CN110488318A - Look around the camera exposal control method synchronous with radar, device, medium and equipment - Google Patents
Look around the camera exposal control method synchronous with radar, device, medium and equipment Download PDFInfo
- Publication number
- CN110488318A CN110488318A CN201910758822.9A CN201910758822A CN110488318A CN 110488318 A CN110488318 A CN 110488318A CN 201910758822 A CN201910758822 A CN 201910758822A CN 110488318 A CN110488318 A CN 110488318A
- Authority
- CN
- China
- Prior art keywords
- camera
- radar
- mould group
- around
- control method
- 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
- 238000000034 method Methods 0.000 title claims abstract description 36
- 230000001360 synchronised effect Effects 0.000 title claims abstract description 29
- 238000004590 computer program Methods 0.000 claims description 18
- 238000001228 spectrum Methods 0.000 claims description 5
- 230000007274 generation of a signal involved in cell-cell signaling Effects 0.000 claims description 3
- 230000008901 benefit Effects 0.000 abstract description 5
- 230000000007 visual effect Effects 0.000 description 4
- 238000001514 detection method Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000004088 simulation Methods 0.000 description 3
- 230000006870 function Effects 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/497—Means for monitoring or calibrating
Abstract
The camera exposal control method synchronous with radar, device, medium and equipment are looked around the invention discloses a kind of, belong to unmanned technical field, solve to look around at present camera and radar synchronize the technical issues of being unable to flexible configuration, with specific reference to the scan frequency for looking around the arrangement and radar of each camera mould group in camera, the exposure control signal of each camera mould group is generated；Further according to the exposure control signal of each camera mould group, controls corresponding camera mould group and be exposed operation.Above-mentioned technical proposal has many advantages, such as flexible operation, at low cost, strong applicability.
Description
Technical field
The invention mainly relates to unmanned technical field, refer in particular to a kind of look around the camera spectrum assignment side synchronous with radar
Method, device, medium and equipment.
Background technique
Obstacle detection in pilotless automobile running environment is the key that pilotless automobile context aware systems skill
One of art.The sensor being mounted on pilotless automobile is generallyd use at this stage, is acquired and is analyzed in real time in the process of moving
The data, are transmitted to the control system of pilotless automobile, to nothing by the two dimensional image and three-dimensional distance data of motor vehicle environment
People's driving controls.Vision camera and laser radar are two kinds of currently most used ranging sensing elements.Vision
Camera is equipped with calibration algorithm and calculates object at a distance from vehicle by carrying out real-time monitoring to motor vehicle environment object,
To realize the functions such as lane departur warning, front truck anticollision, pedestrian detection；Laser radar then passes through measurement transmitting light and reflection
Time interval between light carries out accurate range measurement to barrier.The advantage of camera is careful point of object
Class identification, especially in terms of content, such as license plate, direction board etc., and the advantage of laser radar is distance, depth information is adopted
Collection.Camera is the passive acquisition to environment light, is encountering half-light, shade, strong backlight environment, and camera can not collect enough
Effective information directly fails.Laser radar is the detection that actively emits beam, and can resist the influence of environment light, especially secretly
Luminous environment Effect on Detecting is instead more preferably.
Patent application (application number CN201811276492.1；Patent name: a kind of camera merges system with laser radar
System) described in: at present in the spectrum assignment of camera, by triggering corresponding camera exposure by radar scanning orientation, such as
When laser radar lens group rotates to predeterminated position, triggers corresponding camera module and take pictures.Wherein predeterminated position refers to
The position that the visual field of laser radar is overlapped in whole or in part with the visual field of camera.This mode to laser radar control have compared with
High request (such as needs precisely to monitor the rotation position of laser radar), even needs to customize, and at high cost and control is multiple
It is miscellaneous；And the spectrum assignment of camera is had some limitations, it cannot be according to the exposure of use environment flexible configuration camera
Between light time.
Summary of the invention
The technical problem to be solved in the present invention is that, for technical problem of the existing technology, the present invention provides one
Kind of flexible operation at low cost looks around the camera exposal control method synchronous with radar, device, medium and equipment.
In order to solve the above technical problems, technical solution proposed by the present invention are as follows:
It is a kind of to look around the camera exposal control method synchronous with radar, comprising the following steps:
S01, basis look around the scan frequency of the arrangement and radar of each camera mould group in camera, generate each camera mould
The exposure control signal of group；
S02, according to the exposure control signal of each camera mould group, control corresponding camera mould group and be exposed operation.
As a further improvement of the above technical scheme:
During radar rotation, locking phase is carried out to radar by GPS synchronization signal.
The rotary course of radar is at the uniform velocity to rotate.
The arrangement of each camera mould group includes the interval angles of each camera mould group in circumferential direction.
In step S01, when the quantity of camera mould group is n and is uniformly distributed in circumferential direction, each camera mould group
Exposure control signal interval time be T/n, wherein T be the radar scanning period.
In step S01, the control mainboard by looking around camera generates the exposure control signal of each camera mould group.
In step S01, the exposure control signal of each camera mould group is pulse signal.
The camera exposure-control device synchronous with radar is looked around the invention also discloses a kind of, including
Signal generation module, for according to the scanning frequency for looking around the arrangement and radar of each camera mould group in camera
Rate generates the exposure control signal of each camera mould group；
Control module controls corresponding camera mould group and is exposed for the exposure control signal according to each camera mould group
Operation.
The invention also discloses a kind of computer readable storage mediums, store computer program, the computer thereon
Program executes the step of looking around the camera exposal control method synchronous with radar as described above when being run by processor.
The present invention further discloses a kind of computer equipment, including memory and processor, stored on the memory
There is a computer program, the computer program executes that look around camera as described above synchronous with radar when being run by processor
The step of exposal control method.
Compared with the prior art, the advantages of the present invention are as follows:
Of the invention looks around the camera exposal control method synchronous with radar, device, medium and equipment, by looking around camera
In the arrangement of each camera mould group and the scan frequency of radar generate the exposure control signal of each camera mould group, and then realize
Operation is exposed to corresponding camera mould group；Due to generation exposure control signal actually with the scan frequency of radar (or
Scan period) match, the time synchronization for looking around camera Yu radar scanning visual field is realized, thus synchronous acquisition；Above-mentioned control
Method processed by way of triggering corresponding camera exposure, does not need to increase any cost relative to existing radar scanning orientation,
It can carry out free adjustment according to the scan frequency of the arrangement of camera mould group and radar, flexible operation and strong applicability is (i.e.
Suitable for different radar scanning frequencies and different camera installation ways).
Of the invention looks around the camera exposal control method synchronous with radar, device, medium and equipment, synchronous by GPS
Signal or simulation GPS signal carry out locking phase to radar, to realize the school zero to radar site, and then improve radar rotary motion
Precision, to further improve the synchronism for looking around camera and radar.
Detailed description of the invention
Fig. 1 is the method flow diagram of the embodiment of the present invention.
Fig. 2 is the control block diagram in the embodiment of the present invention.
Fig. 3 is the waveform diagram of the camera exposure control signal in the embodiment of the present invention.
Specific embodiment
Below in conjunction with Figure of description and specific embodiment, the invention will be further described.
As shown in Figure 1, the present embodiment looks around the camera exposal control method synchronous with radar, it is suitable for unmanned vapour
Vehicle, unmanned delivery car etc. look around camera using 360 degree wherein looking around camera, the camera mould group (camera) including multiple fixations,
Multiple camera mould groups are arranged in circumferential direction to realize that 360 degree are looked around Image Acquisition；Radar uses laser radar, can be with respect to ring
It is rotated depending on camera；Specific exposal control method the following steps are included:
S01, according to look around the arrangement and radar of each camera mould group in camera scan frequency (or scanning week
Phase), generate the exposure control signal of each camera mould group；
S02, according to the exposure control signal of each camera mould group, control corresponding camera mould group and be exposed operation.
Of the invention looks around the camera exposal control method synchronous with radar, by the cloth for looking around each camera mould group in camera
The scan frequency for setting mode and radar generates the exposure control signal of each camera mould group, and then realizes to corresponding camera mould group
It is exposed operation；Since the exposure control signal of generation actually matches with the scan frequency of radar (or scan period),
The time synchronization for looking around camera Yu radar scanning visual field is realized, thus synchronous acquisition；Above-mentioned control method is relative to existing
It by way of triggering corresponding camera exposure, does not need to increase any cost radar scanning orientation, it can be according to camera mould group
Arrangement and the scan frequency of radar carry out free adjustment, flexible operation and strong applicability is (i.e. suitable for different radars
Scan frequency and different camera installation ways).
In the present embodiment, during radar rotation, by GPS synchronization signal or simulation GPS synchronization signal to radar
Locking phase is carried out, to realize the school zero to radar site, and then the precision of radar rotary motion is improved, to further improve
Look around the synchronism of camera and radar.Certainly, the rotary course of radar is by the way of at the uniform velocity rotating at present, for other rotations
Mode needs to consider corresponding rotation speed rule, then according to rotation speed law generation when being exposed control signal
The exposure control signal at corresponding moment.
In the present embodiment, in step S01, when the quantity of camera mould group is n and is uniformly distributed in circumferential direction,
The exposure control signal interval time of each camera mould group is T/n, and wherein T is the radar scanning period.With radar scanning frequency 10Hz,
It looks around for four arrangements in 90 ° of camera, radar scanning lap time is 100ms, is started between exposing between each camera
Every the time, control is 25ms, and the exposure control signal of generation is as shown in figure 3, be all made of pulse signal.
As shown in Fig. 2, in the present embodiment, exposure control signal and GPS synchronization signal (or simulation GPS synchronization signal, belong to
In routine techniques) it is generated by looking around the control mainboard of camera, camera model (camera) is by looking around the control mainboard of camera
Control exposure, independent of laser radar moving sweep control, avoid the customization of radar, improve system flexibility,
Versatility；Wherein the method for synchronization be suitable on the market mainstream laser radar (such as: velodyne vlp16, vlp32, vls128,
16 lines etc. are drawn by northern section day).
The camera exposure-control device synchronous with radar is looked around the invention also discloses a kind of, including
Signal generation module, for according to the scanning frequency for looking around the arrangement and radar of each camera mould group in camera
Rate generates the exposure control signal of each camera mould group；
Control module controls corresponding camera mould group and is exposed for the exposure control signal according to each camera mould group
Operation.
Exposure-control device of the invention equally has the advantages that described in method as above for executing above-mentioned control method.
The invention also discloses a kind of computer readable storage mediums, store computer program, computer program thereon
When being run by processor, the step of camera exposal control method synchronous with radar, is looked around in execution as described above.The present invention is also
A kind of computer equipment, including memory and processor are further disclosed, is stored with computer program, computer on memory
Program executes the step of looking around the camera exposal control method synchronous with radar as described above when being run by processor.This hair
All or part of the process in bright realization above-described embodiment method, can also be instructed by computer program relevant hardware come
Complete, computer program can be stored in a computer readable storage medium, the computer program when being executed by processor,
The step of above-mentioned each embodiment of the method can be achieved.Wherein, computer program includes computer program code, computer program generation
Code can be source code form, object identification code form, executable file or certain intermediate forms etc..Computer-readable medium can be with
Include: can carry computer program code any entity or device, recording medium, USB flash disk, mobile hard disk, magnetic disk, CD,
Computer storage, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random
Access Memory), electric carrier signal, telecommunication signal and software distribution medium etc..Memory can be used for storing computer journey
Sequence and/or module, processor is by operation or executes the computer program being stored in memory and/or module, and calls
The data being stored in memory realize various functions.Memory may include high-speed random access memory, can also include
Nonvolatile memory, such as hard disk, memory, plug-in type hard disk, intelligent memory card (Smart Media Card, SMC), safety
Digital (Secure Digital, SD) card, flash card (Flash Card), at least one disk memory, flush memory device or
Other volatile solid-state parts etc..
The above is only the preferred embodiment of the present invention, protection scope of the present invention is not limited merely to above-described embodiment,
All technical solutions belonged under thinking of the present invention all belong to the scope of protection of the present invention.It should be pointed out that for the art
For those of ordinary skill, several improvements and modifications without departing from the principles of the present invention should be regarded as protection of the invention
Range.
Claims (10)
1. a kind of look around the camera exposal control method synchronous with radar, which comprises the following steps:
S01, basis look around the scan frequency of the arrangement and radar of each camera mould group in camera, generate each camera mould group
Exposure control signal；
S02, according to the exposure control signal of each camera mould group, control corresponding camera mould group and be exposed operation.
2. according to claim 1 look around the camera exposal control method synchronous with radar, which is characterized in that revolved in radar
During turning, locking phase is carried out to radar by GPS synchronization signal.
3. according to claim 2 look around the camera exposal control method synchronous with radar, which is characterized in that the rotation of radar
Turning over journey is at the uniform velocity to rotate.
4. looking around the camera exposal control method synchronous with radar described according to claim 1 or 2 or 3, which is characterized in that each phase
The arrangement of machine mould group includes the interval angles of each camera mould group in circumferential direction.
5. according to claim 1 or 2 or 3 look around the camera exposal control method synchronous with radar, which is characterized in that In
In step S01, when the quantity of camera mould group is n and is uniformly distributed in circumferential direction, the spectrum assignment of each camera mould group
Signal interval is T/n, and wherein T is the radar scanning period.
6. according to claim 1 or 2 or 3 look around the camera exposal control method synchronous with radar, which is characterized in that In
In step S01, the control mainboard by looking around camera generates the exposure control signal of each camera mould group.
7. according to claim 1 or 2 or 3 look around the camera exposal control method synchronous with radar, which is characterized in that In
In step S01, the exposure control signal of each camera mould group is pulse signal.
8. a kind of look around the camera exposure-control device synchronous with radar, which is characterized in that including
Signal generation module, for according to the scan frequency for looking around the arrangement and radar of each camera mould group in camera, life
At the exposure control signal of each camera mould group；
Control module controls corresponding camera mould group and is exposed operation for the exposure control signal according to each camera mould group.
9. a kind of computer readable storage medium, stores computer program thereon, which is characterized in that the computer program exists
It is executed when being run by processor and looks around the camera spectrum assignment synchronous with radar as claimed in any of claims 1 to 7 in one of claims
The step of method.
10. a kind of computer equipment, including memory and processor, computer program, feature are stored on the memory
It is, the computer program is executed when being run by processor looks around camera as claimed in any of claims 1 to 7 in one of claims
The step of synchronous with radar exposal control method.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910758822.9A CN110488318A (en) | 2019-08-16 | 2019-08-16 | Look around the camera exposal control method synchronous with radar, device, medium and equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910758822.9A CN110488318A (en) | 2019-08-16 | 2019-08-16 | Look around the camera exposal control method synchronous with radar, device, medium and equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110488318A true CN110488318A (en) | 2019-11-22 |
Family
ID=68551418
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910758822.9A Pending CN110488318A (en) | 2019-08-16 | 2019-08-16 | Look around the camera exposal control method synchronous with radar, device, medium and equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110488318A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113325838A (en) * | 2021-04-23 | 2021-08-31 | 武汉光庭信息技术股份有限公司 | Multi-sensor time synchronization method and device based on camera exposure characteristics |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104730539A (en) * | 2015-03-06 | 2015-06-24 | 河南四维远见信息技术有限公司 | Low-altitude light and small infrared and laser radar integrated system |
| CN107807365A (en) * | 2017-10-20 | 2018-03-16 | 国家林业局昆明勘察设计院 | Small-sized digital photography there-dimensional laser scanning device for the unmanned airborne vehicle in low latitude |
| CN108957478A (en) * | 2018-07-23 | 2018-12-07 | 上海禾赛光电科技有限公司 | Multisensor synchronous sampling system and its control method, vehicle |
| CN109253720A (en) * | 2018-10-30 | 2019-01-22 | 上海禾赛光电科技有限公司 | A kind of camera and laser radar emerging system |
| CN109471128A (en) * | 2018-08-30 | 2019-03-15 | 福瑞泰克智能系统有限公司 | A kind of positive sample production method and device |
| US20190098233A1 (en) * | 2017-09-28 | 2019-03-28 | Waymo Llc | Synchronized Spinning LIDAR and Rolling Shutter Camera System |
| CN109634263A (en) * | 2018-12-29 | 2019-04-16 | 深圳市易成自动驾驶技术有限公司 | Based on data synchronous automatic Pilot method, terminal and readable storage medium storing program for executing |
| US20190120948A1 (en) * | 2017-10-19 | 2019-04-25 | DeepMap Inc. | Lidar and camera synchronization |
| CN110082739A (en) * | 2019-03-20 | 2019-08-02 | 深圳市速腾聚创科技有限公司 | Method of data synchronization and equipment |
-
2019
- 2019-08-16 CN CN201910758822.9A patent/CN110488318A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104730539A (en) * | 2015-03-06 | 2015-06-24 | 河南四维远见信息技术有限公司 | Low-altitude light and small infrared and laser radar integrated system |
| US20190098233A1 (en) * | 2017-09-28 | 2019-03-28 | Waymo Llc | Synchronized Spinning LIDAR and Rolling Shutter Camera System |
| US20190120948A1 (en) * | 2017-10-19 | 2019-04-25 | DeepMap Inc. | Lidar and camera synchronization |
| CN107807365A (en) * | 2017-10-20 | 2018-03-16 | 国家林业局昆明勘察设计院 | Small-sized digital photography there-dimensional laser scanning device for the unmanned airborne vehicle in low latitude |
| CN108957478A (en) * | 2018-07-23 | 2018-12-07 | 上海禾赛光电科技有限公司 | Multisensor synchronous sampling system and its control method, vehicle |
| CN109471128A (en) * | 2018-08-30 | 2019-03-15 | 福瑞泰克智能系统有限公司 | A kind of positive sample production method and device |
| CN109253720A (en) * | 2018-10-30 | 2019-01-22 | 上海禾赛光电科技有限公司 | A kind of camera and laser radar emerging system |
| CN109634263A (en) * | 2018-12-29 | 2019-04-16 | 深圳市易成自动驾驶技术有限公司 | Based on data synchronous automatic Pilot method, terminal and readable storage medium storing program for executing |
| CN110082739A (en) * | 2019-03-20 | 2019-08-02 | 深圳市速腾聚创科技有限公司 | Method of data synchronization and equipment |
Non-Patent Citations (1)
| Title |
|---|
| LIDARPLAYER: "Velodyne激光雷达Phase Lock介绍及实现", Retrieved from the Internet <URL:https://blog.csdn.net/qq_42532369/article/details/90638489> * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113325838A (en) * | 2021-04-23 | 2021-08-31 | 武汉光庭信息技术股份有限公司 | Multi-sensor time synchronization method and device based on camera exposure characteristics |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106370162B (en) | Animal species decision maker | |
| CN108021862A (en) | Road sign identifies | |
| US11195028B2 (en) | Real-time simultaneous detection of lane marker and raised pavement marker for optimal estimation of multiple lane boundaries | |
| CN108271408A (en) | Use passive and actively measurement generation scene three-dimensional map | |
| US11195353B2 (en) | Methods, devices, and systems for communicating autonomous-vehicle status | |
| CN108647638A (en) | A kind of vehicle location detection method and device | |
| CN108202741A (en) | Vehicle and method for controlling a vehicle | |
| CN109686031A (en) | Identification follower method based on security protection | |
| US10860034B1 (en) | Barrier detection | |
| CN110312639A (en) | Vehicle assistant drive device, vehicle and information processing method | |
| CN109682388A (en) | Follow the determination method in path | |
| JP2019207653A (en) | Detection device and detection system | |
| CN112673280A (en) | Road detection method for a motor vehicle equipped with a LIDAR sensor | |
| CN109583312A (en) | Lane detection method, apparatus, equipment and storage medium | |
| EP3769115A1 (en) | Methods and systems for identifying material composition of moving objects | |
| CN109981980A (en) | Over the horizon real-time display method, system, storage medium and computer equipment | |
| CN110488318A (en) | Look around the camera exposal control method synchronous with radar, device, medium and equipment | |
| CN110291414A (en) | Distance-measuring device and distance measurement method | |
| JP2019207654A (en) | Detection device and detection system | |
| CN109285381A (en) | For detecting the method and system of the free area in parking lot | |
| Mishra et al. | ADAS technology: a review on challenges, legal risk mitigation and solutions | |
| CN113192217B (en) | Fee evasion detection method, fee evasion detection device, computer equipment and medium | |
| CN112352169A (en) | Method and device for detecting an environment and vehicle having such a device | |
| CN110386088A (en) | System and method for executing vehicle variance analysis | |
| US11648963B2 (en) | Driving control apparatus for automated driving vehicle, stop target, and driving control system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20191122 |