CN114047496A - Multi-laser-radar adjustable coupling system and method - Google Patents
Multi-laser-radar adjustable coupling system and method Download PDFInfo
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- CN114047496A CN114047496A CN202111198273.8A CN202111198273A CN114047496A CN 114047496 A CN114047496 A CN 114047496A CN 202111198273 A CN202111198273 A CN 202111198273A CN 114047496 A CN114047496 A CN 114047496A
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- 238000010168 coupling process Methods 0.000 title claims abstract description 29
- 230000008878 coupling Effects 0.000 title claims abstract description 22
- 238000005859 coupling reaction Methods 0.000 title claims abstract description 22
- 238000000034 method Methods 0.000 title claims abstract description 14
- 238000009434 installation Methods 0.000 claims abstract description 25
- 229910000831 Steel Inorganic materials 0.000 claims description 13
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- 239000011159 matrix material Substances 0.000 claims description 12
- 238000004364 calculation method Methods 0.000 claims description 3
- 230000008859 change Effects 0.000 abstract description 5
- 238000001514 detection method Methods 0.000 abstract description 5
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- 238000005259 measurement Methods 0.000 description 8
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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
- G01S7/481—Constructional features, e.g. arrangements of optical elements
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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
- G01S7/483—Details of pulse systems
Abstract
The invention relates to a multi-laser-radar adjustable coupling system and a method, wherein the method comprises the steps of respectively installing laser radar installation base groups at the front, the left side and the right side of an automatic driving vehicle, installing low-line laser radars, adjusting the inclination angle and the rotation angle of a laser radar installation surface in each laser radar installation base group according to a driving scene, locking the working position of the laser radar installation surface, obtaining point cloud data of all laser radars at the two sides and the front of the automatic driving vehicle, and converting the point cloud data into the same coordinate system to realize the coupling of all the laser radars. The multi-laser radar adjustable coupling system has the advantages that the structure can be flexibly combined and adjusted, and the coupling of more than 3 laser radar point cloud data is supported; when multiple laser radars are coupled, the uniform cross distribution of the emitted light of each laser radar can be ensured; according to the change of the scene acquisition working condition, the attitude of the laser radar can be dynamically adjusted, the point cloud density of a required area is automatically increased, and the detection precision is improved.
Description
Technical Field
The invention belongs to the technical field of intelligent networked automobiles, and particularly relates to a multi-laser-radar adjustable coupling system and a multi-laser-radar adjustable coupling method.
Background
The laser radar can detect the position and the speed of a target object by emitting laser beams, has the characteristics of high precision, strong anti-interference capability and the like, and becomes a main sensor for automatic driving scene acquisition. When the automatic driving scene is collected, different collecting working conditions have different requirements on the periphery of the vehicle. Due to the fact that scenes such as cut-in and lane change of low-speed congested driving are more, detection requirements of objects on two sides of the vehicle are higher than those of the front, and laser point cloud density requirements on the two sides of the vehicle are increased accordingly; and because the following scenes of the high-speed smooth driving are more, the detection requirements of the remote objects in front of the vehicle on two sides are higher, and the laser point cloud density requirement in front of the vehicle is increased accordingly. Meanwhile, when the automatic driving scene is collected, although abundant point cloud data can be obtained by using a laser radar with high line number, the cost is high; the method has the advantages that although the cost is low due to the fact that the number of lines is low, point cloud data are few, the precision is low, and therefore the method has certain limitation due to the fact that a fixed laser radar arrangement mode is used.
In the prior art, although two schemes can realize the adjustability and the coupling of multiple laser radars, certain problems exist. According to one scheme, although the adjustment and the coupling of the overall structure of the multi-laser radar are realized, the angle of a radar mounting surface cannot be adjusted, and the optimal coupling effect cannot be guaranteed; in another scheme, even though the uniform distribution of radar beams in the same direction can be ensured, the structure is fixed and cannot be adjusted, signal acquisition in different directions cannot be realized, and the detection range is limited.
Disclosure of Invention
The invention aims to provide a multi-laser-radar-adjustable coupling system for automatic driving scene acquisition and a multi-laser-radar-adjustable coupling method for automatic driving scene acquisition, so as to solve the problems that the system can adapt to a plurality of laser radars and can flexibly adjust the density of point clouds around a vehicle according to the driving scene acquisition requirement.
The purpose of the invention is realized by the following technical scheme:
a multi-laser-radar adjustable coupling method comprises the following steps:
A. respectively installing laser radar installation base groups in the front, the left side and the right side of the automatic driving vehicle, and respectively installing each low-line laser radar on the corresponding laser radar installation base group;
B. adjusting the inclination angle and the rotation angle of the laser radar mounting surface in each group of laser radar mounting base groups according to the driving scene, locking the working position of the laser radar mounting surface, and ensuring that light rays emitted by the laser radars on the same side are uniformly distributed in a crossed manner;
C. acquiring point cloud data of laser radars on two sides and in front of the automatic driving vehicle;
D. and converting the point cloud data of each laser radar into the same coordinate system to realize the coupling of all the laser radars.
Further, in step a, each of the lidar mounting base sets includes a plurality of adjacent lidar mounting bases, the number of the bases of the front, left and right base sets is n1, n2, n3, n 1-n 2-n 3-S/S0, where S represents a beam of the lidar required for the automatic driving scene capturing, and S0 represents a beam of the lidar used for the automatic driving scene capturing.
And step B, all the laser radar mounting surfaces in the left base group and the right base group can be respectively inclined towards two sides, and all the laser radar mounting surfaces in the front base group are inclined forwards.
And step C, setting that the base group on the same side comprises m bases, the included angle between adjacent emitted light rays of the laser radar is alpha, optionally selecting one installation surface as a reference surface and the inclination angle of the reference surface is beta, the inclination angles of the other installation surfaces are beta + alpha/m, beta +2 alpha/m, … … and beta + (m-1) alpha/m (m is more than or equal to 2), and the inclination angle difference of the two adjacent installation surfaces of the base group on the same side is alpha/m.
Further, step D specifically includes the following steps:
d1, using the vehicle coordinate system XYZ-O as a reference, initially keeping the laser radar installation coordinate system XYZ-O1 consistent with the vehicle coordinate system XYZ-O in direction, the offset in X, Y, Z axis direction is dx, dy and dz respectively, the rotation angles of the laser radar installation coordinate system XYZ-O1 relative to the vehicle coordinate system XYZ-O in X axis, Y axis and Z axis direction are delta, beta and theta respectively, determining the rotation matrix R and the translation matrix T of each laser radar, and calculating the method as follows:
d2, point cloud data (x) obtained by each laser radar through the rotation matrix R and the translation matrix Tm,ym,zm) The coordinates transformed to the vehicle coordinate system XYZ-O are (x, y, z), and the calculation method is as follows:
a multi-laser-radar-adjustable coupling system comprises a plurality of groups of laser radar mounting base sets, wherein the laser radar mounting base sets are respectively mounted in the front, the left side and the right side of an automatic driving vehicle, and each laser radar mounting base set comprises a plurality of adjacent laser radar mounting bases;
each laser radar mounting base is composed of a tilting device and a rotating and locking device; the tilting device comprises a first driving motor 3, a steel wire rope 4 and a T-shaped supporting rod 12, wherein the T-shaped supporting rod 12 is installed above a ratchet wheel 9 in the rotating and locking device, a return spring 13 is installed on the upper portion of the T-shaped supporting rod 12, a laser radar installation surface 6 is fixedly connected above the return spring 13, the upper portion of the steel wire rope 4 is connected with one side of the bottom of the laser radar installation surface 6, the lower portion of the steel wire rope is connected with a winder 2, and the winder 2 and the first driving motor 3 are installed on the upper portion of the ratchet wheel 9; the rotating and locking device further comprises a push-pull type electromagnetic valve 8, a locking block 14 and a second driving motor 15, an output shaft of the second driving motor 15 is coaxial with the ratchet, the ratchet is connected with the T-shaped supporting rod 12, the push-pull type electromagnetic valve 8 is fixedly connected with a spring of the push-pull type electromagnetic valve 8, and the locking block 14 can be controlled to be connected with the ratchet wheel 9 in a clamped mode.
Furthermore, the number of the bases of the front side base set, the left side base set and the right side base set is n1, n2 and n3, and n 1-n 2-n 3-S/S0 are required to be satisfied in order to make the point cloud density in front of the vehicle and on the left and right sides the same, wherein S represents the beam of the laser radar required during the automatic driving scene acquisition, and S0 represents the beam of the laser radar used during the automatic driving scene acquisition; when the front side base group consists of the laser radar mounting base which is arranged at the forefront of the two sides and the front base group, the number n4 of the bases of the front base group is S/S0-2; when the front base group is formed by the front base group alone, n 4-n 1-S/S0.
Further, the laser radar mounting bases are respectively fixed on the fixed base plates 1, a plurality of base plate fixing holes 11 used for being fixed with a vehicle are formed in the fixed base plates 1, and two adjacent fixed base plates 1 are connected through a plurality of connecting pieces 16.
Furthermore, the laser radar mounting surface 6 is provided with an annular boss 5 along the circumference, the centers of the laser radar mounting surfaces 6 are located at the same height, and the centers are provided with radar fixing holes 7 for mounting radars.
Further, the device also comprises a first control unit in control connection with the first driving motor 3, a second control unit in control connection with a second driving motor 15 and a third control unit in control connection with the push-pull type electromagnetic valve 8.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the multi-laser-radar adjustable coupling method, the structure can be flexibly combined and adjusted, more than 3 laser radar point cloud data couplings are supported, the combination mode of a laser radar base is adjustable, and the spatial angle of a laser radar mounting surface is adjustable;
2. a locking device is added, so that the inaccurate point cloud data caused by the shaking of the laser radar in the acquisition process is prevented;
3. when multiple laser radars are coupled, the light rays emitted by the laser radars can be ensured to be uniformly distributed in a cross way;
4. the acquisition effect of the high-line laser radar can be realized by using a plurality of low-line laser radars, the point cloud data are enriched, and the acquisition cost is reduced;
5. according to the change of the scene acquisition working condition, the attitude of the laser radar can be dynamically adjusted, the point cloud density of a required area is automatically increased, and the detection precision is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
FIG. 1 is a schematic view of the overall structure;
2 a-2 b scene capture diagrams;
3 a-3 d schematic diagrams of lidar mounts;
FIG. 4 is a schematic diagram of the distribution of adjacent multiple lidar emissions after coupling;
FIG. 5 is a flow chart of a multi-lidar adjustable coupling method.
In the figure: 1. the bottom plate fixing device comprises a fixing bottom plate 2, a winder 3, a first driving motor 4, a steel wire rope 5, a boss 6, a radar mounting surface 7, a radar fixing hole 8, a push-pull electromagnetic valve 9, a ratchet 10, a rack 11, a bottom plate fixing hole 12, a T-shaped supporting rod 13, a reset spring 14, a locking block 15, a second driving motor 16 and a connecting piece.
Detailed Description
The invention is further illustrated by the following examples:
the present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present invention, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.
The invention provides a multi-laser radar adjustable coupling method, as shown in fig. 5, comprising the following steps:
A. and respectively installing laser radar installation base groups in the front, the left side and the right side of the automatic driving vehicle, and respectively installing each low-line laser radar on the corresponding laser radar installation base group.
Each laser radar mounting base group comprises a plurality of adjacent laser radar mounting bases, and the quantity distribution of the bases of the laser radar mounting base groups is determined. Specifically, the number of the bases of the front side base set, the left side base set and the right side base set is n1, n2 and n3, so that the point cloud densities in the front of the vehicle and on the left and right sides of the vehicle are the same, n 1-n 2-n 3-S/S0 are required to be met, wherein S represents a laser radar wire harness required during the automatic driving scene acquisition, and S0 represents a laser radar wire harness used during the automatic driving scene acquisition; when the front side base group consists of the laser radar mounting base which is arranged at the forefront of the two sides and the front base group, the number n4 of the bases of the front base group is S/S0-2; when the front side base set is composed of the front base set, n 4-n 1-S/S0
B. And adjusting the inclination angle and the rotation angle of the laser radar mounting surface in each laser radar mounting base group according to the driving scene, ensuring the uniform cross distribution of light rays emitted by the laser radars on the same side, and realizing the adjustment of multiple laser radars.
All laser radar mounting surfaces in the left base group and the right base group can incline towards two sides respectively, so that the point cloud data volume of the two sides of the vehicle is increased, and the requirement that the two sides of the vehicle are focused in a low-speed congestion driving scene is met, as shown in fig. 2 a; all laser radar mounting surfaces in the front base group incline forwards, the data volume of point clouds in front of the vehicle is increased, and the requirement that the vehicle is directly in front of the vehicle is focused when a high-speed smooth driving scene is met, as shown in fig. 2 b.
Specifically, the inclination angle of the laser radar installation surface is adjusted by an inclination device; the rotation and locking device is used for adjusting the rotation angle of the laser radar mounting surface and locking the working position of the laser radar mounting surface.
Adjusting the inclination angle: when the laser radar face recovery device works, the first driving motor 3 controls the wire winder 2 to contract the steel wire rope 4 so as to change the inclination angle of the laser radar face 6, and the laser radar face 6 is reset under the action of the reset spring 13 when the laser radar face recovery device does not work.
Adjusting the rotation angle and locking the working position: the second control unit controls the second driving motor 15 to rotate forwards and backwards, and the ratchet wheel 9 connected with the second driving motor 15 rotates along with the second driving motor, so that the collecting direction of the laser radar is changed. When the laser radar mounting surface 6 rotates to a designated position, the push-pull type electromagnetic valve 8 is powered off under the action of the third control unit, and the locking block 14 is clamped in a gap of the ratchet wheel 9, so that the working position of the laser radar is fixed.
Specifically, if m bases are included in the base group on the same side, an included angle between adjacent emitted light rays of the laser radar is α, any one of the mounting surfaces is a reference surface, and an inclination angle of the reference surface is β, in order to ensure uniform cross distribution of the light rays emitted by the laser radar on the same side, as shown in fig. 4, inclination angles of the other mounting surfaces should be β + α/m, β +2 α/m, … …, β + (m-1) α/m (m is greater than or equal to 2), and a difference between the inclination angles of two adjacent mounting surfaces of the base group on the same side is α/m.
C. Acquiring point cloud data of laser radars on two sides and in front of the automatic driving vehicle;
D. converting the point cloud data of each laser radar into the same coordinate system to realize the coupling of all the laser radars, which mainly comprises the following contents:
d1, using the vehicle coordinate system XYZ-O as a reference, initially keeping the laser radar installation coordinate system XYZ-O1 consistent with the vehicle coordinate system XYZ-O in direction, the offset in X, Y, Z axis direction is dx, dy and dz respectively, the rotation angles of the laser radar installation coordinate system XYZ-O1 relative to the vehicle coordinate system XYZ-O in X axis, Y axis and Z axis direction are delta, beta and theta respectively, determining the rotation matrix R and the translation matrix T of each laser radar, and calculating the method as follows:
d2, point cloud data (x) obtained by each laser radar through the rotation matrix R and the translation matrix Tm,ym,zm) The coordinates transformed to the vehicle coordinate system XYZ-O are (x, y, z), and the calculation method is as follows:
as shown in fig. 1, the present invention provides a multi-lidar adjustable coupling system, which includes a plurality of sets of lidar mounting bases respectively mounted to the front, left, and right sides of an autonomous vehicle. Each lidar mounting base set includes a plurality of adjacent lidar mounting bases.
Specifically, the number of the bases of the front side base set, the left side base set and the right side base set is n1, n2 and n3, so that the point cloud densities in the front of the vehicle and on the left and right sides of the vehicle are the same, n 1-n 2-n 3-S/S0 are required to be met, wherein S represents a laser radar wire harness required during the automatic driving scene acquisition, and S0 represents a laser radar wire harness used during the automatic driving scene acquisition; the front side base set is composed of the laser radar mounting base with the foremost two sides and the front base set, and the number n4 of the bases of the front base set is S/S0-2. When the front side base group only includes 1 base, the base group on left side and right side includes 3 bases, as shown in fig. 1, and the laser radar installation base and the place ahead base group that are foremost in both sides constitute the front side base group, and the quantity n4 of front side base group base is 3.
In the invention, the laser radar mounting bases are respectively fixed on the fixed bottom plate 1, and a plurality of bottom plate fixing holes 11 for fixing with a vehicle are arranged on the fixed bottom plate 1. Two adjacent fixed base plates 1 are connected by a plurality of connecting pieces 16. Specifically, the connecting piece 16 may be 2.
The plurality of fixing bottom plates 1 are located on the same plane, the laser radar mounting bases are located on the same straight line, and the distance between any two adjacent laser radar mounting bases is equal.
As shown in fig. 3 a-3 d, each laser radar mounting base is composed of a tilting device and a rotating and locking device, wherein the tilting device is used for adjusting the tilting angle of the laser radar mounting surface; and the rotating and locking device is used for adjusting the rotating angle of the laser radar mounting surface and locking the working position of the laser radar mounting surface.
The invention combines the tilting device with the rotating and locking device, is used for the coupling of multiple laser radars, and can realize the signal acquisition in different directions while ensuring the optimal coupling effect.
The tilting device comprises a T-shaped supporting rod 12, a return spring 13, a laser radar mounting surface 6, a steel wire rope 4, a winder 2, a first driving motor 3 and a first control unit.
The rotating and locking device comprises a ratchet wheel 9, a rack 10, a second driving motor 15, a second control unit, a locking block 14, a push-pull type electromagnetic valve 8 and a third control unit.
The frame 10 and the push-pull type electromagnetic valve 8 are welded on the base, and the locking block 14 is fixedly connected with a spring of the push-pull type electromagnetic valve 8.
Specifically, the T-shaped support rod 12 is welded above the ratchet wheel 9; the return spring 13 is mounted on the upper portion of the T-shaped support bar 12 for ensuring that the radar mounting surface is restored to a horizontal state when not in operation. The laser radar mounting surface 6 is arranged above the return spring 13 and fixedly connected with the return spring, an annular boss 5 is arranged on the laser radar mounting surface 6 along the circumference, and the laser radar mounting surface 6 rotates around the upper portion of the T-shaped support rod. The centers of all the laser radar mounting surfaces 6 are located at the same height, the centers are provided with radar fixing holes 7 for mounting the radars, the low-line laser radars are specifically adopted in the invention, and are clamped in the bosses 5 during mounting and are fixed through the radar fixing holes 7, so that the acquisition effect of the high-line laser radars is realized, the point cloud data is enriched, and the acquisition cost is reduced. The upper part of the steel wire rope 4 is connected with one side of the bottom of the laser radar mounting surface 6, and the lower part of the steel wire rope is connected with the winder 2; the winder 2 and the first driving motor 3 are both arranged on the upper part of the ratchet wheel 9.
In a working state, the first control unit controls the first driving motor 3 to rotate, and further controls the wire winder 2 to contract the steel wire rope 4 so as to change the inclination angle of the laser radar surface 6; under the non-working state, the wire winder 2 can not restrict the steel wire rope 4, and the laser radar mounting surface 6 returns to the horizontal state under the action of the return spring 13.
The output shaft of the second driving motor 15 is coaxial with the ratchet, and the ratchet and the connected tilting device are driven to rotate by the rotation torque. Specifically, the T-shaped supporting rod of the tilting device is fixedly connected with the ratchet, the ratchet rotates to drive the T-shaped supporting rod to rotate, so that the tilting device rotates, and the radar collecting direction naturally changes after the tilting device rotates.
Under the working state, the second control unit controls the second driving motor 15 to rotate forwards and backwards, and the ratchet wheel 9 connected with the second driving motor 15 rotates along with the rotation, so that the collecting direction of the laser radar is changed. When the laser radar mounting surface 6 rotates to a designated position, the push-pull type electromagnetic valve 8 is powered off under the action of the third control unit, the locking block 14 is clamped in a gap of the ratchet wheel 9, the working position of the laser radar is fixed, and the influence of traffic bump on the mounting direction of the laser radar is prevented.
Example 1
When the vehicle is driven at a high speed smoothly, a plurality of 16-line laser radars are used for realizing the point cloud density effect of the 64-line laser radars on the driving scene at the front side of the vehicle.
When a high-speed smooth automatic driving scene is collected, the beam of the laser radar at the front side of the vehicle is required to be 64 lines, and the beam of the laser radar used is 16 lines, so that the number n1 of the bases of the front side and the front side base group is equal to n4 which is equal to S/S0 which is equal to 4, the number n2 of the bases of the left side and the right side base group is equal to n3 which is equal to 0, and the number m of the bases in the base group at the same side is equal to 4.
The bases in the front base set are numbered 1, 2, 3 and 4 from left to right.
When the vehicle is driven at a high speed smoothly, all laser radar mounting surfaces in the front base group are inclined forwards, and the point cloud data volume on the two sides of the vehicle is increased.
Because the lower limit of the vertical measurement angle of the 16-line laser radar is-15 degrees, and the lower limit of the vertical measurement angle of the 64-line laser radar is-24.8 degrees, the inclination angle beta of the reference plane is-24.8 degrees (-15 degrees) -9.8 degrees.
Since the vertical angular resolution of the 16-line lidar is 2 °, the angle α between adjacent emitted light rays of the lidar is 2 °.
The reference surface of the front base group is the lidar mounting surface of base No. 1, the inclination angle of the lidar mounting surface of the base to the left side is-9.8 °, the inclination angles of the lidar mounting surface of the base 2, the lidar mounting surface of the base 3 and the lidar mounting surface of the base 4 to the front side are respectively-9.8 ° +2 °/4-9.3 °, β +2 α/m-8.8 ° and β +3 α/m-8.3 °.
Example 2
When the driving scene is blocked at a low speed, a plurality of 16-line laser radars are used for realizing the point cloud density effect of the 64-line laser radars on the left and right driving scenes of the vehicle.
When a low-speed congestion driving scene is collected, the laser radar beam at the front side of the vehicle is required to be 64 lines, the laser radar beam used is 16 lines, so that the number n2 of the bases at the left side and the right side is equal to n3 which is equal to S/S0 which is equal to 4, the number n1 of the bases at the front side and the front side is equal to n4 which is equal to 0, and the number m of the bases in the bases at the same side is equal to 4.
The bases in the left base set are numbered 1, 2, 3 and 4 from front to back, and the bases in the right base set are numbered 1, 2, 3 and 4 from back to front.
When the driving scene is jammed at a low speed, all laser radar mounting surfaces in the left base set and the right base set incline towards two sides respectively, and the point cloud data quantity of the two sides of the vehicle is increased;
because the lower limit of the vertical measurement angle of the 16-line laser radar is-15 degrees, and the lower limit of the vertical measurement angle of the 64-line laser radar is-24.8 degrees, the inclination angle beta of the reference plane is-24.8 degrees (-15 degrees) -9.8 degrees.
Since the vertical angular resolution of the 16-line lidar is 2 °, the angle α between adjacent emitted light rays of the lidar is 2 °.
The reference surface of the left base set is the lidar mounting surface of base No. 1, the inclination angle β of the lidar mounting surface of the base to the left side is-9.8 °, the inclination angles β + α/m + 9.8 ° +2 °/4-9.3 °, β +2 α/m-8.8 °, and β +3 α/m-8.3 °, respectively.
The reference surface of the right base set is the lidar mounting surface of base No. 1, the inclination angle β of the lidar mounting surface of the base to the right side is-9.8 °, the inclination angles β + α/m + 9.8 ° +2 °/4-9.3 °, β +2 α/m-8.8 °, and β +3 α/m-8.3 °, respectively.
Example 3
When a high-speed smooth driving scene and a low-speed congestion driving scene are in use, the point cloud density effect of the 64-line laser radar on the driving scenes on the front side and the two sides of the vehicle is achieved respectively by using the 16-line laser radars.
The point cloud beam required by the laser radar is 64 lines during the collection of the automatic driving scene, and the point cloud beam of the used laser radar is 16 lines, so that the number n1 of the bases on the front side, the left side and the right side is n 2-n 3-S0-4, the number n4 of the bases on the front side is S/S0-2, and the number m of the bases in the bases on the same side is 4.
The bases in the left base group are numbered from front to back as 1, 2, 3 and 4, and the bases in the right base group are numbered from back to front as 1, 2, 3 and 4, so that the base with the left number of 1, the base with the right number of 4 and the 2 bases in the front base group form the front base group, and the bases are numbered from left to right as 1, 2, 3 and 4.
When the driving scene is jammed at a low speed, all laser radar mounting surfaces in the left base set and the right base set incline towards two sides respectively, and the point cloud data quantity of the two sides of the vehicle is increased;
when a low-speed congestion scene is changed into a high-speed smooth driving scene, the laser radar mounting surface of the No. 1 base on the left side rotates 90 degrees towards the right side of the vehicle, the laser radar mounting surface of the No. 4 base on the right side rotates 90 degrees towards the left side of the vehicle, all laser radar mounting surfaces in the front base group incline forwards, and the point cloud data volume of the front side of the vehicle is increased.
When a high-speed smooth driving scene is changed into a low-speed congestion scene, the laser radar mounting surface of the No. 1 base on the front side rotates 90 degrees towards the left side of the vehicle, the laser radar mounting surface of the No. 4 base rotates 90 degrees towards the right side of the vehicle, all laser radar mounting surfaces in the left side base group and the right side base group incline towards two sides respectively, and point cloud data volume on two sides of the vehicle is increased.
Because the lower limit of the vertical measurement angle of the 16-line laser radar is-15 degrees, and the lower limit of the vertical measurement angle of the 64-line laser radar is-24.8 degrees, the inclination angle beta of the reference plane is-24.8 degrees (-15 degrees) -9.8 degrees.
Since the vertical angular resolution of the 16-line lidar is 2 °, the angle α between adjacent emitted light rays of the lidar is 2 °.
The reference surface of the left base set is the lidar mounting surface of base No. 1, the inclination angle β of the lidar mounting surface of the base to the left side is-9.8 °, the inclination angles β + α/m + 9.8 ° +2 °/4-9.3 °, β +2 α/m-8.8 °, and β +3 α/m-8.3 °, respectively.
The reference surface of the right base set is the lidar mounting surface of base No. 1, the inclination angle β of the lidar mounting surface of the base to the right side is-9.8 °, the inclination angles β + α/m + 9.8 ° +2 °/4-9.3 °, β +2 α/m-8.8 °, and β +3 α/m-8.3 °, respectively.
The inclination angles of the laser radar mounting surface of the base 1, the laser radar mounting surface of the base 2, the laser radar mounting surface of the base 3, and the laser radar mounting surface of the base 4 toward the front side of the front base set are β -9.8 °, β + α/m-9.8 ° +2 °/4-9.3 °, β +2 α/m-8.8 °, and β +3 α/m-8.3 °, respectively.
Example 4
When a high-speed smooth driving scene and a low-speed congestion driving scene are in use, a plurality of 16-line laser radars are used for respectively realizing the point cloud density effect of 128-line laser radars on the driving scenes on the front side and the two sides of the vehicle.
The point cloud beam required by the laser radar is 128 lines during the collection of the automatic driving scene, and the point cloud beam of the used laser radar is 16 lines, so that the number n1 of the bases on the front side, the left side and the right side is n 2-n 3-S0-8, the number n4 of the bases on the front side is S/S0-2-6, and the number m of the bases in the bases on the same side is 8.
The bases in the left base group are numbered from front to back as 1, 2, 3, 4, 5, 6, 7 and 8, the bases in the right base group are numbered from back to front as 1, 2, 3, 4, 5, 6, 7 and 8, so that the base with the left number of 1, the base with the right number of 4 and the 6 bases in the front base group form the front base group, and the bases are numbered from left to right as 1, 2, 3, 4, 5, 6, 7 and 8.
When the driving scene is jammed at a low speed, all laser radar mounting surfaces in the left base set and the right base set incline towards two sides respectively, and the point cloud data quantity of the two sides of the vehicle is increased;
when a low-speed congestion scene is changed into a high-speed smooth driving scene, the No. 1 base on the left side rotates 90 degrees towards the right side of the vehicle, the No. 8 base on the right side rotates 90 degrees towards the left side of the vehicle, all laser radar mounting surfaces in a front side base group formed by the No. 8 bases and the 6 bases of the front base group are inclined forwards, and the point cloud data volume of the front side of the vehicle is increased.
When a high-speed smooth driving scene is changed into a low-speed congestion scene, the No. 1 base on the front side rotates 90 degrees towards the left side of the vehicle, the No. 8 base rotates 90 degrees towards the right side of the vehicle, all laser radar mounting surfaces in the left side base group and the right side base group incline towards two sides respectively, and the point cloud data volume on two sides of the vehicle is increased.
Because the lower limit of the vertical measurement angle of the 16-line laser radar is-15 degrees and the lower limit of the vertical measurement angle of the 128-line laser radar is-25 degrees, the inclination angle beta of the reference plane is-25 degrees to (-15 degrees) and-10 degrees.
Since the vertical angular resolution of the 16-line lidar is 2 °, the angle α between adjacent emitted light rays of the lidar is 2 °.
The reference surface of the left base group is the laser radar mounting surface of the No. 1 base, and the laser radar mounting surface of the base inclines to the left by an angle beta of-10 degrees. The laser radar mounting surface of the base 2, the laser radar mounting surface of the base 3, the laser radar mounting surface of the base 4, the laser radar mounting surface of the base 5, the laser radar mounting surface of the base 6, the laser radar mounting surface of the base 7, and the laser radar mounting surface of the base 8 are inclined to the left at angles of β + α/m-10 ° +2 °/8-9.75 °, β +2 α/m-9.5 °, β +3 α/m-9.25 °, β +4 α/m-9 °, β +5 α/m-8.75 °, β +6 α/m-8.5 °, and β +7 α/m-8.25 °, respectively.
The reference surface of the right base group is the laser radar mounting surface of the No. 1 base, and the laser radar mounting surface of the base inclines towards the right side by an angle beta of-10 degrees. The laser radar mounting surface of the base 2, the laser radar mounting surface of the base 3, the laser radar mounting surface of the base 4, the laser radar mounting surface of the base 5, the laser radar mounting surface of the base 6, the laser radar mounting surface of the base 7, and the laser radar mounting surface of the base 8 are inclined at angles of β + α/m-10 ° +2 °/8-9.75 °, β +2 α/m-9.5 °, β +3 α/m-9.25 °, β +4 α/m-9 °, β +5 α/m-8.75 °, β +6 α/m-8.5 °, and β +7 α/m-8.25 °, respectively.
The inclination angles of the laser radar mounting surface of the base 1, the laser radar mounting surface of the base 2, the laser radar mounting surface of the base 3, the laser radar mounting surface of the base 4, the laser radar mounting surface of the base 5, the laser radar mounting surface of the base 6, the laser radar mounting surface of the base 7, and the laser radar mounting surface of the base 8 toward the front side are β ═ 10 °, β + α/m ═ 10 ° +2 °/8 ═ 9.75 °, β +2 α/m ═ 9.5 °, β +3 α/m ═ 9.25 °, β +4 α/m ═ 9 °, β +5 α/m ═ 8.75 °, β +6 α/m ═ 8.5 °, and β +7 α/m ═ 8.25 °, respectively.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A multi-laser-radar adjustable coupling method is characterized by comprising the following steps:
A. respectively installing laser radar installation base groups in the front, the left side and the right side of the automatic driving vehicle, and respectively installing each low-line laser radar on the corresponding laser radar installation base group;
B. adjusting the inclination angle and the rotation angle of the laser radar mounting surface in each group of laser radar mounting base groups according to the driving scene, locking the working position of the laser radar mounting surface, and ensuring that light rays emitted by the laser radars on the same side are uniformly distributed in a crossed manner;
C. acquiring point cloud data of laser radars on two sides and in front of the automatic driving vehicle;
D. and converting the point cloud data of each laser radar into the same coordinate system to realize the coupling of all the laser radars.
2. The method of claim 1, wherein: step a, each of the laser radar mounting base sets comprises a plurality of adjacent laser radar mounting bases, the number of the bases of the front, left and right base sets is n1, n2 and n3, in order to make the point cloud densities in front of the vehicle and on the left and right sides the same, n 1-n 2-n 3-S/S0 are required to be satisfied, wherein S represents a laser radar wire harness required during the automatic driving scene collection, and S0 represents a laser radar wire harness used during the automatic driving scene collection.
3. The method of claim 1, wherein: and step B, all the laser radar mounting surfaces in the left side base group and the right side base group can incline towards two sides respectively, and all the laser radar mounting surfaces in the front side base group incline forwards.
4. The method of claim 1, wherein: and step C, setting that the base group on the same side comprises m bases, the included angle between adjacent emitted light rays of the laser radar is alpha, optionally selecting one mounting surface as a reference surface, the inclination angle of the reference surface is beta, the inclination angles of the other mounting surfaces are beta + alpha/m, beta +2 alpha/m, … … and beta + (m-1) alpha/m (m is more than or equal to 2), and the inclination angle difference of the two adjacent mounting surfaces of the base group on the same side is alpha/m.
5. The method of claim 1, wherein: step D, specifically comprising the following steps:
d1, using the vehicle coordinate system XYZ-O as a reference, initially keeping the laser radar installation coordinate system XYZ-O1 consistent with the vehicle coordinate system XYZ-O in direction, the offset in X, Y, Z axis direction is dx, dy and dz respectively, the rotation angles of the laser radar installation coordinate system XYZ-O1 relative to the vehicle coordinate system XYZ-O in X axis, Y axis and Z axis direction are delta, beta and theta respectively, determining the rotation matrix R and the translation matrix T of each laser radar, and calculating the method as follows:
d2, point cloud data (x) obtained by each laser radar through the rotation matrix R and the translation matrix Tm,ym,zm) The coordinates transformed to the vehicle coordinate system XYZ-O are (x, y, z), and the calculation method is as follows:
6. the utility model provides a many laser radar adjustable coupled system which characterized in that: the automatic driving vehicle comprises a plurality of groups of laser radar mounting base sets, wherein the plurality of groups of laser radar mounting base sets are respectively mounted in the front, the left side and the right side of the automatic driving vehicle, and each laser radar mounting base set comprises a plurality of adjacent laser radar mounting bases;
each laser radar mounting base is composed of a tilting device and a rotating and locking device; the tilting device comprises a first driving motor (3), a steel wire rope (4) and a T-shaped supporting rod (12), wherein the T-shaped supporting rod (12) is installed above a ratchet wheel (9) in the rotating and locking device, a return spring (13) is installed on the upper portion of the T-shaped supporting rod (12), a laser radar installation surface (6) is fixedly connected above the return spring (13), the upper portion of the steel wire rope (4) is connected with one side of the bottom of the laser radar installation surface (6), the lower portion of the steel wire rope is connected with a winder (2), and the winder (2) and the first driving motor (3) are installed on the upper portion of the ratchet wheel (9); the rotating and locking device further comprises a push-pull type electromagnetic valve (8), a locking block (14) and a second driving motor (15), an output shaft of the second driving motor (15) is coaxial with the ratchet, the ratchet is connected with the T-shaped supporting rod (12), the push-pull type electromagnetic valve (8) is fixedly connected with a spring of the push-pull type electromagnetic valve (8), and the locking block (14) can be controlled to be connected with the ratchet (9) in a clamping mode.
7. The multi-lidar tunable coupling system of claim 6, wherein: the number of the bases of the front side base set, the left side base set and the right side base set is n1, n2 and n3, in order to make the point cloud density in front of the vehicle and on the left and right sides the same, n 1-n 2-n 3-S/S0 are required, wherein S represents the wire harness of the laser radar required during the automatic driving scene acquisition, and S0 represents the wire harness of the laser radar used during the automatic driving scene acquisition; when the front side base group consists of the laser radar mounting base which is arranged at the forefront of the two sides and the front base group, the number n4 of the bases of the front base group is S/S0-2; when the front base group is formed by the front base group alone, n 4-n 1-S/S0.
8. The multi-lidar tunable coupling system of claim 6, wherein: the laser radar mounting base is respectively fixed on the fixed base plates (1), a plurality of base plate fixing holes (11) used for being fixed with a vehicle are formed in the fixed base plates (1), and two adjacent fixed base plates (1) are connected through a plurality of connecting pieces (16).
9. The multi-lidar tunable coupling system of claim 6, wherein: the laser radar mounting surface (6) is provided with an annular boss (5) along the circumference, the centers of the laser radar mounting surfaces (6) are located at the same height, and the centers are provided with radar fixing holes (7) for mounting radars.
10. The multi-lidar tunable coupling system of claim 6, wherein: the device also comprises a first control unit in control connection with the first driving motor (3), a second control unit in control connection with the second driving motor (15) and a third control unit in control connection with the push-pull type electromagnetic valve (8).
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