CN112782720A - Automobile laser radar detection device and regulation and control method thereof - Google Patents
Automobile laser radar detection device and regulation and control method thereof Download PDFInfo
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- CN112782720A CN112782720A CN202011556672.2A CN202011556672A CN112782720A CN 112782720 A CN112782720 A CN 112782720A CN 202011556672 A CN202011556672 A CN 202011556672A CN 112782720 A CN112782720 A CN 112782720A
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- 238000001514 detection method Methods 0.000 title claims abstract description 116
- 238000000034 method Methods 0.000 title claims abstract description 39
- 238000013507 mapping Methods 0.000 claims abstract description 40
- 230000007246 mechanism Effects 0.000 claims description 14
- 239000000126 substance Substances 0.000 claims description 10
- 230000001276 controlling effect Effects 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000036544 posture Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
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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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
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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
Abstract
The application relates to an automobile laser radar detection device and a regulation and control method thereof, relating to the technical field of automobile radars, wherein the device comprises: the signal acquisition module is used for receiving a scene signal corresponding to the vehicle after the vehicle is started; the signal analysis module is used for analyzing and obtaining a radar detection angle and a working direction of the radar component according to the scene signal and a preset mapping parameter table; and the radar component is used for adjusting the self detection angle according to the radar detection angle and adjusting the self direction according to the working direction. According to the method and the device, automatic switching of the attitude and the angle of the laser radar is realized according to the built-in mapping parameter table in advance according to the alternative scene of the vehicle, so that the radar detection range is enlarged, flexible detection of nearby blind areas and distant targets is realized, the cost is effectively reduced, the failure rate is effectively reduced, and the maintainability is improved.
Description
Technical Field
The application relates to the technical field of automobile radars, in particular to an automobile laser radar detection device and a regulation and control method thereof.
Background
In the sensing system of the intelligent vehicle, the laser radar is a sensor which is applied more generally. In order to reduce blind areas and guarantee sensing accuracy in the face of complex operating environments, the prior art generally adopts a plurality of laser radars fixedly installed at different angles or adopts sensors such as millimeter wave radars and ultrasonic radars to assist in sensing surrounding obstacles, and transmits results to a vehicle control system to realize automatic driving.
In the prior art, the laser radar sensors at a plurality of different angles are fixed through installation to realize multi-azimuth target detection, or other sensors are added, but the problems of high cost, high failure rate, difficult maintenance, unadjustable performance and large design limitation exist.
In order to solve the problems in the prior art, an automotive laser radar detection technology is provided to meet the current use requirements.
Disclosure of Invention
The application provides an automobile laser radar detection device and a regulation and control method thereof, which realize automatic switching of laser radar postures and angles according to scene alternation of vehicles and a mapping parameter table which is arranged in advance, thereby realizing the purpose of enlarging the radar detection range, realizing flexible detection of near blind areas and far targets, effectively reducing the cost and the failure rate and improving the maintainability.
In a first aspect, the present application provides an automotive lidar detection device, the device comprising:
the signal acquisition module is used for receiving a scene signal corresponding to a vehicle after the vehicle is started;
the signal analysis module is used for analyzing and obtaining a radar detection angle and a working direction of the radar component according to the scene signal and a preset mapping parameter table;
the radar component is used for adjusting the detection angle of the radar according to the radar detection angle and adjusting the direction of the radar according to the working direction; wherein the content of the first and second substances,
the mapping parameter table comprises mapping relations between the scene signals and the radar detection angle and the working direction respectively.
Specifically, the radar component includes:
a radar unit for adjusting a self detection angle according to the radar detection angle;
and the mechanism adjusting assembly is connected with the radar component and is used for adjusting the orientation of the radar component according to the working orientation.
Specifically, the radar detection angle includes a horizontal angle of view and a vertical angle of view.
Further, the detecting device further comprises
And the starting identification device is used for judging whether the target vehicle is started or not according to the automobile ignition signal, the automobile starting signal and the current automobile speed.
Further, the detection device further comprises:
and the radar model identification module is used for identifying the radar model corresponding to the radar component and sending the mapping parameter table corresponding to the radar model to the signal analysis module according to the radar model.
Specifically, the scene signal is used for representing a scene state of the current target vehicle;
the scene state comprises high-speed ramp entrance, high-speed park entrance, a road path signboard and road path obstacle identification.
In a second aspect, the present application provides a method for regulating and controlling a laser radar detection device of an automobile, the method comprising the following steps:
receiving a scene signal corresponding to a target vehicle after the target vehicle is started;
analyzing and obtaining a detection angle and a working direction of a radar component of the target vehicle according to the scene signal and a preset mapping parameter table;
adjusting the detection angle of the radar component according to the radar detection angle, and adjusting the direction of the radar component according to the working direction; wherein the content of the first and second substances,
the mapping parameter table comprises mapping relations between the scene signals and the radar detection angle and the working direction respectively.
Specifically, the adjusting of the detection angle of the radar component according to the radar detection angle and the adjusting of the orientation of the radar component according to the working orientation includes the following steps:
adjusting the detection angle of the radar part according to the radar detection angle;
adjusting the self direction of the radar part by adjusting the mechanism adjusting component according to the working direction; wherein the content of the first and second substances,
the radar detection angle includes a horizontal field of view angle and a vertical field of view angle.
Further, before receiving a scene signal corresponding to the target vehicle after the target vehicle is started, the method further includes the following steps:
and judging whether the target vehicle is started or not according to the vehicle ignition signal, the vehicle starting signal and the current vehicle speed of the vehicle.
Further, before analyzing and obtaining a radar detection angle and a working direction of the radar component according to the scene signal and a preset mapping parameter table, the method further comprises the following steps:
and identifying a radar model corresponding to the radar component, and obtaining the mapping parameter table corresponding to the radar model according to the radar model.
The beneficial effect that technical scheme that this application provided brought includes:
according to the method and the device, automatic switching of the attitude and the angle of the laser radar is realized according to the built-in mapping parameter table in advance according to the alternative scene of the vehicle, so that the radar detection range is enlarged, flexible detection of nearby blind areas and distant targets is realized, the cost is effectively reduced, the failure rate is effectively reduced, and the maintainability is improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a block diagram of an automotive lidar detection device provided in an embodiment of the present application;
FIG. 2 is a block diagram of a radar component of an automotive lidar detection device provided in an embodiment of the present application;
FIG. 3 is a schematic structural diagram of a radar component of an automotive lidar detection device provided in an embodiment of the present application;
FIG. 4 is a flowchart illustrating steps of a method for controlling a laser radar detection device of an automobile according to an embodiment of the present disclosure;
FIG. 5 is a schematic flow chart of a method for controlling an automotive lidar detection device provided in an embodiment of the present application;
the labels in the figure are:
1. a signal acquisition module; 2. a signal analysis module; 3. a radar component; 30. a radar component; 31. a mechanism adjustment assembly; 4. starting the recognition device; 5. and a radar model identification module.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Embodiments of the present application will be described in further detail below with reference to the accompanying drawings.
The embodiment of the application provides an automobile laser radar detection device and a regulation and control method thereof, which realize automatic switching of postures and angles of a laser radar according to scene alternation of vehicles and a built-in mapping parameter table in advance, thereby realizing the purposes of enlarging the radar detection range, realizing flexible detection of near blind areas and far targets, effectively reducing the cost and the failure rate and improving the maintainability.
In order to achieve the technical effects, the general idea of the application is as follows:
an automotive lidar detection device, the detection device comprising:
the signal acquisition module 1 is used for receiving a scene signal corresponding to a vehicle after the vehicle is started;
the signal analysis module 2 is used for analyzing and obtaining a radar detection angle and a working direction of the radar component 3 according to the scene signal and a preset mapping parameter table;
the radar component 3 is used for adjusting the detection angle of the radar component according to the radar detection angle and adjusting the working direction of the radar component according to the working direction; wherein the content of the first and second substances,
the mapping parameter table comprises mapping relations between the scene signals and the detection angles and the working directions respectively.
Embodiments of the present application will be described in further detail below with reference to the accompanying drawings.
In a first aspect, referring to fig. 1 to 3, an embodiment of the present application provides an automotive laser radar detection device, where the detection device includes:
the signal acquisition module 1 is used for receiving a scene signal corresponding to a vehicle after the vehicle is started;
the signal analysis module 2 is used for analyzing and obtaining a radar detection angle and a working direction of the radar component 3 according to the scene signal and a preset mapping parameter table;
the radar component 3 is used for adjusting the detection angle of the radar component according to the radar detection angle and adjusting the working direction of the radar component according to the working direction; wherein the content of the first and second substances,
the mapping parameter table comprises mapping relations between the scene signals and the detection angles and the working directions respectively.
The scene signal is used for representing the scene state of the current target vehicle;
the scene state comprises high-speed ramp entrance, high-speed park entrance, road-path signboard and road-path obstacle identification.
In the embodiment of the application, whether the vehicle is started or not is judged, and after the vehicle is started, the scene information corresponding to the vehicle at present is received, so that the current scene condition of the vehicle can be known;
further, after the current scene condition is known, combining a preset mapping parameter table to obtain the radar detection angle and the working direction of the corresponding radar component under the current scene condition;
finally, the radar component 3 adjusts the detection angle of the radar component according to the radar detection angle and adjusts the working direction of the radar component according to the working direction.
In the embodiment of the application, the automatic switching of the attitude and the angle of the laser radar is realized according to the scene alternation of the vehicle and the built-in mapping parameter table in advance, so that the radar detection range is enlarged, the flexible detection of a near blind area and a far target is realized, the cost and the failure rate are effectively reduced, and the maintainability is improved.
Specifically, the radar unit 3 includes:
a radar section 30 for adjusting a self detection angle according to a radar detection angle;
and a mechanism adjustment assembly 31 connected to the radar assembly 30 for adjusting the orientation of the radar assembly itself based on the operating orientation.
It should be noted that the mechanism adjusting assembly 31 may adopt an existing adjusting mechanism, and specifically may be a mechanical structure controlled by a motor and capable of freely adjusting around XYZ directions, and the structure is controlled by a motor, and can realize accurate positioning of any spatial coordinate around a mounting point.
Specifically, the radar detection angle includes a horizontal angle of view and a vertical angle of view.
Further, the detecting device further comprises:
and the starting identification device 4 is used for judging whether the target vehicle is started or not according to the vehicle ignition signal, the vehicle starting signal and the current vehicle speed of the vehicle.
Further, the detecting device further comprises:
the radar model identification module 5 is used for identifying the radar model corresponding to the radar component 3 and sending a mapping parameter table corresponding to the radar model to the signal analysis module 2 according to the radar model;
because vehicles of different models can be configured with radar components 3 of different models, and different radar components 3 have differences in the adjustment work of the detection angle and the working method, the radar model corresponding to the radar component 3 needs to be recognized first, and a mapping parameter table corresponding to the radar model is sent to the signal analysis module 2 according to the radar model, so that a relatively accurate radar detection angle and a relatively accurate working method are obtained.
It should be noted that the following scenarios apply to the embodiments of the present application:
1. in the vehicle in the current technical means, the corresponding scene signal can be manually input by a driver;
2. the method is suitable for vehicles with various sensors, and corresponding scene signals are acquired and analyzed by the sensors;
3. the method is suitable for vehicles merged into the intelligent traffic system, and the corresponding scene signals can be sent to the vehicles by a cloud server of the intelligent traffic system;
the scene signal of the embodiment of the application has multiple acquisition modes, is not limited to the current technical means, and can be properly adjusted according to the actual application environment.
In a second aspect, referring to fig. 4 to 5, an embodiment of the present application provides a method for controlling an automotive lidar detection device, where the method includes the following steps:
s1, receiving a scene signal corresponding to the target vehicle after the target vehicle is started;
s2, analyzing and obtaining the detection angle and the working direction of the radar component of the target vehicle according to the scene signal and a preset mapping parameter table;
s3, adjusting the detection angle of the radar component according to the radar detection angle, and adjusting the direction of the radar component according to the working direction; wherein the content of the first and second substances,
the mapping parameter table comprises mapping relations between the scene signals and radar detection angles and working directions respectively.
The scene signal is used for representing the scene state of the current target vehicle;
the scene state comprises high-speed ramp entrance, high-speed park entrance, road-path signboard and road-path obstacle identification.
Specifically, the radar detection angle includes a horizontal angle of view and a vertical angle of view.
In the embodiment of the application, whether the vehicle is started or not is judged, and after the vehicle is started, the scene information corresponding to the vehicle at present is received, so that the current scene condition of the vehicle can be known;
further, after the current scene condition is known, combining a preset mapping parameter table to obtain the radar detection angle and the working direction of the corresponding radar component under the current scene condition;
and finally, the radar component adjusts the detection angle of the radar component according to the radar detection angle and adjusts the working direction of the radar component according to the working direction.
In the embodiment of the application, the automatic switching of the attitude and the angle of the laser radar is realized according to the scene alternation of the vehicle and the built-in mapping parameter table in advance, so that the radar detection range is enlarged, the flexible detection of a near blind area and a far target is realized, the cost and the failure rate are effectively reduced, and the maintainability is improved.
Specifically, the radar module includes:
a radar unit for adjusting a detection angle thereof according to a radar detection angle;
and the mechanism adjusting assembly is connected with the radar component and is used for adjusting the self orientation of the radar component according to the working orientation.
Specifically, the method for adjusting the detection angle of the radar component according to the radar detection angle and adjusting the direction of the radar component according to the working direction comprises the following steps:
adjusting the detection angle of the radar part according to the radar detection angle;
adjusting the orientation of the radar part by using an adjusting mechanism adjusting assembly according to the working orientation;
wherein the content of the first and second substances,
the radar detection angle includes a horizontal field of view and a vertical field of view.
It should be noted that the mechanism adjusting assembly may adopt an existing adjusting mechanism, and specifically may be a mechanical structure controlled by a motor and capable of freely adjusting around XYZ directions, and the structure is controlled by the motor, and may implement accurate positioning of any spatial coordinate around a mounting point.
Further, before receiving a scene signal corresponding to the target vehicle after the target vehicle is started, the method further includes the following steps:
and judging whether the target vehicle is started or not according to the vehicle ignition signal, the vehicle starting signal and the current vehicle speed of the vehicle.
Further, before analyzing and obtaining the radar detection angle and the working direction of the radar component according to the scene signal and a preset mapping parameter table, the method further comprises the following steps:
and identifying the radar model corresponding to the radar component, and obtaining a mapping parameter table corresponding to the radar model according to the radar model.
In the embodiment of the present application, a specific implementation process is provided, and the specific operations are as follows:
1. starting the vehicle;
2. the detection system receives an externally input scene signal (at the moment, a vehicle starting scene);
3. reading a vehicle speed signal;
4. confirming that the vehicle is in a starting state;
5. the detection system receives an external input signal and confirms the type of the laser radar, the horizontal field angle and the vertical field angle;
6. the controller checks the table and confirms the mechanism to adjust the coordinate value of the target;
7. the controller combines the current position coordinate with the target coordinate value and outputs an adjusting parameter to the motor controller;
8. the motor controller sends a motion instruction to the motor;
9. the motor driving mechanism is adjusted to a designated position to complete a complete control and regulation cycle.
The method comprises the steps that whether a vehicle is started or not is judged by specifically identifying the working condition of an ignition lock of the vehicle, and a vehicle speed signal of the vehicle is obtained by identifying the vehicle speed and the engine rotating speed of the vehicle;
in actual work, the scene signal can be input by a driver, can be detected and obtained through an external sensor, and can be sent according to a vehicle remote server, and a specific obtaining way is not limited and can be adjusted according to actual conditions.
It should be noted that the following scenarios apply to the embodiments of the present application:
1. in the vehicle in the current technical means, the corresponding scene signal can be manually input by a driver;
2. the method is suitable for vehicles with various sensors, and corresponding scene signals are acquired and analyzed by the sensors;
3. the method is suitable for vehicles merged into the intelligent traffic system, and the corresponding scene signals can be sent to the vehicles by a cloud server of the intelligent traffic system;
the scene signal of the embodiment of the application has multiple acquisition modes, is not limited to the current technical means, and can be properly adjusted according to the actual application environment.
It is noted that, in the present application, relational terms such as "first" and "second", and the like, are 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 application and are presented to enable those skilled in the art to understand and practice the present application. 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 application. Thus, the present application 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 automotive lidar detection device configured to be disposed on a target vehicle, the detection device comprising:
the signal acquisition module is used for receiving a scene signal corresponding to a vehicle after the vehicle is started;
the signal analysis module is used for analyzing and obtaining a radar detection angle and a working direction of the radar component according to the scene signal and a preset mapping parameter table;
the radar component is used for adjusting the detection angle of the radar according to the radar detection angle and adjusting the direction of the radar according to the working direction; wherein the content of the first and second substances,
the mapping parameter table comprises mapping relations between the scene signals and the radar detection angle and the working direction respectively.
2. The automotive lidar detection device of claim 1, wherein the radar assembly comprises:
a radar unit for adjusting a self detection angle according to the radar detection angle;
and the mechanism adjusting assembly is connected with the radar component and is used for adjusting the orientation of the radar component according to the working orientation.
3. The automotive lidar detection device of claim 1, wherein:
the radar detection angle includes a horizontal field of view angle and a vertical field of view angle.
4. The automotive lidar detection device of claim 1, wherein the detection device further comprises
And the starting identification device is used for judging whether the target vehicle is started or not according to the automobile ignition signal, the automobile starting signal and the current automobile speed.
5. The automotive lidar detection device of claim 1, wherein the detection device further comprises:
and the radar model identification module is used for identifying the radar model corresponding to the radar component and sending the mapping parameter table corresponding to the radar model to the signal analysis module according to the radar model.
6. The automotive lidar detection device of claim 1, wherein: the scene signal is used for representing the scene state of the current target vehicle;
the scene state comprises high-speed ramp entrance, high-speed park entrance, a road path signboard and road path obstacle identification.
7. A regulation and control method for an automobile laser radar detection device is characterized by comprising the following steps:
receiving a scene signal corresponding to a target vehicle after the target vehicle is started;
analyzing and obtaining a detection angle and a working direction of a radar component of the target vehicle according to the scene signal and a preset mapping parameter table;
adjusting the detection angle of the radar component according to the radar detection angle, and adjusting the direction of the radar component according to the working direction; wherein the content of the first and second substances,
the mapping parameter table comprises mapping relations between the scene signals and the radar detection angle and the working direction respectively.
8. The method for controlling the lidar detection device for an automobile according to claim 7, wherein the adjusting the detection angle of the radar module according to the radar detection angle and the adjusting the orientation of the radar module according to the working orientation comprises the steps of:
adjusting the detection angle of the radar part according to the radar detection angle;
adjusting the self direction of the radar part by adjusting the mechanism adjusting component according to the working direction; wherein the content of the first and second substances,
the radar detection angle includes a horizontal field of view angle and a vertical field of view angle.
9. The method for controlling an automotive lidar detection device of claim 7, wherein prior to receiving a scene signal corresponding to a target vehicle after the target vehicle is started, the method further comprises:
and judging whether the target vehicle is started or not according to the vehicle ignition signal, the vehicle starting signal and the current vehicle speed of the vehicle.
10. The method as claimed in claim 7, wherein before analyzing and obtaining the radar detection angle and the working orientation of the radar component according to the scene signal and the preset mapping parameter table, the method further comprises the following steps:
and identifying a radar model corresponding to the radar component, and obtaining the mapping parameter table corresponding to the radar model according to the radar model.
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| CN202011556672.2A CN112782720A (en) | 2020-12-24 | 2020-12-24 | Automobile laser radar detection device and regulation and control method thereof |
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Application publication date: 20210511 |