CN109709575A - Laser radar sensory perceptual system and laser radar sensory perceptual system detection method - Google Patents
Laser radar sensory perceptual system and laser radar sensory perceptual system detection method Download PDFInfo
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- 238000000034 method Methods 0.000 claims description 19
- 230000004927 fusion Effects 0.000 claims description 18
- 238000013507 mapping Methods 0.000 claims description 6
- 230000001360 synchronised effect Effects 0.000 claims description 5
- 230000000694 effects Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 210000000056 organ Anatomy 0.000 description 1
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Abstract
It includes: a central laser radar, the detection for medium and long distance visual field that a kind of laser radar sensory perceptual system and laser radar sensory perceptual system detection method, the laser radar sensory perceptual system are disclosed in the embodiment of the present invention；Two are mended blind laser radar, are detected for short distance field detection and left and right fields of vision.The present invention can detect remote visual field, short distance visual field and left and right visual field, avoid visual field blind area, improve the accuracy of detection.
Description
Technical field
The present invention relates to detection field, in particular to a kind of laser radar sensory perceptual system and laser radar system detection side
Method.
Background technique
Laser radar is to detect the radar system of the characteristic quantities such as the position of target, speed, work to emit laser beam
It is first to objective emission exploring laser light light beam, then by the reflected signal of slave target received and transmitting signal as principle
It is compared, after making proper treatment, so that it may obtain target for information about, such as target range, orientation, height, speed, appearance
The parameters such as state, even shape.
On pilotless automobile or the means of transport for needing to drive auxiliary, the laser radar of usually used 32 lines, due to
The detection viewing field of single laser radar is limited, and can not be detected simultaneously closely and medium and long distance, so driving at nobody
The arranged on left and right sides for sailing automobile forms certain blind area；In addition, the harness of central laser radar is insufficient, leak detection is still suffered from
The case where occur.
To solve the problems, such as blind zone problem and detection accuracy, there are two types of scheme, first is that the harness for increasing laser radar be 64 or
128, the detection accuracy of the program is improved largely, but still can not solve blind zone problem, and cost is high.
It not only can solve blind zone problem still without one kind in the prior art, but also the scheme of detection accuracy can be improved.
Summary of the invention
A kind of laser radar sensory perceptual system and laser radar sensory perceptual system detection method, energy are provided in the embodiment of the present invention
Remote visual field, short distance visual field and left and right visual field are detected, visual field blind area is avoided, improves the accurate of detection
Property, it can be with save the cost.
In order to solve the above-mentioned technical problem, the embodiment of the invention discloses following technical solutions:
On the one hand, a kind of laser radar sensory perceptual system is provided, the system comprises:
One central laser radar, the detection for medium and long distance visual field；
Two are mended blind laser radar, are detected for short distance field detection and left and right fields of vision.
Optionally, the central axes of the central laser radar are perpendicular to horizontal plane；
Wherein, the central axes of the central laser radar are the bottom surface method by the bottom center of the central laser radar
Line.
Optionally, described two blind laser radars of benefit mended in blind laser radar are located at the central laser radar
Left side, the central axes of the blind laser radar of benefit on the left of central laser radar and the central axes of the central laser radar
Between angle degree be less than zero degree；
Another described two mended in blind laser radar mend the right side that blind laser radar is located at the central laser radar,
Between the central axes of the blind laser radar of benefit and the central axes of the central laser radar on the right side of central laser radar
Angle be greater than zero degree；
Wherein, the central axes for mending blind laser radar are the bottom surface method by the bottom center for mending blind laser radar
Line.
Optionally, the center for mending blind laser radar and the center of the central laser radar be not in same level
On.
Optionally, the system also includes:
More radar synchronization units, when for making the central laser radar and mend blind laser radar acquisition data in time
It is synchronous；
Integrated unit is demarcated, for demarcating the central laser radar and mending the opposite position of blind laser radar spatially
It sets, merges the point cloud data detected spatially to obtain fusion point cloud data；
Mapping unit, for according to the fusion point cloud data map making；
Positioning unit, for positioning position of the present laser radar system in the map in real time.
Sension unit, the fusion point cloud data for being obtained according to the calibration integrated unit identify object.
Second aspect provides a kind of detection method of laser radar sensory perceptual system, which comprises
The detection of one central laser radar medium and long distance visual field；
Two are mended blind laser radar short distance field detection and left and right fields of vision detection.
Optionally, the central axes of the central laser radar are perpendicular to horizontal plane；
Wherein, the central axes of the central laser radar are the bottom surface method by the bottom center of the central laser radar
Line.
Optionally, described two blind laser radars of benefit mended in blind laser radar are located at the central laser radar
Left side, the central axes of the blind laser radar of benefit on the left of central laser radar and the central axes of the central laser radar
Between angle degree be less than zero degree；
Another described two mended in blind laser radar mend the right side that blind laser radar is located at the central laser radar,
Between the central axes of the blind laser radar of benefit and the central axes of the central laser radar on the right side of central laser radar
Angle be greater than zero degree；
Wherein, the central axes for mending blind laser radar are the bottom surface method by the bottom center for mending blind laser radar
Line.
Optionally, the center for mending blind laser radar and the center of the central laser radar be not in same level
On.
Optionally, the system also includes:
More radar synchronization units keep the central laser radar synchronous in time with when mending blind laser radar acquisition data；
Calibration integrated unit demarcates the central laser radar and mends the relative position of blind laser radar spatially, makes to examine
The point cloud data measured is spatially merged to obtain fusion point cloud data；
Mapping unit is according to the fusion point cloud data map making；
Positioning unit positions position of the present laser radar system in the map in real time.
Sension unit identifies object according to the fusion point cloud data that the calibration integrated unit obtains.
A kind of laser radar sensory perceptual system is disclosed in the embodiment of the present invention, the system comprises: the laser radar
Sensory perceptual system includes: a central laser radar, the detection for medium and long distance visual field；Two are mended blind laser radar, for close
It is detected apart from field detection and left and right fields of vision.The system of the embodiment of the present invention can simultaneously to remote visual field, short distance visual field with
And left and right visual field is detected, and visual field blind area is avoided, and improves the accuracy of detection and the functional safety of automated driving system
Property.
Detailed description of the invention
It in order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the invention
Example, for those of ordinary skill in the art, without creative efforts, can also obtain according to these attached drawings
Obtain other attached drawings.
Fig. 1 show the laser radar sensory perceptual system of the embodiment of the present invention；
Fig. 2 show the main view of the field range of the laser radar sensory perceptual system of the embodiment of the present invention；
Fig. 3 show the top view of the field range of the laser radar sensory perceptual system of the embodiment of the present invention.
Specific embodiment
Following examples of the present invention provide a kind of laser radar sensory perceptual system and laser radar sensory perceptual system detection method,
Medium and long distance visual field, short distance visual field and left and right visual field can be detected, avoid visual field blind area, improve detection
Accuracy.
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Whole description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Fig. 1 show the laser radar sensory perceptual system of the embodiment of the present invention, as shown in Figure 1, laser radar perception system
System, the system comprises:
One central laser radar 110, the detection for medium and long distance visual field；
Two are mended blind laser radar 120, and two are mended blind laser radar, are visited for short distance field detection and left and right fields of vision
It surveys.
In the embodiment of the present invention, in the embodiment of the present invention, the central axes 111 of the central laser radar 110 are perpendicular to water
Plane；
The central axes 111 of the central laser radar are the bottom surface method by the bottom center of the central laser radar
Line.
In the embodiment of the present invention, central laser radar 110 and the blind laser radar 120 of benefit can be multi-line laser radar, or
It can be hybrid solid-state laser radar, or can be solid-state laser radar, or can be other laser thunders with detection effect
It reaches or laser radar system.
In the embodiment of the present invention, described two blind laser radars of benefit mended in blind laser radar are located at the center and swash
The left side of optical radar, the central axes of the blind laser radar of benefit on the left of central laser radar and the central laser radar
Central axes between angle degree be less than zero degree；
Another described two mended in blind laser radar mend the right side that blind laser radar is located at the central laser radar,
Between the central axes of the blind laser radar of benefit and the central axes of the central laser radar on the right side of central laser radar
Angle be greater than zero degree；
Wherein, the central axes for mending blind laser radar are the bottom surface method by the bottom center for mending blind laser radar
Line.
In Fig. 1, perpendicular to horizontal plane, it is 120 and 130 that two, which are mended blind laser radar, for the central axes of central laser radar, is mended
Blind laser radar 120 is located at the left side of central laser radar 110, mends central axes and the central laser radar of blind laser radar 120
Angle between 110 central axes is less than zero degree, mends the central axes and 110 central axes of central laser radar of blind laser radar 130
Between angle be greater than zero degree.
In the embodiment of the present invention, angle is less than zero degree and refers to from the central axes of center laser radar 110 to the blind laser of benefit
Angle between the central axes of radar 120 rotates counterclockwise, and similarly, angle is greater than zero degree and refers to from center laser radar
110 central axes are rotated clockwise to the angle between the central axes for mending blind laser radar 130.
In the embodiment of the present invention, in the center for mending blind laser radar 120,130 and the central laser radar 110
The heart, but can be in the same vertical plane not in same level.
The relative position being arranged between three laser radars be in order to cover them field range as far as possible
It is big and comprehensive, the field range that an embodiment of the present invention will be described in detail below.
Fig. 2 show the main view of the field range of the laser radar sensory perceptual system of the embodiment of the present invention, and Fig. 3 show this
The top view of the field range of the laser radar sensory perceptual system of inventive embodiments.
The scanning of 360 degree of middle far distance vision may be implemented in central laser radar, the sector as filled dot in Fig. 2,
It is an annulus as filled dot in Fig. 3 that the visual field, which is projected to ground,.
As shown in Fig. 2, mending the arranged on left and right sides being divided into there are two blind laser radars positioned at central laser radar, two benefits are blind
The scanning range of laser radar may be considered symmetrically.
For being located at the blind laser radar of benefit in left side, in practical application, central axes and the horizontal plane of blind laser radar are mended
Between have angle, so scanning range is adjustable to short distance to middle distance, and because mend the scanning model of blind laser radar
Enclose is also 360 degree, it is possible to cover the blind area in left side and front, rear.
The scanning area that blind laser radar is mended in left side fills model shown in left low and right high oblique line in floor projection such as in Fig. 3
It encloses, not regular figure.
The scanning area of 16 line organ radar of right side fills the range of right low left high oblique line in Fig. 2, Fig. 3.
In conjunction with Fig. 2, Fig. 3 it is found that in the laser radar sensory perceptual system that the present invention is implemented, the scanning range of central laser radar
It is medium and long distance, two scanning ranges for mending blind laser radar can cover closely with medium and long distance visual field, mend blind laser
The field range and central laser radar of radar overlap, but its field range may include that central laser radar does not have
The forward and backward blind area and left and right blind area covered, therefore, the embodiment of the present invention can to medium and long distance visual field, short distance visual field with
And left and right visual field is detected, and visual field blind area is avoided, and improves the accuracy of detection.In addition, the laser of the embodiment of the present invention
Radar sensory perceptual system uses a central laser radar and two are mended blind laser radar, and cost can be used by mending blind laser radar
Lower, small volume laser radar, therefore overall volume of the invention is smaller, cost is relatively low.
The system of the embodiment of the present invention further include:
More radar synchronization units, when for making the central laser radar and mend blind laser radar acquisition data in time
It is synchronous；
Integrated unit is demarcated, for demarcating the central laser radar and mending the opposite position of blind laser radar spatially
It sets, merges the point cloud data detected spatially to obtain fusion point cloud data；
Mapping unit, for according to the fusion point cloud data map making；
Positioning unit, for positioning position of the present laser radar system in the map in real time.
Sension unit, the fusion point cloud data for being obtained according to the calibration integrated unit identify object.
Above-mentioned each functional unit can realize that details are not described herein using functional unit in the prior art.
The system of the embodiment of the present invention is mounted on corresponding bracket, and the bracket is adjustable, therefore the embodiment of the present invention
In three angles between laser radar and horizontal plane it is adjustable, the angle between three laser radars is also adjustable, so that laser
The scanning range of radar sensory perceptual system is adjustable, adapting to different vehicles, different driving demands, reduce it is overall at
This, it is adaptable.
Corresponding with above-mentioned laser radar sensory perceptual system, the embodiment of the invention also discloses a kind of laser radar sensory perceptual systems
Detection method, which comprises
The detection of one central laser radar medium and long distance visual field；
Two are mended blind laser radar short distance field detection and left and right fields of vision detection.
Optionally, the central axes of the central laser radar are perpendicular to horizontal plane；
Wherein, the central axes of the central laser radar are the bottom surface method by the bottom center of the central laser radar
Line.
Optionally, described two blind laser radars of benefit mended in blind laser radar are located at the central laser radar
Left side, the central axes of the blind laser radar of benefit on the left of central laser radar and the central axes of the central laser radar
Between angle degree be less than zero degree；
Another described two mended in blind laser radar mend the right side that blind laser radar is located at the central laser radar,
Between the central axes of the blind laser radar of benefit and the central axes of the central laser radar on the right side of central laser radar
Angle be greater than zero degree；
Wherein, the central axes for mending blind laser radar are the bottom surface method by the bottom center for mending blind laser radar
Line.
Optionally, the center for mending blind laser radar and the center of the central laser radar be not in same level
On.
Optionally, the system also includes:
More radar synchronization units keep the central laser radar synchronous in time with when mending blind laser radar acquisition data；
Calibration integrated unit demarcates the central laser radar and mends the relative position of blind laser radar spatially, makes to examine
The point cloud data measured is spatially merged to obtain fusion point cloud data；
Mapping unit is according to the fusion point cloud data map making；
Positioning unit positions position of the present laser radar system in the map in real time.
Sension unit identifies object according to the fusion point cloud data that the calibration integrated unit obtains.
The invention discloses method, medium and long distance visual field, short distance visual field and left and right visual field can be detected,
Visual field blind area is avoided, improves the accuracy of detection, and cost is relatively low.
A kind of laser radar sensory perceptual system is disclosed in the embodiment of the present invention, the system comprises: the laser radar
Sensory perceptual system includes: a central laser radar, the detection for medium and long distance visual field；Two are mended blind laser radar, for close
It is detected apart from field detection and left and right fields of vision.The system of the embodiment of the present invention can simultaneously to remote visual field, short distance visual field with
And left and right visual field is detected, and visual field blind area is avoided, and improves the accuracy of detection and the functional safety of automated driving system
Property；In addition, the laser radar sensory perceptual system of the embodiment of the present invention uses a central laser radar and two are mended blind laser thunder
It reaches, mending blind laser radar can be using cost is relatively low, the laser radar of small volume, therefore overall volume of the invention is smaller,
Cost is relatively low.
It is required that those skilled in the art can be understood that the technology in the embodiment of the present invention can add by software
The mode of common hardware realize that common hardware includes universal integrated circuit, universal cpu, general-purpose storage, universal elements
Deng, naturally it is also possible to it by specialized hardware include specific integrated circuit, dedicated cpu, private memory, special components and parts etc. come real
It is existing, but the former is more preferably embodiment in many cases.Based on this understanding, the technical solution sheet in the embodiment of the present invention
The part that contributes to existing technology can be embodied in the form of software products in other words in matter, which produces
Product can store in storage medium, as read-only memory (ROM, Read-Only Memory), random access memory (RAM,
Random Access Memory), magnetic disk, CD etc., including some instructions are used so that computer equipment (can be
People's computer, server or network equipment etc.) it executes described in certain parts of each embodiment of the present invention or embodiment
Method.
All the embodiments in this specification are described in a progressive manner, same and similar portion between each embodiment
Dividing may refer to each other, and each embodiment focuses on the differences from other embodiments.Especially for system reality
For applying example, since it is substantially similar to the method embodiment, so being described relatively simple, related place is referring to embodiment of the method
Part explanation.
The embodiments of the present invention described above are not intended to limit the scope of the present invention.It is any in the present invention
Spirit and principle within made modifications, equivalent substitutions and improvements etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of laser radar sensory perceptual system, which is characterized in that the system comprises:
One central laser radar, the detection for medium and long distance visual field；
Two are mended blind laser radar, are detected for short distance field detection and left and right fields of vision.
2. the system as claimed in claim 1, which is characterized in that the central axes of the central laser radar are perpendicular to horizontal plane；
Wherein, the central axes of the central laser radar are the bottom surface normal by the bottom center of the central laser radar.
3. system as claimed in claim 2, which is characterized in that described two one mended in blind laser radar mend blind laser thunder
Up to the left side for being located at the central laser radar, the central axes of the blind laser radar of benefit on the left of the central laser radar with
Angle degree between the central axes of the central laser radar is less than zero degree；
Another described two mended in blind laser radar mend the right side that blind laser radar is located at the central laser radar, described
The folder between the central axes of the blind laser radar of benefit and the central axes of the central laser radar on the right side of central laser radar
Angle is greater than zero degree；
Wherein, the central axes for mending blind laser radar are the bottom surface normal by the bottom center for mending blind laser radar.
4. system as described in any one of claims 1 to 3, which is characterized in that the center for mending blind laser radar with it is described
The center of central laser radar is not in same level.
5. system as claimed in claim 4, which is characterized in that the system also includes:
More radar synchronization units, for keeping the central laser radar and benefit blind laser radar same in time when acquiring data
Step；
Integrated unit is demarcated, for demarcating the central laser radar and mending the relative position of blind laser radar spatially, is made
The point cloud data detected is spatially merged to obtain fusion point cloud data；
Mapping unit, for according to the fusion point cloud data map making；
Positioning unit, for positioning position of the present laser radar system in the map in real time.
Sension unit, the fusion point cloud data for being obtained according to the calibration integrated unit identify object.
6. a kind of detection method of laser radar sensory perceptual system, which is characterized in that the described method includes:
The detection of one central laser radar medium and long distance visual field；
Two are mended blind laser radar short distance field detection and left and right fields of vision detection.
7. method as claimed in claim 6, which is characterized in that the central axes of the central laser radar are perpendicular to horizontal plane；
Wherein, the central axes of the central laser radar are the bottom surface normal by the bottom center of the central laser radar.
8. the method for claim 7, which is characterized in that described two one mended in blind laser radar mend blind laser thunder
Up to the left side for being located at the central laser radar, the central axes of the blind laser radar of benefit on the left of the central laser radar with
Angle degree between the central axes of the central laser radar is less than zero degree；
Another described two mended in blind laser radar mend the right side that blind laser radar is located at the central laser radar, described
The folder between the central axes of the blind laser radar of benefit and the central axes of the central laser radar on the right side of central laser radar
Angle is greater than zero degree；
Wherein, the central axes for mending blind laser radar are the bottom surface normal by the bottom center for mending blind laser radar.
9. such as the described in any item methods of claim 6 to 8, which is characterized in that the center for mending blind laser radar with it is described
The center of central laser radar is not in same level.
10. method as claimed in claim 9, which is characterized in that the system also includes:
More radar synchronization units keep the central laser radar synchronous in time with when mending blind laser radar acquisition data；
Calibration integrated unit demarcates the central laser radar and mends the relative position of blind laser radar spatially, makes to detect
Point cloud data spatially merged to obtain fusion point cloud data；
Mapping unit is according to the fusion point cloud data map making；
Positioning unit positions position of the present laser radar system in the map in real time.
Sension unit identifies object according to the fusion point cloud data that the calibration integrated unit obtains.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810800008.4A CN109709575A (en) | 2018-07-20 | 2018-07-20 | Laser radar sensory perceptual system and laser radar sensory perceptual system detection method |
| PCT/CN2019/096858 WO2020015748A1 (en) | 2018-07-20 | 2019-07-19 | Systems and methods for lidar detection |
| US16/597,814 US10761191B2 (en) | 2018-07-20 | 2019-10-09 | Systems and methods for LiDAR detection |
| US16/937,543 US11768272B2 (en) | 2018-07-20 | 2020-07-23 | Systems and methods for LiDAR detection |
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| CN201810800008.4A CN109709575A (en) | 2018-07-20 | 2018-07-20 | Laser radar sensory perceptual system and laser radar sensory perceptual system detection method |
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