CN110231497A - A kind of speed calibrating installation to be tested the speed based on laser radar and method - Google Patents
A kind of speed calibrating installation to be tested the speed based on laser radar and method Download PDFInfo
- Publication number
- CN110231497A CN110231497A CN201910539641.7A CN201910539641A CN110231497A CN 110231497 A CN110231497 A CN 110231497A CN 201910539641 A CN201910539641 A CN 201910539641A CN 110231497 A CN110231497 A CN 110231497A
- Authority
- CN
- China
- Prior art keywords
- speed
- real
- time
- longitudinal
- information
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P21/00—Testing or calibrating of apparatus or devices covered by the preceding groups
- G01P21/02—Testing or calibrating of apparatus or devices covered by the preceding groups of speedometers
-
- 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
- G01S17/50—Systems of measurement based on relative movement of target
- G01S17/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
Abstract
The invention proposes a kind of speed calibrating installation to be tested the speed based on laser radar and methods.Described device includes wheel speed sensors, laser radar module, real-time vehicle speed calculation module, reference speed computing module, calibration information acquisition module and speed calibration module.Laser radar echo information is acquired by laser radar module, obtains reference speed.Wheel speed information is obtained by wheel speed sensors, real-time speed is calculated, reference speed and real-time speed is compared.Multipacket message can be detected to the comparison of reference speed and real-time speed to verify, and judge the calculating of real-time speed with the presence or absence of error.When the calculating of real-time speed is there are when error, acquisition calibration factor carries out the calibration of real-time speed according to the calibration factor.The speed calibrating installation and method can enhance the input signal accuracy of High-Speed Automatic driving effectively in real time, greatly improve functional safety level.
Description
Technical field
The present invention relates to field of electronics more particularly to a kind of speed calibrating installation to be tested the speed based on laser radar and sides
Method.
Background technique
Basic device of the wheel speed sensors as automobile is mainly used to measure vehicle wheel rotational speed and calculates actual vehicle speed, be
The important parameter of vehicle operational process.For Hyundai Motor, wheel speed information is essential, automobile dynamic control system
System, electronic stability program of automobile, anti-lock braking system, control system of automatic transmission etc. require wheel speed information.So
Wheel speed sensors are one of sensors the most key in Hyundai Motor.In active safety field, measurement result is for calculating
The absolute velocity of moving object in environment surrounding automobile, as the decision condition of active safety function, directly affect every function
The accuracy and functional safety grade of energy.
In general, all speed probes all can serve as wheel speed sensors, it is contemplated that the building ring of wheel
The practical factors such as border and space size, common wheel speed sensors mainly have: magneto-electric type wheel speed sensor, Hall-type wheel speed pass
Sensor.Although Hall wheel speed sensor compensates for, magneto-electric type wheel speed sensor frequency response is not high and anti-electromagnetic wave interference performance
The deficiency of difference, but still not can avoid when running at high speed, tire deforms under windage pressure；In Wheel slip, inclination,
Increase and calculates error, the phenomenon for causing wheel speed sensors measurement automobile longitudinal speed inaccurate.
The state judgement and control decision of the correlation function of High-Speed Automatic driving are all played from vehicle speed vital
Effect is the High-Speed Automatic important factor in order for driving functional safety.Although current wheel speed sensors developed more at
It is ripe, but when running at high speed, tire caused by windage pressure, load change, road excitation because deforming still without accurate calculating side
Method, therefore wheel speed sensors remain certain error.
Summary of the invention
When the technical problem to be solved by the present invention is to run at high speed there is error in wheel speed sensors.On solving
Problem is stated, the invention proposes a kind of speed calibrating installation to test the speed based on laser radar and method, the present invention is specifically with such as
What lower technical solution was realized:
The first aspect of the invention proposes a kind of speed calibrating installation to test the speed based on laser radar, described device packet
Include: wheel speed sensors, laser radar module, real-time vehicle speed calculation module, reference speed computing module, calibration information obtain module
With speed calibration module；
The wheel speed sensors are for obtaining real-time wheel speed information；
The laser radar module receives laser radar echo information for sending laser intelligence；
The real-time vehicle speed calculation module is used to calculate real-time speed according to wheel speed information；
The reference speed computing module is used to calculate reference speed according to laser radar echo information；
The wheel speed sensors condition judgment module judges that wheel speed sensors are for comparing real-time speed and reference speed
It is no that there are errors；
The calibration information obtains module and is used to obtain calibration factor when judging that wheel speed sensors have calculating error；
The speed calibration module is used for the calibration information according to acquisition, calibrates to real-time speed.
Further, the laser radar module includes laser intelligence transmission unit, radar return receiving unit and information
Processing unit.The laser radar resolution ratio is sufficiently high, and detection cycle is less than the speed signal sending cycle of wheel speed sensors, and
Target classification function may be implemented.
The laser intelligence transmission unit is for sending laser intelligence；
The radar return receiving unit is for receiving radar return information；
The information process unit is for handling radar return information, the movement state information of acquired disturbance object.
Further, the reference speed computing module is used for the movement state information according to barrier, disturbance in judgement object
Whether it is stationary object, compares the relative velocity between stationary object and vehicle, obtains reference speed.
Further, the wheel speed sensors condition judgment module includes that longitudinal speed obtaining unit and speed comparison are single
Member；
The longitudinal direction speed obtaining unit is used to extract real-time speed in automotive ordinate axis according to reference speed and real-time speed
Velocity information on direction extracts velocity information of the reference speed on automotive ordinate axis direction as ginseng as longitudinal speed in real time
Examine longitudinal speed；
The speed comparison unit judges the calculating of real-time speed for comparing longitudinal speed in real time and with reference to longitudinal speed
As a result it whether there is error.
Further, the calibration information obtains module and can exist in the speed signal for judging current wheel speed sensors
When calculating error, according to longitudinal reference speed and longitudinal real-time speed, calibration factor is obtained.
Specifically, when the speed signal for judging current wheel speed sensors exists and calculates error, vehicle is referred to according to longitudinal
Fast and longitudinal real-time speed, obtains calibration factor.
When the speed signal for judging current wheel speed sensors, which exists, calculates error, wheel speed sensors correction factor is introduced
Concept indicates that correction factor initial value is 1 with K, it is assumed that current alignment coefficient range is [0.95,1.05].Calibration factor range
It should determine that ASIL higher grade, and calibration factor range is bigger according to laser radar signal ASIL grade.
Judgement to wheel speed sensors state should include at least following several states, be obtained with wheel speed sensors detection
It is as shown in the table for real-time speed is 100km/h:
| Real-time speed | Reference speed | Calibration factor | Information warning |
| 100 | 0~90 | Wheel speed sensor fault | |
| 100 | 90~98 | K | |
| 100 | 98~102 | 1 | |
| 100 | 102~110 | K | |
| 100 | 110~200 | Wheel speed sensor fault |
Wherein, the value of K is related with the speed difference of two kinds of sensors:
In formula, V2 is indicated with reference to longitudinal speed, and V1 indicates longitudinal speed in real time.
When laser radar differs larger with longitudinal speed that wheel speed sensors detect, the event of system prompt wheel speed sensors
Barrier, when speed difference in a certain range, calibration factor is calculated by speed difference and current vehicle speed, if speed difference is smaller,
Think that sensor states are good, the longitudinal vehicle speed value measured does not need to calibrate.
According to calibration information, real-time speed is calibrated.Continue comparison reference longitudinal direction speed after calibrating and indulges in real time
To speed, when it is more than the signal period to continue 3 for state of the relative error less than 2%, then it is assumed that it calibrates successfully, it otherwise will be in repetition
State calibration process.
The second aspect of the invention proposes a kind of speed calibration method to test the speed based on laser radar, the method packet
It includes:
Obtain wheel speed information；
According to wheel speed information, real-time speed is obtained；
The radar return information for obtaining laser radar obtains reference speed according to radar return information；
Real-time speed and reference speed are compared, judges real-time speed with the presence or absence of calculating error；
When judging that real-time speed has calculating error, calibration factor is obtained；
According to calibration factor, real-time speed is calibrated.
Further, the real-time longitudinal speed for obtaining real-time speed, obtains the longitudinal speed of reference of reference speed, and comparison is real
When longitudinal direction speed and with reference to longitudinal speed, judge that longitudinal speed is with the presence or absence of calculating error in real time.
Further, it is compared by real-time longitudinal speed of acquisition and with reference to longitudinal speed, when error is greater than the shape of predetermined value
When state continues the signal period of certain amount, judges that longitudinal speed exists in real time and calculate error.
Further, after the real-time longitudinal speed of judgement has calculating error, according to real-time longitudinal speed and the longitudinal vehicle of reference
Speed obtains calibration factor.
Further, after being calibrated according to calibration factor to real-time speed, continue comparison reference longitudinal direction speed and in real time
Longitudinal speed judges that real-time speed is calibrated successfully when the state that error is less than preset value is more than the signal period of certain amount.
Specifically, when the speed signal for judging current wheel speed sensors exists and calculates error, vehicle is referred to according to longitudinal
Fast and longitudinal real-time speed, obtains calibration factor.
When the speed signal for judging current wheel speed sensors, which exists, calculates error, wheel speed sensors correction factor is introduced
Concept indicates that correction factor initial value is 1 with K, it is assumed that current alignment coefficient range is [0.95,1.05].Calibration factor range
It should determine that ASIL higher grade, and calibration factor range is bigger according to laser radar signal ASIL grade.
Judgement to wheel speed sensors state should include at least following several states, be obtained with wheel speed sensors detection
It is as shown in the table for real-time speed is 100km/h:
Wherein, the value of K is related with the speed difference of two kinds of sensors:
In formula, V2 is indicated with reference to longitudinal speed, and V1 indicates longitudinal speed in real time.
When laser radar differs larger with longitudinal speed that wheel speed sensors detect, the event of system prompt wheel speed sensors
Barrier, when speed difference in a certain range, calibration factor is calculated by speed difference and current vehicle speed, if speed difference is smaller,
Think that sensor states are good, the longitudinal vehicle speed value measured does not need to calibrate.
According to calibration information, real-time speed is calibrated.Continue comparison reference longitudinal direction speed after calibrating and indulges in real time
To speed, when it is more than the signal period to continue 3 for state of the relative error less than 2%, then it is assumed that it calibrates successfully, it otherwise will be in repetition
State calibration process.
By adopting the above technical scheme, a kind of speed calibrating installation to be tested the speed based on laser radar of the present invention and side
Method has the following beneficial effects:
1) the invention proposes a kind of speed calibrating installation to be tested the speed based on laser radar and method, the speed calibration cartridges
It sets and is detected by laser radar to from vehicle speed, obtain accurate reference speed, comparison reference speed and pass through wheel speed and believe
The real-time speed calculated is ceased, calibration factor is obtained and real-time speed is calibrated, avoid when running at high speed, tire is because of windage
It deforms caused by pressure, load change, road excitation and can not accurately calculate speed；
2) the invention proposes a kind of speed calibrating installation to be tested the speed based on laser radar and method, by laser radar into
Row tests the speed, and can enhance the input signal accuracy of High-Speed Automatic driving effectively in real time, greatly improves functional safety level.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is a kind of structural representation of the speed calibrating installation to be tested the speed based on laser radar provided in an embodiment of the present invention
Figure；
Fig. 2 is a kind of laser radar mould of the speed calibrating installation to be tested the speed based on laser radar provided in an embodiment of the present invention
The structural schematic diagram of block；
Fig. 3 is a kind of laser radar mould of the speed calibrating installation to be tested the speed based on laser radar provided in an embodiment of the present invention
The structural schematic diagram of block；
Fig. 4 is a kind of flow chart of the speed calibration method to be tested the speed based on laser radar provided in an embodiment of the present invention.
Specific embodiment
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
Site preparation description.Obviously, 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, those of ordinary skill in the art without making creative work it is obtained it is all its
His embodiment, shall fall within the protection scope of the present invention.
In several embodiments provided herein, described system embodiment is only schematical, such as institute
The division of module is stated, only a kind of logical function partition, there may be another division manner in actual implementation, such as multiple moulds
Block or component can be combined or can be integrated into another system, or some features can be ignored or not executed.Another point,
Shown or discussed mutual coupling, direct-coupling or communication connection can be through some interfaces, module or unit
Indirect coupling or communication connection, can be electrically or other forms.
The module as illustrated by the separation member may or may not be physically separated, aobvious as module
The component shown may or may not be physical module, it can and it is in one place, or may be distributed over multiple
On network module.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, each functional unit in each embodiment of the present invention can integrate in a processing module
It is that each unit physically exists alone, can also be integrated in two or more units in a module.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of software functional units.
Embodiment 1:
A kind of speed calibrating installation to test the speed based on laser radar is provided in the embodiment of the present invention, as shown in Figure 1, described
Device includes: that wheel speed sensors, laser radar module, real-time vehicle speed calculation module, reference speed computing module, calibration information obtain
Obtain module and speed calibration module.
The wheel speed sensors are for obtaining real-time vehicle wheel rotational speed information；
The laser radar module is for obtaining laser radar echo information；
The real-time vehicle speed calculation module is used to calculate real-time speed according to vehicle wheel rotational speed information；
The reference speed computing module is used to calculate reference speed according to laser radar echo information；
The wheel speed sensors condition judgment module judges that wheel speed sensors are for comparing real-time speed and reference speed
It is no that there are errors；
The calibration information obtains module and is used to obtain calibration factor when judging that wheel speed sensors have calculating error；
The speed calibration module is used for the calibration information according to acquisition, calibrates to real-time speed.
Further, when vehicle travels, wheel speed sensors obtain wheel speed information, and the real-time vehicle speed calculation module can
Real-time speed is calculated according to wheel speed information and rolling radius.
Further, as shown in Fig. 2, the laser radar module includes laser intelligence transmission unit, radar return reception
Unit and information process unit.The laser radar resolution ratio is sufficiently high, and detection cycle is less than the speed signal of wheel speed sensors
Sending cycle, and target classification function may be implemented.
The laser intelligence transmission unit is for sending laser intelligence；
The radar return receiving unit is for receiving radar return information；
The information process unit is for handling radar return information, the movement state information of acquired disturbance object.
The reference speed computing module is used for the movement state information according to barrier, and whether disturbance in judgement object is static
Object compares the relative velocity between stationary object and vehicle, obtains reference speed.
Further, as shown in figure 3, the wheel speed sensors condition judgment module includes longitudinal speed obtaining unit and vehicle
Fast comparison unit.The longitudinal direction speed obtaining unit is used to extract real-time speed in automobile according to reference speed and real-time speed
Velocity information on y direction is extracted velocity information of the reference speed on automotive ordinate axis direction and is made as longitudinal speed in real time
For with reference to longitudinal speed.
The speed comparison unit judges the calculating of real-time speed for comparing longitudinal speed in real time and with reference to longitudinal speed
As a result it whether there is error.When error is excessive, information warning can be sent, prompts wheel speed sensor fault.
Further, the calibration information obtains module and is used to exist in the speed signal for judging current wheel speed sensors
When calculating error, according to longitudinal reference speed and longitudinal real-time speed, calibration factor is obtained.
Specifically, when vehicle travels, wheel speed sensors obtain wheel speed information, and the real-time vehicle speed calculation module being capable of root
Real-time speed is calculated according to wheel speed information and rolling radius.
Laser radar module, from the propagation time being reflected back is emitted to, calculates obstacle by accurately measurement light wave pulse
Object and the distance and bearing angle from vehicle；By receiving the phase difference with transmitting light wave pulse, calculate between vehicle and barrier
Relative velocity；According to the signal strength for receiving light, barrier region is divided；It is tracked by the signal to every group of reception light,
Judge whether currently received optical signal is barrier feedback, and further according to barrier size, shape, speed and confidence level are to obstacle
The motion state of object is classified.
By judging that current barrier is stationary object or moving object to barrier multiple groups state vs.It compares quiet
Only object and from the relative velocity between vehicle, can be obtained the absolute velocity from vehicle.The absolute speed from vehicle is as reference
Speed.
The longitudinal direction speed obtaining unit extracts velocity information of the wheel speed on automotive ordinate axis direction as longitudinal vehicle in real time
Speed, and the longitudinal speed of reference for extracting the reference speed of laser radar module acquisition.By real-time longitudinal speed of acquisition and reference
Longitudinal speed comparison, if differing by more than 2% state continues 3 signal periods, then it is assumed that real-time speed, which exists, calculates error, needs
Real-time speed is calibrated.
When the speed signal for judging current wheel speed sensors, which exists, calculates error, wheel speed sensors correction factor is introduced
Concept indicates that correction factor initial value is 1 with K, it is assumed that current alignment coefficient range is [0.95,1.05].Calibration factor range
It should determine that ASIL higher grade, and calibration factor range is bigger according to laser radar signal ASIL grade.
Judgement to wheel speed sensors state should include at least following several states, be obtained with wheel speed sensors detection
It is as shown in the table for real-time speed is 100km/h:
| Real-time speed | Reference speed | Calibration factor | Information warning |
| 100 | 0~90 | Wheel speed sensor fault | |
| 100 | 90~98 | K | |
| 100 | 98~102 | 1 | |
| 100 | 102~110 | K | |
| 100 | 110~200 | Wheel speed sensor fault |
Wherein, the value of K is related with the speed difference of two kinds of sensors:
In formula, V2 is indicated with reference to longitudinal speed, and V1 indicates longitudinal speed in real time.
When laser radar differs larger with longitudinal speed that wheel speed sensors detect, the event of system prompt wheel speed sensors
Barrier, when speed difference in a certain range, calibration factor is calculated by speed difference and current vehicle speed, if speed difference is smaller,
Think that sensor states are good, the longitudinal vehicle speed value measured does not need to calibrate.
The speed calibration module calibrates real-time speed according to calibration information.Continue comparison reference after calibration
Longitudinal speed and in real time longitudinal speed, when it is more than the signal period to continue 3 for state of the relative error less than 2%, then it is assumed that calibration
Success, otherwise will repeat above-mentioned calibration process.
The present embodiment proposes a kind of speed calibrating installation to test the speed based on laser radar.The speed calibrating installation has
Laser radar, the laser radar can obtain reference speed by the detection to barrier.The wheel speed sensors are taken turns
Fast information, according to the real-time speed of wheel speed information acquisition.Real-time speed and reference speed are compared, if error is greater than certain certain value,
Then carry out the calibration of real-time speed.The speed that the speed calibrating installation can be measured by laser radar, to wheel speed sensors
The speed measured is calibrated, and avoids measuring because deformations of tyre makes wheel speed sensors measurement error occur when running at high speed
Obtained speed is more accurate, ensure that traffic safety, improves driving experience.
Embodiment 2:
A kind of speed calibration method to test the speed based on laser radar is provided in a feasible embodiment of the invention.Specifically
Ground, as shown in figure 4, the speed calibration method to be tested the speed based on laser radar includes:
S1. it obtains wheel speed information and real-time speed is obtained according to wheel speed information；
S2. the radar return information for obtaining laser radar obtains reference speed according to radar return information；
S3. the real-time longitudinal speed for obtaining real-time speed obtains the longitudinal speed of reference of reference speed；
S4. the real-time longitudinal speed of comparison and the longitudinal speed of reference judge that real-time longitudinal speed whether there is and calculate error；
S5. it when longitudinal speed has calculating error in real time for judgement, according to real-time longitudinal speed and with reference to longitudinal speed, obtains
Obtain calibration factor；
S6. according to calibration factor, real-time speed is calibrated.
Further, continue comparison reference longitudinal direction speed and in real time longitudinal speed after calibration, when relative error is less than 2%
State it is more than the signal period to continue 3, then it is assumed that calibrate successfully, otherwise will repeat above-mentioned calibration process.
Specifically, when vehicle travels, wheel speed sensors obtain wheel speed information, are calculated according to wheel speed information and rolling radius
Real-time speed.
Laser radar by accurately measurement light wave pulse from the propagation time being reflected back is emitted to, calculate barrier with
From the distance and bearing angle of vehicle；By receiving the phase difference with transmitting light wave pulse, calculate opposite between vehicle and barrier
Speed；According to the signal strength for receiving light, barrier region is divided；It is tracked, is judged by the signal to every group of reception light
Whether currently received optical signal is barrier feedback, and further according to barrier size, shape, speed and confidence level are to barrier
Motion state is classified.
By judging that current barrier is stationary object or moving object to barrier multiple groups state vs.It compares quiet
Only object and from the relative velocity between vehicle, can be obtained the absolute velocity from vehicle.The absolute speed from vehicle is as reference
Speed.
According to reference speed and real-time speed, velocity information of the real-time speed on automotive ordinate axis direction is extracted as real-time
Longitudinal speed is extracted velocity information of the reference speed on automotive ordinate axis direction and is used as with reference to longitudinal speed.
The real-time longitudinal speed of comparison and the longitudinal speed of reference, judge the calculated result of real-time speed with the presence or absence of error.It will
The real-time longitudinal speed and the longitudinal speed of reference obtained compares, if differing by more than 2% state continues 3 signal periods, then it is assumed that
Real-time speed, which exists, calculates error.It needs to calibrate real-time speed.When error is excessive, information warning can be sent, is prompted
Wheel speed sensor fault.
When the speed signal for judging current wheel speed sensors exists and calculates error, according to longitudinal reference speed and longitudinal direction
Real-time speed obtains calibration factor.
When the speed signal for judging current wheel speed sensors, which exists, calculates error, wheel speed sensors correction factor is introduced
Concept indicates that correction factor initial value is 1 with K, it is assumed that current alignment coefficient range is [0.95,1.05].Calibration factor range
It should determine that ASIL higher grade, and calibration factor range is bigger according to laser radar signal ASIL grade.
Judgement to wheel speed sensors state should include at least following several states, be obtained with wheel speed sensors detection
It is as shown in the table for real-time speed is 100km/h:
| Real-time speed | Reference speed | Calibration factor | Information warning |
| 100 | 0~90 | Wheel speed sensor fault | |
| 100 | 90~98 | K | |
| 100 | 98~102 | 1 | |
| 100 | 102~110 | K | |
| 100 | 110~200 | Wheel speed sensor fault |
Wherein, the value of K is related with the speed difference of two kinds of sensors:
In formula, V2 is indicated with reference to longitudinal speed, and V1 indicates longitudinal speed in real time.
When laser radar differs larger with longitudinal speed that wheel speed sensors detect, the event of system prompt wheel speed sensors
Barrier, when speed difference in a certain range, calibration factor is calculated by speed difference and current vehicle speed, if speed difference is smaller,
Think that sensor states are good, the longitudinal vehicle speed value measured does not need to calibrate.
According to calibration information, real-time speed is calibrated.Continue comparison reference longitudinal direction speed after calibrating and indulges in real time
To speed, when it is more than the signal period to continue 3 for state of the relative error less than 2%, then it is assumed that it calibrates successfully, it otherwise will be in repetition
State calibration process.
The present embodiment proposes a kind of speed calibration method to test the speed based on laser radar.The speed calibrating installation has
Laser radar, the laser radar can obtain reference speed by the detection to barrier.The wheel speed sensors are taken turns
Fast information, according to the real-time speed of wheel speed information acquisition.Real-time speed and reference speed are compared, if error is greater than certain certain value,
Then carry out the calibration of real-time speed.The speed that the speed calibration method can be measured by laser radar, to wheel speed sensors
The speed measured is calibrated, and avoids measuring because deformations of tyre makes wheel speed sensors measurement error occur when running at high speed
Obtained speed is more accurate, ensure that traffic safety, improves driving experience.
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all in spirit of the invention and
Within principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of speed calibrating installation to be tested the speed based on laser radar, which is characterized in that described device include: wheel speed sensors,
Laser radar module, real-time vehicle speed calculation module, reference speed computing module, calibration information obtain module and speed calibrating die
Block；
The wheel speed sensors are for obtaining real-time wheel speed information；
The laser radar module receives laser radar echo information for sending laser intelligence；
The real-time vehicle speed calculation module is used to calculate real-time speed according to wheel speed information；
The reference speed computing module is used to calculate reference speed according to laser radar echo information；
The wheel speed sensors condition judgment module judges whether wheel speed sensors are deposited for comparing real-time speed and reference speed
In error；
The calibration information obtains module and is used to obtain calibration factor when judging that wheel speed sensors have calculating error；
The speed calibration module is used for the calibration information according to acquisition, calibrates to real-time speed.
2. a kind of speed calibrating installation to be tested the speed based on laser radar according to claim 1, which is characterized in that described to swash
Optical radar module includes laser intelligence transmission unit, radar return receiving unit and information process unit；
The laser intelligence transmission unit is for sending laser intelligence；
The radar return receiving unit is for receiving radar return information；
The information process unit is for handling radar return information, the movement state information of acquired disturbance object.
3. according to right want 2 described in a kind of speed calibrating installation to be tested the speed based on laser radar, which is characterized in that the reference
Vehicle speed calculation module is used for the movement state information according to barrier, and whether disturbance in judgement object is stationary object, compares resting
Relative velocity between body and vehicle obtains reference speed.
4. a kind of speed calibrating installation to be tested the speed based on laser radar according to claim 1, which is characterized in that the wheel
Fast sensor states judgment module includes longitudinal speed obtaining unit and speed comparison unit；
The longitudinal direction speed obtaining unit is used to extract real-time speed in automotive ordinate axis direction according to reference speed and real-time speed
On velocity information as longitudinal speed in real time, extract velocity information of the reference speed on automotive ordinate axis direction and be used as with reference to vertical
To speed；
The speed comparison unit judges the calculated result of real-time speed for comparing longitudinal speed in real time and with reference to longitudinal speed
With the presence or absence of error.
5. a kind of speed calibrating installation to be tested the speed based on laser radar according to claim 4, which is characterized in that the school
Calibration information obtains module can be when the speed signal for judging current wheel speed sensors exists and calculates error, according to longitudinal reference
Speed and longitudinal real-time speed, obtain calibration factor.
6. a kind of speed calibration method to be tested the speed based on laser radar, which is characterized in that the described method includes:
Obtain wheel speed information；
According to wheel speed information, real-time speed is obtained；
The radar return information for obtaining laser radar obtains reference speed according to radar return information；
Real-time speed and reference speed are compared, judges real-time speed with the presence or absence of calculating error；
When judging that real-time speed has calculating error, calibration factor is obtained；
According to calibration factor, real-time speed is calibrated.
7. a kind of speed calibration method to be tested the speed based on laser radar according to claim 6, which is characterized in that obtain real
When speed real-time longitudinal speed, obtain the longitudinal speed of reference of reference speed, compare longitudinal speed in real time and with reference to longitudinal direction vehicle
Speed judges that longitudinal speed is with the presence or absence of calculating error in real time.
8. a kind of speed calibration method to be tested the speed based on laser radar according to claim 7, which is characterized in that will obtain
Real-time longitudinal speed and compared with reference to longitudinal speed, when the state that error is greater than predetermined value continues the signal period of certain amount
When, judge that longitudinal speed exists in real time and calculates error.
9. a kind of speed calibration method to be tested the speed based on laser radar according to claim 8, which is characterized in that judgement is real
When longitudinal direction speed exist and calculate error after, according to real-time longitudinal speed and with reference to longitudinal speed, obtain calibration factor.
10. a kind of speed calibration method to be tested the speed based on laser radar according to claim 7, which is characterized in that according to
After calibration factor calibrates real-time speed, continue comparison reference longitudinal direction speed and in real time longitudinal speed, when error is less than pre-
If the state of value is more than the signal period of certain amount, judge that real-time speed is calibrated successfully.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910539641.7A CN110231497A (en) | 2019-06-19 | 2019-06-19 | A kind of speed calibrating installation to be tested the speed based on laser radar and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910539641.7A CN110231497A (en) | 2019-06-19 | 2019-06-19 | A kind of speed calibrating installation to be tested the speed based on laser radar and method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110231497A true CN110231497A (en) | 2019-09-13 |
Family
ID=67856322
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910539641.7A Pending CN110231497A (en) | 2019-06-19 | 2019-06-19 | A kind of speed calibrating installation to be tested the speed based on laser radar and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110231497A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110550047A (en) * | 2019-09-29 | 2019-12-10 | 潍柴西港新能源动力有限公司 | method and system for detecting credibility of vehicle speed signal |
| CN111605558A (en) * | 2020-04-21 | 2020-09-01 | 宁波吉利汽车研究开发有限公司 | Vehicle speed determination method and device, electronic equipment and vehicle |
| CN112638738A (en) * | 2020-09-21 | 2021-04-09 | 华为技术有限公司 | Fault diagnosis method and fault diagnosis device for vehicle speed measuring device |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101512347A (en) * | 2006-08-29 | 2009-08-19 | 大陆汽车有限责任公司 | Speed detection for a tachograph system |
| CN104316716A (en) * | 2014-11-20 | 2015-01-28 | 清华大学 | Method for improving vehicle-mounted speed chart through GPS speed information |
| CN107878462A (en) * | 2016-09-30 | 2018-04-06 | 比亚迪股份有限公司 | Speed prediction method and apparatus |
| CN108422862A (en) * | 2017-02-15 | 2018-08-21 | 福特环球技术公司 | Method for car speed accuracy compensation |
| CN108931794A (en) * | 2018-04-13 | 2018-12-04 | 东风商用车有限公司 | A kind of blind area vehicle positioning system and its control method |
-
2019
- 2019-06-19 CN CN201910539641.7A patent/CN110231497A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101512347A (en) * | 2006-08-29 | 2009-08-19 | 大陆汽车有限责任公司 | Speed detection for a tachograph system |
| CN104316716A (en) * | 2014-11-20 | 2015-01-28 | 清华大学 | Method for improving vehicle-mounted speed chart through GPS speed information |
| CN107878462A (en) * | 2016-09-30 | 2018-04-06 | 比亚迪股份有限公司 | Speed prediction method and apparatus |
| CN108422862A (en) * | 2017-02-15 | 2018-08-21 | 福特环球技术公司 | Method for car speed accuracy compensation |
| CN108931794A (en) * | 2018-04-13 | 2018-12-04 | 东风商用车有限公司 | A kind of blind area vehicle positioning system and its control method |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110550047A (en) * | 2019-09-29 | 2019-12-10 | 潍柴西港新能源动力有限公司 | method and system for detecting credibility of vehicle speed signal |
| CN111605558A (en) * | 2020-04-21 | 2020-09-01 | 宁波吉利汽车研究开发有限公司 | Vehicle speed determination method and device, electronic equipment and vehicle |
| CN111605558B (en) * | 2020-04-21 | 2022-07-19 | 浙江吉利控股集团有限公司 | Vehicle speed determination method and device, electronic equipment and vehicle |
| CN112638738A (en) * | 2020-09-21 | 2021-04-09 | 华为技术有限公司 | Fault diagnosis method and fault diagnosis device for vehicle speed measuring device |
| EP4201777A4 (en) * | 2020-09-21 | 2023-08-02 | Huawei Technologies Co., Ltd. | Fault diagnosis method and apparatus for vehicle speed measuring apparatus |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110231496A (en) | A kind of speed calibrating installation and method | |
| CN109031272B (en) | Method for determining the antialiasing range rate of an object | |
| JP7081046B2 (en) | How to detect angle measurement error in radar sensor | |
| CN110231497A (en) | A kind of speed calibrating installation to be tested the speed based on laser radar and method | |
| EP3104189B1 (en) | Misalignment estimation for a vehicle radar system | |
| CN104995528B (en) | It is capable of the trailer-mounted radar device of Discrimination Radar sensor setting angle | |
| CN111624566B (en) | Radar installation angle calibration method and device | |
| KR101490819B1 (en) | Calibration method and device for horizontal alignment of vehicle radar | |
| JPH10170630A (en) | Detecting method and device of vertical directional positioning error or positioning offset of distance sensor | |
| WO2019220503A1 (en) | Object detection device and object detection method | |
| US11292481B2 (en) | Method and apparatus for multi vehicle sensor suite diagnosis | |
| CN105093194A (en) | Determination of an indicator for a blindness of a radar sensor | |
| CN109932720A (en) | Motion estimate method and device based on radar | |
| CN113487910B (en) | Performance analysis method for automobile data acquisition system used in automobile following scene | |
| CN109263649A (en) | Object identification method and object identification system under vehicle and its automatic driving mode | |
| CN110940973B (en) | Angle measurement method and device for radar target detection | |
| CN113126046A (en) | Vehicle-mounted forward millimeter wave radar installation error self-calibration method | |
| CN108120975A (en) | Radar velocity measurement distance measuring method based on trapezoidal continuous wave | |
| CN107102310B (en) | A kind of multi-path laser radar detection method | |
| US20050177336A1 (en) | Method for identifying object constellations using distance signals | |
| US20030163280A1 (en) | Method and device for estimating movement parameters of targets | |
| EP3290945A1 (en) | Misalignment detection for a vehicle radar sensor | |
| CN111025300B (en) | Method and device for measuring length of parking space | |
| CN110967040B (en) | Method and system for identifying horizontal deviation angle of sensor | |
| EP4020012A1 (en) | Chassis height measurement system for a vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190913 |