lidars is the plurality of slave lidars 200, the master lidar 100 generates a synchronization signal at regular time, the plurality of slave lidars 200 detects the synchronization signal at regular time and uses the synchronization signal to synchronize scanning of the slave lidar 100, when the master lidar 100 fails, actively does not generate the synchronization signal or cannot output the synchronization signal, the number 2 of the lidar in the system 10 does not detect the synchronization signal and then considers that the master lidar is abnormal, the number 2 of the lidar takes over the task of the "master" automatically to generate the synchronization signal, at this time, the number 2 of the lidar is the master lidar 100 and sends a control signal to the plurality of slave lidars 200, and controlling the plurality of slave laser radars to update configuration parameters including the scanning range, if the master laser radar with the serial number of 2 fails, taking over the task of the master laser radar by the laser radar with the serial number of 3, and when the master laser radar fails, sequentially taking over the task of the master laser radar by the plurality of slave laser radars 200 to become the master laser radar 100, namely, the serial number of the master laser radar 100 in the laser radar system 10 is smaller than that of the plurality of slave laser radars 200.
In this embodiment, the default laser radar with sequence number 1 in the laser radar system is the master laser radar, and other laser radars are slave laser radars, and when the master laser radar with sequence number 1 failed, the task that the laser radar with sequence number 2 replaces the master laser radar becomes the master laser radar, and so on, the normal scanning of the laser radar fusion system is ensured, and the reliability of using the laser radar to perform ranging is improved.
Fig. 3 is a schematic diagram of a lidar fusion system according to another embodiment, as shown in fig. 3, when the lidar in the system 10 is arranged in the horizontal direction, the smaller the distance between the lidar and the central point, the smaller the field range of the lidar in the horizontal direction, and the larger the range.
Specifically, in the lidar fusion system 10, when the respective lidar is arranged in the horizontal direction, the range of the field of view of the lidar located at the center point in the horizontal direction is small, but the range of the range finding is large, and therefore, the nearer the lidar is to the center point, the smaller the range of the field of view in the horizontal direction is, but the larger the range finding is. For example, in the laser radar fusion system 10, 5 laser radars are arranged in the horizontal direction in total, the distance between the laser radars is a fixed value set according to the user's needs, the laser radar with sequence number 3 is the laser radar located at the center point, the laser radars with sequence numbers 2 and 4 are close to the center point, the laser radars with sequence numbers 1 and 5 are far from the center point, the field ranges of the laser radars with sequence numbers 2 and 4 in the horizontal direction are smaller than the field ranges of the laser radars with sequence numbers 1 and 5 in the horizontal direction, but the ranging range is larger than the ranging range of the laser radars with sequence numbers 1 and 5.
In this embodiment, when each laser radar in the laser radar system is arranged in the horizontal direction, the laser radar closer to the center is smaller in the field of view range in the horizontal direction, but the range finding range is larger, so that the actual requirement can be met, the reliability of using the laser radar to measure the distance is improved, and the application scene of the laser radar is enlarged.
Fig. 4 is a schematic diagram of a lidar fusion system according to another embodiment, as shown in fig. 4, when the lidar in the system 10 is arranged in the vertical direction, the larger the distance between the lidar and the ground is, and the smaller the field range of the lidar in the horizontal direction is, the larger the range is.
Specifically, in the lidar fusion system 10, when the respective lidar is arranged in the vertical direction, the range of view of the lidar close to the ground in the horizontal direction is large, but the range of distance measurement is small, and therefore, the range of view of the lidar farther from the ground in the horizontal direction is smaller, but the range of distance measurement is larger. For example, in the laser radar fusion system 10, 3 laser radars are arranged in the vertical direction, the distance between the laser radars is a fixed value set according to the user's needs, the laser radar with the sequence number 3 is a laser radar located close to the ground, the laser radar with the sequence number 2 is close to the ground, the laser radar with the sequence number 1 is far from the ground, the field range of the laser radar with the sequence number 2 in the horizontal direction is smaller than the field range of the laser radar with the sequence number 3 in the horizontal direction, but the ranging range is larger than the ranging range of the laser radar with the sequence number 3.
In this embodiment, when the laser radars in the laser radar system are arranged in the vertical direction, the farther the laser radar is from the ground, the smaller the field range in the horizontal direction is, but the larger the range is, such a configuration more meets the actual requirement, the reliability of using the laser radar to perform ranging is improved, and the application scene of the laser radar is enlarged.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A lidar fusion system, the system comprising: the system comprises a master machine laser radar and a plurality of slave machine laser radars;
the host laser radar is used for outputting a first synchronization signal; the first synchronous signal is used for indicating the slave laser radar and the master laser radar to scan the same target object at the same time or indicating different target objects to be scanned synchronously;
the slave laser radar is used for synchronous scanning according to the first synchronous signal;
the master laser radar is further used for controlling each second slave laser radar to update the scanning range when the fault of the first slave laser radar is detected, so that the updated scanning range of each second slave laser radar covers the scanning range of the first slave laser radar; the second slave lidar is a slave lidar other than the first slave lidar; when the master laser radar cannot detect a state signal sent by a first slave laser radar, the first slave laser radar is considered to be in fault;
when the master laser radar is in fault, selecting a corresponding slave laser radar to become a new master laser radar according to the serial number of the laser radar; when the master laser radar fails, after a slave laser radar with a serial number behind the master laser radar in the system cannot detect a synchronous signal, automatically taking over the master task to become a new master laser radar; the serial number of the master laser radar is smaller than that of each slave laser radar; in the system, only one laser radar generates a first synchronous signal at most at one moment;
the master laser radar controls the second slave laser radar to update the scanning range from different dimensions so as to meet the application performance of the laser radar fusion system in different scenes; in one scene, the scanning ranges of the master laser radar and each slave laser radar cover a key scanning area; in another scenario, in order to increase the scanning range of the lidar fusion system, the configuration information corresponding to each lidar in the lidar fusion system is different.
2. The system of claim 1, wherein the dimensions comprise a horizontal dimension and/or a vertical dimension.
3. The system of claim 1, wherein the host lidar is configured to generate the first synchronization signal as a logical or based on second synchronization signals output by all of the lidar systems in the system.
4. The system of claim 1, wherein when the lidar in the system is arranged in a horizontal direction, the smaller the distance between the lidar and the center point, the smaller the field of view of the lidar in the horizontal direction, the larger the range of distance measurement.
5. The system of claim 1, wherein the range of the lidar in the horizontal direction is smaller and the range of the lidar is larger the distance between the lidar and the ground when the lidar in the system is arranged in the vertical direction.
6. The system of claim 1, wherein the host lidar outputs a synchronization signal every 30 seconds.
7. The system of claim 1, wherein the host lidar outputs a synchronization signal every 60 seconds.
8. The system of claim 1, wherein the first synchronization signal is a pulse signal timed out by the host lidar.
9. The system of claim 3, wherein the scan-focus area is an area containing a signal light when autonomous driving.
10. The system of claim 1, wherein the lidar fusion system is configured for use in the field of autonomous driving.
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| CN112558105A (en) * | 2019-09-26 | 2021-03-26 | 深圳市速腾聚创科技有限公司 | Laser radar system and control method of laser radar system |
| CN113030881A (en) * | 2019-12-09 | 2021-06-25 | 上海禾赛科技股份有限公司 | Point cloud rationality diagnosis method for laser radar, and vehicle including the same |
| WO2021088313A1 (en) * | 2019-11-07 | 2021-05-14 | 上海禾赛光电科技有限公司 | State detection device for laser radar, laser radar, and state detection method |
| CN113289793A (en) * | 2021-05-11 | 2021-08-24 | 山东华锐智能技术有限公司 | Real-time track extraction method suitable for automatic steel member spraying device |
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