CN111983616A - Automatic adjusting system and method for unmanned vehicle radar and unmanned vehicle - Google Patents
Automatic adjusting system and method for unmanned vehicle radar and unmanned vehicle Download PDFInfo
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- CN111983616A CN111983616A CN202010760592.2A CN202010760592A CN111983616A CN 111983616 A CN111983616 A CN 111983616A CN 202010760592 A CN202010760592 A CN 202010760592A CN 111983616 A CN111983616 A CN 111983616A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L17/00—Devices or apparatus for measuring tyre pressure or the pressure in other inflated bodies
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/882—Radar or analogous systems specially adapted for specific applications for altimeters
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
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Abstract
The present disclosure relates to an automatic adjustment system and method for an unmanned vehicle radar, and an unmanned vehicle, the automatic adjustment system including: the radar detection device comprises a first detection unit, a second detection unit, a driving unit, a processing unit and a radar; the first detection unit, the second detection unit and the driving unit are all connected with the processing unit, and the radar is adjustably fixed on the side of the unmanned vehicle body through the driving unit; the first detection unit is used for detecting the space state of the unmanned vehicle body, the second detection unit is used for detecting the space state of the radar, and the processing unit is used for utilizing the driving unit to automatically adjust the space state of the radar based on the detected space state of the unmanned vehicle body and the space state of the radar. The embodiment of the disclosure can improve the problem that the radar calibration of the existing unmanned vehicle is more complicated.
Description
Technical Field
The disclosure relates to the technical field of automatic driving, in particular to an automatic adjusting system and method of an unmanned vehicle radar and an unmanned vehicle.
Background
With the development of vehicle technology, unmanned vehicles come along. The unmanned vehicle is an intelligent vehicle which senses the surrounding environment through a vehicle-mounted sensing system, automatically plans a driving route and controls the vehicle to reach a preset target place (namely a destination). The intelligent control system integrates a plurality of technologies such as automatic control, a system structure, artificial intelligence, visual calculation and the like, is a product of high development of computer science, mode recognition and intelligent control technologies, and has wide application prospect in the fields of national defense and national economy.
Wherein the vehicle-mounted sensor comprises a laser radar. At the present stage, a laser radar applied to an unmanned vehicle is usually fixed to a sheet metal part, errors exist in the installation X, Y, Z direction and the rotation posture of the laser radar, although a compensation value of the errors can be set, if the errors are large or the posture of the whole vehicle is changed greatly, positioning points with the same theory cannot be guaranteed, and the calibration process is complex.
Disclosure of Invention
To solve the above technical problem or at least partially solve the above technical problem, the present disclosure provides an automatic adjustment system and method of an unmanned vehicle radar, and an unmanned vehicle.
The present disclosure provides an automatic adjustment system of an unmanned vehicle radar, which includes a first detection unit, a second detection unit, a driving unit, a processing unit and a radar;
the first detection unit, the second detection unit and the driving unit are all connected with the processing unit, and the radar is adjustably fixed on the side of the unmanned vehicle body through the driving unit; the first detection unit is used for detecting the space state of the unmanned vehicle body, the second detection unit is used for detecting the space state of the radar, and the processing unit is used for utilizing the driving unit to automatically adjust the space state of the radar based on the detected space state of the unmanned vehicle body and the space state of the radar.
The present disclosure also provides an automatic adjustment method for an unmanned vehicle radar, which can be implemented by applying the automatic adjustment system for an unmanned vehicle radar, and the automatic adjustment method for an unmanned vehicle radar includes:
the first detection unit detects a spatial state of a vehicle body of the unmanned vehicle;
the second detection unit detects a spatial state of the radar;
the processing unit automatically adjusts the space state of the radar by using the driving unit based on the space state of the body of the unmanned vehicle and the space state of the radar.
The present disclosure also provides an unmanned vehicle including the automatic adjustment system of the above unmanned vehicle radar.
Compared with the prior art, the technical scheme provided by the embodiment of the disclosure has the following advantages: through setting up first detecting element, second detecting element, drive unit and processing unit to and set up the spatial state that first detecting element is used for detecting the automobile body of unmanned car, the second detecting element is used for detecting the spatial state of radar, processing unit is used for the spatial state based on the automobile body of unmanned car that detects and the spatial state of radar, utilizes the spatial state of drive unit automatically regulated radar, can realize the automated inspection and the self feedback regulation of radar, thereby be favorable to reducing the demarcation complexity of radar.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure.
In order to more clearly illustrate the embodiments or technical solutions in the prior art of the present disclosure, the drawings used in the description of the embodiments or prior art will be briefly described below, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive exercise.
Fig. 1 is a schematic structural diagram of an automatic adjustment system of an unmanned vehicle radar according to an embodiment of the present disclosure;
fig. 2 is a schematic structural diagram of another automatic adjustment system for an unmanned vehicle radar according to an embodiment of the present disclosure;
fig. 3 is a schematic diagram of a relative position relationship between an unmanned vehicle and a radar in a three-dimensional coordinate system according to an embodiment of the present disclosure;
fig. 4 is a schematic structural diagram of an automatic adjustment system of another unmanned vehicle radar provided in the embodiment of the present disclosure;
fig. 5 is a schematic structural diagram of an automatic adjustment system of another unmanned vehicle radar provided in the embodiment of the present disclosure;
fig. 6 is a schematic flow chart of an automatic adjustment method of an unmanned vehicle radar according to an embodiment of the present disclosure;
fig. 7 is a schematic flow chart of another automatic adjustment method for an unmanned vehicle radar according to an embodiment of the present disclosure.
In the embodiment of the present disclosure, the correspondence between the reference number and the structure name: 00. unmanned vehicles; 11. a radar; 12. a drive unit; 13. a processing unit; 14. a first detection unit; 15. a second detection unit; 121. a motor; 122. a motion mechanism; 123. a load-bearing platform; 141. a tilt sensor; 142. a tire pressure sensor; 143. a shaft height sensor; 151. a load-bearing platform position sensor.
Detailed Description
In order that the above objects, features and advantages of the present disclosure may be more clearly understood, aspects of the present disclosure will be further described below. It should be noted that the embodiments and features of the embodiments of the present disclosure may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present disclosure, but the present disclosure may be practiced in other ways than those described herein; it is to be understood that the embodiments disclosed in the specification are only a few embodiments of the present disclosure, and not all embodiments.
The automatic regulating system of the unmanned vehicle radar provided by the embodiment of the disclosure can keep the consistency of a plurality of vehicles in a hardware structure in the calibration process of the unmanned vehicle radar; the space state of the radar can be automatically adjusted, and repeated calibration work is reduced; in addition, after the unmanned vehicle runs for a long time or slightly collides, the installation position of the radar can be changed, and the radar can be driven to move by the driving unit based on the space state of the vehicle body detected by the first detection unit and the space state of the radar detected by the second detection unit without reworking and manual adjustment and repeated calibration, so that the automatic adjustment of the space state of the radar is realized. Therefore, the calibration and correction process of the radar is simple. The automatic adjustment system and method for the unmanned vehicle and the radar thereof provided by the embodiment of the disclosure are exemplarily described below with reference to fig. 1 to 7.
Fig. 1 is a schematic structural diagram of an automatic adjustment system of an unmanned vehicle radar provided in an embodiment of the present disclosure, and fig. 2 is a schematic structural diagram of another automatic adjustment system of an unmanned vehicle radar provided in an embodiment of the present disclosure. Referring to fig. 1 and 2, the automatic adjustment system of the unmanned vehicle radar includes a first detection unit 14, a second detection unit 15, a driving unit 12, a processing unit 13, and a radar 11; the first detection unit 14, the second detection unit 15 and the driving unit 12 are all connected with the processing unit 13, and the radar 11 is adjustably fixed on the vehicle body side of the unmanned vehicle 00 through the driving unit 12; the first detection unit 14 is used for detecting the space state of the vehicle body of the unmanned vehicle 00, the second detection unit 15 is used for detecting the space state of the radar 11, and the processing unit 13 is used for automatically adjusting the space state of the radar 11 by the driving unit 12 based on the detected space state of the vehicle body of the unmanned vehicle 00 and the space state of the radar 11.
The spatial state may include a position in space and an attitude at the position, and may represent a position and an attitude of the vehicle body of the unmanned vehicle 00 or the radar 11 in space, which is described below in connection with a three-dimensional coordinate system.
The spatial state of the radar 11 can be adjusted based on the spatial state of the vehicle body of the unmanned vehicle 00 to ensure that the relative positions and the relative postures (e.g. the spatial posture angles such as the pitch angle, the roll angle and the yaw angle) of the two are consistent, thereby being beneficial to realizing the consistency of multiple vehicles.
Before the spatial state of the radar 11 is adjusted, the spatial states of the radar 11 and the vehicle body of the unmanned vehicle 00 need to be determined. In the embodiment of the present disclosure, the first detection unit 14 detects the spatial state of the vehicle body of the unmanned vehicle 00, and the second detection unit 15 detects the spatial state of the radar 11, thereby providing data support for adjusting the spatial state of the radar 11.
In the automatic adjustment system of the unmanned vehicle radar provided by the embodiment of the disclosure, the first detection unit 14 may be configured to detect a spatial position and a posture of a vehicle body of the unmanned vehicle 00, the second detection unit 15 may be configured to detect a spatial position and a posture of the radar 11, and the processing unit 13 may drive the radar 11 to move by using the driving unit 12 based on the spatial position and the posture of the vehicle body of the unmanned vehicle 00 and the radar 11, so as to adjust the spatial position and the posture of the radar 11, thereby achieving automatic adjustment of the radar, and thus, a calibration mode of the radar 11 is simpler, and repeated calibration work may be reduced; meanwhile, the consistency of the hardware structures of the unmanned vehicles 00 is kept.
The connection between the first detecting unit 14, the second detecting unit 15, and the driving unit 12 and the processing unit 13 is a communication connection, and in an actual product structure, the connection may be a wired connection or a wireless connection, which is not limited in the embodiment of the present disclosure.
In an embodiment, fig. 3 is a schematic diagram of a relative position relationship between an unmanned vehicle and a radar in a three-dimensional stereo coordinate system according to an embodiment of the present disclosure, which exemplarily shows an XYZ coordinate system. Combining fig. 2 and fig. 3, the spatial state includes a coordinate position based on a three-dimensional stereo coordinate system and a rotation angle.
The three-dimensional coordinate system is a three-dimensional space coordinate system and can be determined by two mutually perpendicular three directions (or called three axial directions), such as a first direction X, a second direction Y and a third direction Z.
Based on this, the coordinate position in the coordinate system may be shown by the coordinates of the perpendicular projection in three axial directions, e.g. (x0, y0, z 0); the angle of rotation can be shown by the rotation in three axial directions, e.g., (xa, yb, zc).
With reference to fig. 1 and fig. 2, the first detecting unit 14 is configured to detect a spatial position and a rotation angle of the body of the unmanned vehicle 00 in the three-dimensional coordinate system, the second detecting unit 15 is configured to detect a spatial position and a rotation angle of the radar 11 in the three-dimensional coordinate system, the processing unit 13 determines a relative spatial relationship between the body of the unmanned vehicle 00 and the radar 11 based on the spatial position and the rotation angle detected by the first detecting unit 14 and the second detecting unit 15, and drives the radar 11 to move by using the driving unit 12, so that the radar 11 is located at a calibration position relative to the body of the unmanned vehicle 00, and thus the automatic adjustment of the radar 11 can be achieved.
Illustratively, the adjusting of the radar 11 may include translating and/or rotating the radar 11 in at least one of the first direction X, the second direction Y, and the third direction Z to achieve precise adjustment of the spatial state of the radar 11.
In other embodiments, the spatial position and the attitude of the body of the unmanned vehicle 00 and the radar 11 may also be determined based on other types of coordinate systems known to those skilled in the art, which is not limited by the embodiment of the present disclosure.
In one embodiment, with continued reference to FIG. 2, the body side includes a roof.
Among them, by disposing the radar 11 on the roof of the unmanned vehicle 00, a large detection angle of view can be obtained, and the installation of the radar 11 is facilitated.
In other embodiments, the radar 11 may be further disposed on a front side, a side, or a bottom of the unmanned vehicle 00 according to requirements of the unmanned vehicle 00 and its radar automatic adjustment system, which is not limited in this disclosure.
In an embodiment, fig. 4 is a schematic structural diagram of an automatic adjustment system of an unmanned vehicle radar according to an embodiment of the present disclosure. Referring to fig. 4, the driving unit 12 includes a motor 121, a moving mechanism 122, and a carrying platform 123; the radar is fixedly arranged on the bearing platform 123; the motor 121 drives the bearing platform 123 to move through the moving mechanism 122 so as to adjust the spatial state of the radar 11.
The bearing platform 123 can translate and/or rotate along three axial directions of the three-dimensional coordinate system, the radar 11 of the unmanned vehicle 00 is mounted and fixed on the bearing platform 123, and the bearing platform 123 can drive the radar 11 to move, so that the space positions and postures of the radar 111 and the bearing platform 123 in the three-dimensional coordinate system can change synchronously.
The bearing platform 123 is controlled by the motor 121, and the motor 121 can drive the bearing platform 123 to move through the movement mechanism 122.
Illustratively, the motor 121 and the moving mechanism 122 may be embedded in the body of the unmanned vehicle 00, and the motor 121 may be selected as a high-precision motor, so as to achieve precise control of the spatial state of the bearing platform 123 and the radar 11 driven by the bearing platform.
It should be noted that the accuracy of the motor 121 may be set according to the requirement of the automatic adjustment system of the unmanned vehicle radar, which is not limited in the embodiment of the present disclosure.
In an embodiment, fig. 5 is a schematic structural diagram of an automatic adjustment system of an unmanned vehicle radar according to an embodiment of the present disclosure. Referring to fig. 5, the first detection unit 14 includes a tilt angle sensor 141 and a tire air pressure sensor 142; the inclination sensor 141 is used to detect the body posture of the unmanned vehicle 00, and the tire pressure sensor 142 is used to detect the tire pressure of the unmanned vehicle 00.
Among them, the inclination sensor 141 may be used to detect the posture of the body of the unmanned vehicle 00 in order to determine the spatial state of the body of the unmanned vehicle 00. The tire pressure sensor 142 may be installed at each tire position for detecting the tire air pressure of each tire of the unmanned vehicle 00. The data detected by the inclination sensor 141 and the tire pressure sensor 142 are compared with preset parameters in the processing unit 13 (e.g., a central control host unit), and the reference level of the radar 11 installed on the unmanned vehicle 00 in the space state can be obtained through processing by a control algorithm.
In an embodiment, with continued reference to fig. 5, the first detection unit 14 further includes an axle height sensor 143; the axle height sensor 143 detects the height of the front and rear axles of the unmanned vehicle 00.
The heights of the front and rear axes may correspond to the spatial posture of the vehicle body of the unmanned vehicle 00, and the heights of the front and rear axes of the unmanned vehicle 00 detected by the axis height sensor 143 may be mutually verified with the vehicle body posture of the unmanned vehicle 00 detected by the posture sensor 141 and the tire air pressure condition detected by the tire pressure sensor 142, so as to ensure the accuracy of the spatial state of the vehicle body of the unmanned vehicle 00 and facilitate the precise adjustment of the spatial state of the radar 11.
In other embodiments, the first detection unit 141 may further include another sensor for detecting a spatial state of the unmanned vehicle 00, which is not limited in the embodiment of the present disclosure.
In one embodiment, with continued reference to fig. 5, the second detection unit 15 includes a load-bearing platform position sensor 151; the platform position sensor 151 is used to detect a position signal of the platform 123 to determine the spatial state of the radar 11.
The bearing platform 123 and the radar 11 move synchronously, and the spatial positions of the bearing platform and the radar are relatively fixed. Therefore, by providing the platform position sensor 151 to detect the position of the platform 123, the position of the radar 11 can be determined, so as to adjust the position of the radar 11.
In other embodiments, it may also be provided that the second detection unit 15 comprises a motor mechanism position sensor, which may be used to detect a reference position of the radar 11.
Based on this, in combination with the above, the first detection unit 14 and the second detection unit 15 can compare parameters such as the body attitude of the unmanned vehicle 00, the tire air pressure, and the reference position of the radar 11 with the preset parameters in the central control host unit, and establish the reference position of the radar 11 in the current spatial state of the unmanned vehicle 00 by the compensation algorithm. The central control host unit also sends out a control instruction after operation based on the front and rear shaft height signals detected by the shaft height sensor 143 and the position signals of multiple degrees of freedom of the motor shaft by comparing the reference phase related data of the radar 11 so as to control the motor 121 to automatically complete the position adjustment of each dimension; when the error accumulation of the reference position of the radar 11 is large or the installation accuracy is poor, the reference position can be automatically adjusted to the designed reference position, and the consistency of the reference positions of the multi-vehicle radar is ensured. After long-time running or collision, the radar can return to the calibrated initial position according to calculation control, and the position of the system is frequently corrected, so that the position of the radar relative to the vehicle body of the unmanned vehicle is ensured to be consistent, and the accurate positioning and the attitude determination of the unmanned vehicle by utilizing the radar are ensured.
In the above embodiments, the radar 11 may be a laser radar or other types of radars known to those skilled in the art, which is not limited by the embodiments of the present disclosure.
The laser radar of the unmanned vehicle provided by the embodiment of the disclosure can be installed on a platform (namely, a bearing platform 123) supporting multi-dimensional (comprising three-dimensional stereo coordinate system, three axial translation and rotation) adjustment, the bearing platform 123 can be controlled by a high-precision motor, and the multi-dimensional adjustment can be realized through a movement mechanism; the motor and the motion mechanism can be embedded into the unmanned vehicle body, when the unmanned vehicle laser radar is calibrated, the whole vehicle is placed on the calibration platform, the vehicle is internally provided with the tilt angle sensor, the tire pressure sensor and the motor mechanism reference position sensor, parameters such as the posture of the vehicle body, the tire pressure, the reference position of the laser radar and the like can be correspondingly compared with preset parameters in the central control host unit, the reference position of the laser radar is determined through control algorithm processing, and the reference position is written into the storage device, so that the self-checking is completed. The central control host unit also sends a control instruction to the motor after operation according to reference data based on the height position information of the front and rear shafts of the unmanned vehicle and the position signal of multiple degrees of freedom of the motor shaft, and the position adjustment of each dimension of the laser radar is automatically completed by utilizing the driving of the motor.
The automatic regulating system of the unmanned vehicle radar provided by the embodiment of the disclosure at least comprises the following beneficial effects:
1) if the installation reference error and deviation of the laser radar are large, the laser radar can be automatically adjusted to the design reference position through the motor and the movement mechanism without reworking adjustment, so that the adjustment workload can be reduced, and the accuracy of the installation reference of the laser radar of the unmanned vehicle is ensured;
2) the initial position of accessible motor and motion automatic adjustment laser radar can keep the uniformity of many cars at the hardware architecture, and the initial position of the benchmark of long-time operation or slight collision back automatic recovery laser radar can need not to mark laser radar once more, marks the mode simply.
On the basis of the above embodiments, the embodiments of the present disclosure further provide an automatic adjustment method for an unmanned vehicle radar, which can be implemented by applying any one of the automatic adjustment systems for an unmanned vehicle radar provided in the above embodiments. Therefore, the automatic adjustment method for the unmanned vehicle radar also has the beneficial effects of the automatic adjustment system for the unmanned vehicle radar in the above embodiment, and the same points can be understood by referring to the explanation of the automatic adjustment system for the unmanned vehicle radar in the above, and the details are not repeated herein.
Exemplarily, fig. 6 is a schematic flow chart of an automatic adjustment method of an unmanned vehicle radar according to an embodiment of the present disclosure. Referring to fig. 6, the automatic adjustment method of the unmanned vehicle radar may include:
s210, detecting the space state of the unmanned vehicle body by a first detection unit.
Wherein this step prepares for S230.
For example, the first detection unit may include an inclination sensor, a tire pressure sensor, and a shaft height sensor. Based on this, the step can include that the inclination angle sensor detects the body posture of the unmanned vehicle, the tire pressure sensor detects the tire pressure without any tire, and the axle height sensor detects the front and rear axle height of the unmanned vehicle.
In other embodiments, this step may further include detecting other parameters related to the spatial state of the unmanned vehicle, which is not limited in this disclosure.
S220, the second detection unit detects the space state of the radar.
Wherein this step prepares for S230.
For example, the radar may be fixed to a load-bearing platform of the drive unit, and the second detection unit may include a load-bearing platform position sensor. Because the relative position of the radar and the bearing platform is fixed, the bearing platform position sensor can calculate and determine the space attitude of the radar after detecting the position of the bearing platform.
In other embodiments, this step may further include detecting other parameters related to the spatial attitude of the radar, which is not limited by the embodiments of the present disclosure.
And S230, the processing unit automatically adjusts the space state of the radar by using the driving unit based on the space state of the unmanned vehicle body and the space state of the radar.
The space position and the posture of the radar and the space position and the posture of the unmanned vehicle body are kept relatively fixed, namely the space state of the radar corresponds to the space state of the unmanned vehicle body, and the space state of the radar can be adjusted based on the space state of the vehicle body. Illustratively, when the vehicle head side of the vehicle body is lower than the vehicle tail side, the height of the radar corresponding to the vehicle head side is lower than the height of the radar corresponding to the vehicle tail side; otherwise, the same principle is applied.
In various embodiments, the parameters related to the spatial state of the vehicle body include, but are not limited to, vehicle body attitude, tire air pressure, and front-rear axle height. The space state related parameters of the radar include, but are not limited to, the space position of the bearing platform, the reference position of the motor mechanism, the space position and attitude of the radar, and the like.
In other embodiments, S210 and S220 may be executed in parallel, or S220 may also be executed before S210, which is not limited in this disclosure.
In practical application, the step S210 and the step S220 can be executed simultaneously, that is, the two detection steps are executed simultaneously, so that the spatial state of the vehicle body of the unmanned vehicle and the spatial state of the radar can be detected simultaneously in the same time period, the time consistency of the spatial states of the unmanned vehicle and the radar is ensured, and the accurate adjustment of the spatial state of the radar is facilitated.
The automatic adjusting method of the unmanned vehicle laser radar provided by the embodiment of the disclosure can be applied to the processes of vehicle assembly, radar calibration and vehicle operation and maintenance. According to the automatic adjusting method, the first detection unit is arranged for detecting the space state of the unmanned vehicle body, the second detection unit is used for detecting the space state of the radar, the processing unit is used for automatically adjusting the space state of the radar based on the detected space state of the unmanned vehicle body and the detected space state of the radar, the automatic detection and the self-feedback adjustment of the radar can be achieved, and therefore the calibration complexity of the radar can be reduced.
In an embodiment, fig. 7 is a schematic flow chart of another automatic adjustment method for an unmanned vehicle radar according to an embodiment of the present disclosure. On the basis of fig. 6, referring to fig. 7, the automatic adjustment method for the unmanned vehicle radar may further include:
s310, a first detection unit detects the space state of the unmanned vehicle body in real time.
Wherein this step prepares for S330. The explanation of S210 can be understood with reference to the above description, and is not repeated herein.
And S320, detecting the space state of the radar in real time by the second detection unit.
Wherein this step prepares for S330. The explanation of S220 can be understood with reference to the above description, and is not repeated herein.
S330, the processing unit judges whether the radar deviates from the reference position or not based on the space state of the vehicle body of the unmanned vehicle and the space state of the radar.
The processing unit may determine a current reference position of the radar based on a current spatial state of the vehicle body of the unmanned vehicle, and may determine whether the radar deviates from the current reference position by comparing the spatial state of the radar with the current reference position. It is to be understood that "offset from the reference position" may include at least one of an offset distance in the axial direction and an offset angle in the axial direction; meanwhile, "deviation" can be understood as exceeding the allowable deviation range.
If yes, i.e., the radar is deviated from the reference position, S340 is performed.
And S340, automatically correcting the position of the radar by the driving unit under the control of the processing unit.
In the step, the processing unit sends a control instruction to the driving unit, and the driving unit automatically adjusts the spatial position and the attitude of the radar according to the control instruction, so that the automatic correction of the radar is realized. For example, after the unmanned vehicle runs for a long time or slightly collides, the radar can be automatically restored to the current reference position, so that the radar does not need to be calibrated again, and the radar calibration and positioning process is facilitated to be simplified.
In other embodiments, S310 and S320 may be executed in parallel, or S320 may also be executed before S310, which is not limited in this disclosure.
On the basis of the above embodiments, the embodiments of the present disclosure further provide an unmanned vehicle, which may include any one of the automatic adjustment systems of the unmanned vehicle radar provided in the above embodiments. Therefore, the unmanned vehicle also has the advantages of the automatic adjustment system of the unmanned vehicle radar provided by the above embodiment, and the same points can be understood by referring to the above explanation of the automatic adjustment system of the unmanned vehicle radar, which is not repeated herein.
In other embodiments, the unmanned vehicle may further include other structural components or functional components known to those skilled in the art, which are not described or limited in this disclosure.
It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The foregoing are merely exemplary embodiments of the present disclosure, which enable those skilled in the art to understand or practice the present disclosure. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the disclosure. Thus, the present disclosure is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. An automatic adjusting system of an unmanned vehicle radar is characterized by comprising a first detection unit, a second detection unit, a driving unit, a processing unit and a radar;
the first detection unit, the second detection unit and the driving unit are all connected with the processing unit, and the radar is adjustably fixed on the side of the unmanned vehicle body through the driving unit; the first detection unit is used for detecting the space state of the unmanned vehicle body, the second detection unit is used for detecting the space state of the radar, and the processing unit is used for utilizing the driving unit to automatically adjust the space state of the radar based on the detected space state of the unmanned vehicle body and the space state of the radar.
2. The autonomous adjustment system of an unmanned vehicle radar as claimed in claim 1, wherein the spatial state includes a coordinate position based on a three-dimensional stereo coordinate system and a rotation angle.
3. The automated adjustment system for an unmanned vehicle radar of claim 1, wherein the body side includes a roof, the radar being fixedly mounted to the roof of the unmanned vehicle.
4. The automatic adjustment system of an unmanned vehicle radar of any of claims 1-3, wherein the drive unit comprises a motor, a motion mechanism, and a load-bearing platform;
the radar is fixedly arranged on the bearing platform;
the motor drives the bearing platform to move through the moving mechanism so as to adjust the space state of the radar.
5. The automatic adjustment system of an unmanned vehicle radar of claim 4, wherein the first detection unit includes an inclination sensor and a tire pressure sensor;
the inclination angle sensor is used for detecting the body posture of the unmanned vehicle, and the tire pressure sensor is used for detecting the tire pressure of the unmanned vehicle.
6. The automatic adjustment system of an unmanned vehicle radar of claim 5, wherein the first detection unit further comprises an axle height sensor;
the axle height sensor is used for detecting the height of the front axle and the rear axle of the unmanned vehicle.
7. The autonomous adjusting system of unmanned vehicle radar of claim 4, wherein the second detecting unit includes a load-bearing platform position sensor;
the bearing platform position sensor is used for detecting a position signal of the bearing platform so as to determine the space state of the radar.
8. An automatic adjustment method of an unmanned vehicle radar, which is performed by the automatic adjustment system of an unmanned vehicle radar according to any one of claims 1 to 7, the automatic adjustment method of an unmanned vehicle radar comprising:
the first detection unit detects a spatial state of a vehicle body of the unmanned vehicle;
the second detection unit detects a spatial state of the radar;
the processing unit automatically adjusts the space state of the radar by using the driving unit based on the space state of the body of the unmanned vehicle and the space state of the radar.
9. The automatic adjustment method for an unmanned vehicle radar of claim 8, further comprising:
the first detection unit detects the space state of the unmanned vehicle body in real time;
the second detection unit detects the space state of the radar in real time;
the processing unit judges whether the radar deviates from a reference position based on the space state of the unmanned vehicle body and the space state of the radar;
if yes, the driving unit automatically corrects the position of the radar under the control of the processing unit.
10. An unmanned vehicle comprising an automatic adjustment system for an unmanned vehicle radar according to any one of claims 1 to 7.
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