CN112558045A - Offline acceptance method for multi-line laser radar function of automatic driving equipment - Google Patents
Offline acceptance method for multi-line laser radar function of automatic driving equipment Download PDFInfo
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- CN112558045A CN112558045A CN202011437265.XA CN202011437265A CN112558045A CN 112558045 A CN112558045 A CN 112558045A CN 202011437265 A CN202011437265 A CN 202011437265A CN 112558045 A CN112558045 A CN 112558045A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/497—Means for monitoring or calibrating
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Abstract
The invention relates to the field of a method for checking a multi-line laser radar function, and particularly discloses a method for checking the offline acceptance of the multi-line laser radar function of automatic driving equipment, wherein a scanning detection platform is established, and comprises an equipment parking area, a motion track, a moving trolley, a target object and a detection system; moving the automatic driving equipment to be offline for acceptance inspection to an equipment parking area; thirdly, starting the scanning work of the multi-line laser radar, starting the moving trolley to move, and generating laser scanning data by the multi-line laser radar; the fourth detection system acquires laser scanning data and judges whether the frame number of the laser scanning target object in a time period in the laser scanning data is consistent with the theoretical frame number; whether the coordinates of the clustering center point accord with the coordinate system of the multi-line laser radar or not is judged through the clustering method, whether the function of the multi-line laser radar is normal or not can be quickly and effectively detected through the method, the method is particularly suitable for checking acceptance under mass production, the checking acceptance result is accurate and reliable, the implementation is easy, and the using operation process is simple.
Description
Technical Field
The invention relates to the field of methods for automatically driving and detecting functions of a multi-line laser radar.
Background
Along with the rapid development of intelligent science and technology, the application of the multi-line laser radar is more and more extensive, and especially the use on some autopilot equipment is indispensable more, and the multi-line laser radar reaches the laser scanning in 360 degrees scopes through launching and receiving multibeam laser simultaneously in autopilot equipment, obtains the laser scanning data and is used for the judgement of vehicle surrounding environment, object. Therefore, it is very important that the function of the multiline laser radar can be normally used on the automatic driving equipment, and the basic requirement for realizing safe and effective automatic driving of the automatic driving equipment is met.
At present, there are various function inspection methods for the multi-line laser radar, but according to the use of the multi-line laser radar on different outdoor mobile devices, the installation of the multi-line laser radar at different positions on the devices, and the like, the existing function inspection methods are not necessarily applicable, and not necessarily capable of achieving the comprehensive detection of functions, and can effectively detect the required normal function requirements, such as whether the response frequency of the laser scanning function meets the normal requirements, whether the azimuth deviation of the laser scanning data occurs, whether the laser scanning data conforms to the real scene, and the like.
Disclosure of Invention
The invention aims to provide an offline acceptance method for the multi-line laser radar function of automatic driving equipment, which can quickly and effectively detect whether the multi-line laser radar function is normal or not and is particularly suitable for offline acceptance of the multi-line laser radar function by mass production automatic driving equipment.
In order to realize the purpose, the technical scheme of the invention is as follows: an offline acceptance method of an automatic driving device with a multi-line laser radar function comprises the following steps,
the method comprises the steps that firstly, a scanning detection platform is pre-established, the scanning detection platform comprises an equipment parking area, a motion track, a moving trolley, a target object and a detection system, the equipment parking area is used for fixed-point, directional and horizontal parking of automatic driving equipment, the motion track is transversely arranged in front of one side, corresponding to a parked automatic driving equipment head, of the equipment parking area according to a set distance position, the moving trolley is provided with a driving device for driving the moving trolley to move on the motion track, the moving trolley is controlled to be started and stopped by an independent controller or controlled to be started and stopped by the detection system, and the target object is vertically arranged on the moving trolley;
moving the automatic driving equipment to be offline for acceptance inspection to an equipment parking area, and parking the automatic driving equipment at a fixed point and a directional position according to the use requirement of the scanning detection platform;
starting scanning work of the multi-line laser radar on the automatic driving equipment, starting the movable trolley to move according to the set moving speed, and generating laser scanning data by the multi-line laser radar;
step four, the detection system acquires laser scanning data, judges whether the number of frames of the laser scanning target object in a time period in the laser scanning data is consistent with the theoretical number of frames of the laser scanning target object in a corresponding time period calculated through known data, judges that the laser scanning frequency is qualified if the frames are consistent, and judges that the laser scanning frequency is unqualified if the frames are not consistent;
and calculating whether the clustering of the target object exists in the laser scanning data through a clustering method, if not, judging that the laser scanning is unqualified due to errors, if so, judging whether the coordinates of the central point of the clustering accord with the coordinate system of the multi-line laser radar, if so, judging that the multi-line laser radar is qualified in function acceptance, and if not, judging that the laser scanning is unqualified due to errors.
By adopting the technical scheme, the invention has the beneficial effects that: the acceptance method obtains accurate and reliable acceptance results, is easy to implement, has simple operation processes of scanning detection platforms and detection, has high detection speed, and is particularly suitable for detection on production lines of mass production automatic driving equipment, thereby realizing the purpose and effect of the invention.
Drawings
Fig. 1 is a schematic diagram of a layout structure of a scanning detection platform of an automatic driving device multiline laser radar function offline acceptance method.
Detailed Description
In order to further explain the technical solution of the invention, the invention is explained in detail by the following specific examples.
In the embodiment, the automatic driving device takes an unmanned automatic driving road cleaning vehicle as an example, as shown in the figure, the height of the vehicle 1 is about one meter and four, the number of wheels 2 at the bottom is 3, the number of wheels 2 at the front part is 1 is two rear wheels, the bottom of the vehicle head is a road cleaning device, and the multi-line laser radar 4 is arranged in the middle of the top surface of the vehicle head.
The invention discloses a method for checking and accepting the automatic driving equipment by the multi-line laser radar function, which comprises the following steps,
step one, a scanning detection platform 3 is pre-established, the platform can be an independent operation workshop, no other substances influencing the laser scanning result exist around the platform, and the existence of factors influencing a detection structure is avoided, wherein the scanning detection platform 3 comprises a vehicle parking area 31 for parking a detection vehicle 1, a detection system (not shown in the figure) for carrying out detection acceptance operation, a moving track 32, a moving trolley 33 and a target object 34.
In the embodiment, the device parking area 31 is provided with wheel positioning points corresponding to 3 wheels 2 of the vehicle, the wheel positioning points are simple and can be provided with grooves 311 corresponding to positions of the wheels 2, the bottom surface of each groove 311 can be an inward concave arc surface corresponding to the circumference of the wheel, so as to facilitate rapid fixed-point positioning, the lowest points of the three grooves 311 are on the same horizontal plane, the width of each groove 311 is preferably corresponding to or slightly larger than the width of the wheel 2 and is preferably not more than 1 cm, so as to avoid influencing the detection accuracy, and in order to facilitate the wheel to be embedded into the groove 311, as shown in the figure, a splayed wheel guide structure 313 can be arranged at the driving end of the groove 311, and a forward stop 312 can be arranged at the front end of the groove 311 corresponding to be embedded by the front wheel, so that the automatic driving device 1 can be driven to a fixed point conveniently and rapidly, The parking position is detected in a directional and horizontal mode, and the platform detection requirement is met.
The moving track 32 is transversely arranged in front of the front side of the automatic driving device 1 parked in the device parking area 31 corresponding to the vehicle head according to a set distance position, as shown in the figure, the set distance position is preferably not beyond a preferred scanning distance detected by laser scanning, the length of the moving track 32 is preferably greater than the width of the vehicle 1, and the embodiment takes the moving stroke of the moving track as 2 meters as an example.
The moving trolley 33 is provided with a driving device (not visible in the figure) for driving the moving trolley 33 to move on the moving track 32, the moving trolley 33 is controlled to start and stop by an independent controller or by a detection system, that is, the moving trolley 33 is a controller with a wire or a wireless for manually controlling the start and stop of the moving trolley 33, which is not related to the detection system but is independently controlled, or the moving trolley 33 is connected with the detection system by a wire or a wireless, and the start and stop of the moving trolley 33 is controlled by the detection system, which is described in the embodiment by adopting a mode of being controlled by the detection system.
The target object 34 is vertically arranged on the moving trolley 33, and the target object 34 can be a human-shaped prop or other profiling props.
Step two, the automatic driving device 1 to be off-line checked and accepted is controlled to move to the device parking area 31, and the automatic driving device is parked according to the fixed point and the directional position required by the scanning and detecting platform 3, and the vehicle 1 of the embodiment of the invention drives 3 wheels 2 to be embedded into the corresponding grooves 311, so that the parking requirement is met.
Step three, starting the scanning work of the multi-line laser radar 4 on the automatic driving equipment 1, and simultaneously controlling the detection system to start the movable trolley 44 to move according to the set moving speed, wherein in the embodiment, the moving travel of the moving track 32 is 2 meters, the moving speed of the movable trolley 33 is set to move by one meter per second, and the multi-line laser radar 4 generates laser scanning data;
step four, the detection system obtains laser scanning data, the detection system is a program which is programmed according to needs and can be carried in electronic equipment such as a computer, a tablet computer, a mobile phone and the like for use, the obtained laser scanning data can be connected with a system of a vehicle in a wired or wireless mode so as to obtain the laser scanning data, after the detection system obtains the laser scanning data, calculation processing of the data is carried out according to a written program, the calculation processing in the invention firstly judges whether the frame number of the laser scanning target object in one time period in the laser scanning data is consistent with the theoretical frame number of the laser scanning target object in the corresponding time period through known data calculation, for example, the movement track 32 is 2 meters in the embodiment, the movement speed of the movable trolley 33 is one meter per second, the frequency of the multi-line laser radar 4 is 10 Hz per second, and then the movable trolley 33 theoretically moves 2 meters on the movement track 32, the laser scanning data should have 20 frames, and if the laser scanning data has 18-22 frames of data which are all calculated to be in accordance, the laser scanning frequency is judged to be qualified, and if the laser scanning data does not reach 18 frames, the laser scanning frequency is judged to be unqualified;
and calculating whether the clustering of the target object 34 exists in the laser scanning data through a clustering method, if not, judging that the laser scanning is unqualified due to errors, if so, judging whether the coordinates of the clustering center point accord with the coordinate system of the multi-line laser radar 4, if so, judging that the multi-line laser radar is qualified in acceptance, and if not, judging that the laser scanning is unqualified due to errors, and the detection system gives unqualified judgment data.
The automatic driving equipment 1 can quit the scanning detection platform 3 after detection is finished, and technicians can process the unqualified judgment data provided by the detection system corresponding to the multi-line laser radar, such as replacement of the multi-line laser radar, parameter adjustment and the like.
In conclusion, the offline acceptance method of the multi-line laser radar function of the automatic driving equipment disclosed by the invention is simple to operate, and the acceptance result is accurate, effective and reliable.
The above embodiments and drawings are not intended to limit the form and style of the invention, and any suitable changes or modifications thereof by those skilled in the art should be considered as not departing from the scope of the invention.
Claims (1)
1. An offline acceptance method of an automatic driving device with a multi-line laser radar function is characterized in that the acceptance method comprises the following steps,
the method comprises the steps that firstly, a scanning detection platform is pre-established, the scanning detection platform comprises an equipment parking area, a motion track, a moving trolley, a target object and a detection system, the equipment parking area is used for fixed-point, directional and horizontal parking of automatic driving equipment, the motion track is transversely arranged in front of one side, corresponding to a parked automatic driving equipment head, of the equipment parking area according to a set distance position, the moving trolley is provided with a driving device for driving the moving trolley to move on the motion track, the moving trolley is controlled to be started and stopped by an independent controller or controlled to be started and stopped by the detection system, and the target object is vertically arranged on the moving trolley;
moving the automatic driving equipment to be offline for acceptance inspection to an equipment parking area, and parking the automatic driving equipment at a fixed point and a directional position according to the use requirement of the scanning detection platform;
starting scanning work of the multi-line laser radar on the automatic driving equipment, starting the movable trolley to move according to the set moving speed, and generating laser scanning data by the multi-line laser radar;
step four, the detection system acquires laser scanning data, judges whether the number of frames of the laser scanning target object in a time period in the laser scanning data is consistent with the theoretical number of frames of the laser scanning target object in a corresponding time period calculated through known data, judges that the laser scanning frequency is qualified if the frames are consistent, and judges that the laser scanning frequency is unqualified if the frames are not consistent;
and calculating whether the clustering of the target object exists in the laser scanning data through a clustering method, if not, judging that the laser scanning is unqualified due to errors, if so, judging whether the coordinates of the central point of the clustering accord with the coordinate system of the multi-line laser radar, if so, judging that the multi-line laser radar is qualified in function acceptance, and if not, judging that the laser scanning is unqualified due to errors.
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114216683A (en) * | 2021-12-14 | 2022-03-22 | 奇瑞商用车（安徽）有限公司 | Engine start-stop offline detection mode control method |
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