CN209148868U - Positioning device based on camera and radar fusion - Google Patents
Positioning device based on camera and radar fusion Download PDFInfo
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- CN209148868U CN209148868U CN201821872076.3U CN201821872076U CN209148868U CN 209148868 U CN209148868 U CN 209148868U CN 201821872076 U CN201821872076 U CN 201821872076U CN 209148868 U CN209148868 U CN 209148868U
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Abstract
The utility model relates to the positioning devices based on camera and radar fusion, including camera, video processing unit, radar cell and main control unit；Camera, for obtaining the video of vehicle environment；Video processing unit, for being decoded processing to video；Radar cell, for obtaining the radar signal and CAN signal of vehicle；Main control unit, video, radar signal and the CAN signal after decoding process for receiving video processing unit input, carries out fusion treatment to video, radar signal and CAN signal, to obtain the positioning signal of vehicle.This hair utility model, which is realized, combines vehicle environment to carry out precise positioning, at low cost.
Description
Technical field
The utility model relates to positioning devices, more specifically refer to the positioning device based on camera and radar fusion.
Background technique
Autonomous driving vehicle (Autonomous vehicles；Self-piloting automobile) it is also known as nobody and drives
Automobile, computer driving or wheeled mobile robot are sailed, is a kind of unpiloted intelligence vapour to be realized by computer system
Vehicle.Have the history of many decades in 20th century, the trend close to functionization is showed at the beginning of 21 century.Autonomous driving vehicle relies on people
Work intelligence, vision calculating, radar, monitoring device and global positioning system cooperative cooperating, allow computer can be in nobody class
Under the operation of active, automatic safe motor vehicles are operated.
High accuracy positioning is that automatic driving vehicle normal work must be solved the problems, such as preferentially, existing high-precision fixed at present
There are mainly two types of position technologies, first is that the technology based on the sub_meter positions mould group and high-precision map such as laser radar；Second is that being based on
Differential GPS positioning.Satellite positioning is carried out firstly the need of using sub_meter position mould group based on the technology of laser radar, uses laser
Radar carries out Real-time modeling set to vehicle-surroundings environment, and modeling result is matched with high-precision map, to realize high-precision
Degree positioning, based on the technology of differential GPS positioning, satellite positioning precision can reach within 10cm, can be directly realized by high-precision fixed
Position.
But the higher cost of these positioning methods, and these positioning methods can not be adapted to based on vehicle environment, be led
There are more limitation, the volume production for not being suitable for automatic driving vehicle is used for cause.
Therefore, it is necessary to design a kind of new positioning device, realizes and vehicle environment is combined to carry out precise positioning, it is at low cost.
Utility model content
The purpose of the utility model is to overcome the defect of the prior art, the positioning based on camera and radar fusion is provided
Device.
To achieve the above object, the utility model uses following technical scheme: the positioning based on camera and radar fusion
Device, including camera, video processing unit, radar cell and main control unit；The camera, for obtaining vehicle environment
Video；The video processing unit, for being decoded processing to video；The radar cell, for obtaining the thunder of vehicle
Up to signal and CAN signal；The main control unit, the video after decoding process, thunder for receiving video processing unit input
Up to signal and CAN signal, fusion treatment is carried out to video, radar signal and CAN signal, to obtain the positioning letter of vehicle
Number.
Its further technical solution are as follows: described device further includes coding unit, the coding unit, is used for positioning signal
After carrying out coded treatment, it is transmitted to terminal.
Its further technical solution are as follows: the model CSRS3662A01-IBBO-R of the main control unit.
Its further technical solution are as follows: the radar cell include radar sensor, processing chip U2, serial port chip U3 with
And CAN chip U5；The radar sensor, for obtaining radar signal；The CAN chip U5, for receive radar signal with
And CAN signal；The processing chip U2, for radar signal and CAN signal to be carried out integrated processing；The serial port chip
U3 is transmitted to main control unit for the radar signal that will integrate that treated and CAN signal.
Its further technical solution are as follows: the end feet of the processing chip U2 is also connected with switching subelement；Switching
Unit, for input pattern switching signal to processing chip U2, so that processing chip U2 enters operating mode from suspend mode.
Its further technical solution are as follows: the switching subelement includes triode Q1, Q2, the collector of the triode Q1
It is connect with the base stage of the triode Q2, the emitter of the triode Q2 is connect with the processing chip U2.
Its further technical solution are as follows: described device further includes power supply unit, and said supply unit includes power supply, anti-interference
Subelement, voltage conversion subunit, the power supply are connect with the anti-interference subelement, the anti-interference subelement and the electricity
Press conversion subunit connection, the voltage conversion subunit respectively with the camera, video processing unit, radar cell, volume
Code unit and main control unit connection；The end feet of the processing chip U2 is connected to power detecting subelement, the power detecting
Subelement is connect with the anti-interference subelement.
Its further technical solution are as follows: the coding unit includes encoder U18, the model of the encoder U18
CH7026B-TF1。
Its further technical solution are as follows: the video processing unit includes decoder, the model of the decoder
TVP5158IPNPQ1。
Its further technical solution are as follows: the voltage conversion subunit further includes the 5th conversion module, the 5th conversion
Module includes the 5th conversion chip U31, is connected with enabled subelement between the processing chip U2 and the 5th conversion module,
The enabled subelement, for receiving the enable signal of processing chip U2 output, to drive the 5th conversion module to described
Main control unit powers or does not power, whether work to control the main control unit.
The beneficial effect of the utility model compared with prior art is: the utility model is by combining radar signal, CAN to believe
Number and the vehicle environment video that obtains of camera, video is transmitted to main control chip after video processing unit decoding process,
Main control unit is merged and is analyzed to video, radar signal, CAN signal, obtains the positioning signal of high accurancy and precision, and by encoding
It is shown after cell processing in terminal, realizes and vehicle environment is combined to carry out precise positioning, it is at low cost.
The utility model is further described in the following with reference to the drawings and specific embodiments.
Detailed description of the invention
In order to illustrate more clearly of the utility model embodiment technical solution, will make below to required in embodiment description
Attached drawing is briefly described, it should be apparent that, the accompanying drawings in the following description is some embodiments of the utility model, for
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings other
Attached drawing.
Fig. 1 is the schematic of the positioning device based on camera and radar fusion that the utility model specific embodiment provides
Block diagram；
Fig. 2 is the physical circuit schematic diagram for the processing chip U2 that the utility model specific embodiment provides；
Fig. 3 is the physical circuit schematic diagram for the serial port chip U3 that the utility model specific embodiment provides；
Fig. 4 is the physical circuit schematic diagram for the CAN chip U5 that the utility model specific embodiment provides；
Fig. 5 is the physical circuit schematic diagram for the pattern switching subelement that the utility model specific embodiment provides；
Fig. 6 is physical circuit schematic diagram (including the reserved son of the enabled subelement that provides of the utility model specific embodiment
Unit)；
Fig. 7 is the physical circuit schematic diagram of main control chip U6A, U6H that the utility model specific embodiment provides；
Fig. 8 is the physical circuit schematic diagram of main control chip U6D, U6F that the utility model specific embodiment provides；
Fig. 9 is the physical circuit schematic diagram for the USB subelement that the utility model specific embodiment provides；
Figure 10 is the physical circuit schematic diagram for the decoder U14B that the utility model specific embodiment provides；
The physical circuit principle of decoder U14A, main control chip U6C that Figure 11 provides for the utility model specific embodiment
Figure；
The physical circuit principle of main control chip U6E, encoder U18 that Figure 12 provides for the utility model specific embodiment
Figure；
The physical circuit principle of memory U20, main control chip U6G that Figure 13 provides for the utility model specific embodiment
Figure；
The physical circuit principle of internal memory U23, main control chip U6B that Figure 14 provides for the utility model specific embodiment
Figure；
Figure 15 is the physical circuit schematic diagram for the anti-interference subelement that the utility model specific embodiment provides；
Figure 16 is the physical circuit schematic diagram for the first conversion module that the utility model specific embodiment provides；
Figure 17 is the physical circuit schematic diagram for the second conversion module that the utility model specific embodiment provides；
Figure 18 is the physical circuit schematic diagram for the third conversion module that the utility model specific embodiment provides；
Figure 19 is the physical circuit schematic diagram for the 4th conversion module that the utility model specific embodiment provides；
Figure 20 is the physical circuit schematic diagram for the 5th conversion module that the utility model specific embodiment provides；
Figure 21 is the physical circuit schematic diagram for the 6th conversion module that the utility model specific embodiment provides；
Figure 22 is the physical circuit schematic diagram for the 7th conversion module that the utility model specific embodiment provides；
Figure 23 is the physical circuit schematic diagram for the camera that the utility model specific embodiment provides.
Specific embodiment
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
It clearly and completely describes, it is clear that the embodiments are a part of the embodiments of the present invention, rather than whole implementation
Example.Based on the embodiments of the present invention, those of ordinary skill in the art are obtained without making creative work
The every other embodiment obtained, fall within the protection scope of the utility model.It should be appreciated that when in this specification and appended right
In use, term " includes " and "comprising" indicate described feature, entirety, step, operation, element and/or component in claim
Presence, but be not precluded one or more of the other feature, entirety, step, operation, element, component and/or its set presence
Or addition.It is also understood that in this utility model term used in the description merely for the sake of description specific embodiment
Purpose and be not intended to limit the utility model.As used in the utility model specification and appended book
Like that, other situations unless the context is clearly specified, otherwise " one " of singular, "one" and "the" are intended to include plural number
Form.It will be further appreciated that the term "and/or" used in the utility model specification and appended book is
Refer to any combination and all possible combinations of one or more of associated item listed, and including these combinations.
The specific embodiment as shown in Fig. 1~23, the positioning dress provided in this embodiment based on camera and radar fusion
It sets, can apply in pilotless automobile, realize and vehicle environment is combined to carry out precise positioning, it is at low cost.
Referring to Fig. 1, Fig. 1 is the positioning dress based on camera and radar fusion that the utility model specific embodiment provides
The schematic block diagram set；As shown in Figure 1, being somebody's turn to do the positioning device based on camera and radar fusion, including at camera 10, video
Manage unit 20, radar cell 30 and main control unit 40；Camera 10, for obtaining the video of vehicle environment；Video processing is single
Member 20, for being decoded processing to video；Radar cell 30, for obtaining the radar signal and CAN signal of vehicle；Master control
Unit 40, video, radar signal and the CAN signal after decoding process for receiving the input of video processing unit 20, to view
Frequently, radar signal and CAN signal carry out fusion treatment, to obtain the positioning signal of vehicle.
The vehicle environments, such as lane line, traffic lights, traffic direction sign such as road conditions etc. where camera 10 obtains automobile；
Video processing unit 20 can be decoded processing to the video got, in order to which main control unit 40 carries out fusion treatment；Radar
Signal searches a certain range of accurately diagram data according to the radar signal from radar sensor, main control unit 40,
And identification and ranging are carried out to lane line, traffic lights, the traffic direction sign etc. in video, recognition result is obtained, and will identification
As a result it is matched with the accurately diagram data searched before, to realize high accuracy positioning.
In one embodiment, as shown in Figure 1, above-mentioned device further includes coding unit 50, the coding unit 50 is used for
After positioning signal is carried out coded treatment, it is transmitted to terminal 60.
Please see Fig. 2 to Fig. 4, above-mentioned radar cell 30 include radar sensor, processing chip U2, serial port chip U3 with
And CAN chip U5；Radar sensor, for obtaining radar signal；CAN chip U5, for receiving radar signal and CAN letter
Number；Chip U2 is handled, for radar signal and CAN signal to be carried out integrated processing；Serial port chip U3, for being handled integrated
Radar signal and CAN signal afterwards is transmitted to main control unit 40.
As shown in Fig. 2, the model of processing chip U2 but being not limited to uPD78F1828AGAA, and processing chip U2
End feet be also connected with burning interface P1, be used for burning program；The end feet of processing chip U2 is connected with oscillator Y1 and filter
Wave capacitor C28, C29, filter resistance R34 are realized and are provided the effect of clock.
Further, the end feet of processing chip U2 is also connected with AD detection sub-unit, which is used for
Battery voltage detection is carried out, to realize the detection to power supply, specifically, which includes detection resistance R31, drop-down
Resistance R33, filter capacitor C27 and filtered diode D5, wherein detection resistance R31 respectively with power supply unit and processing core
Piece U2 connection, pull down resistor R33, filter capacitor C27 and filtered diode D5 are one end ground connection, and the other end is connected to detection
Between resistance R31 and processing chip U2.
In one embodiment, as shown in figure 3, the model of above-mentioned serial port chip U3 but being not limited to NLSX4373MUTAG.
In one embodiment, as shown in figure 4, the model of above-mentioned CAN chip U5 but being not limited to TJA1040-CAN,
The CAN chip U5 is for receiving speed signal, gear signal and radar signal；The automobiles such as CAN chip U5 and radar sensor
Filter L2 is connected between detection device, the both ends of filter L2 are parallel with filter resistance R45, R44, filter L2 also with
The transient supression diode D7 connection being equipped with, to play filtering inhibitory effect；In addition, above-mentioned CAN chip U5 and filter L2
Between be also connected with one end ground connection filter capacitor C35, C36；And it is also connected between CAN chip U5 and filter L2 and successively connects
Voltage regulation resistance R42, the filter capacitor C37 connect, wherein one end of filter capacitor C37 is grounded, CAN chip U5 and filter capacitor C37
Between be also connected with resistance R43, to carry out being filtered place to the radar signal, speed signal and gear signal etc. that get
Reason, improves the accuracy rate of positioning.
And processing chip U2 output high level or low level are to control the work of CAN chip U5 and stop working.
In one embodiment, referring to Fig. 5, the end feet of processing chip U2 is also connected with switching subelement and makes energon list
Member；Switching subelement, for input pattern switching signal to processing chip U2, so that processing chip U2 enters work from suspend mode
Operation mode.
Specifically, above-mentioned switching subelement includes triode Q1, Q2.And triode Q1 can connect with switching switch element
It connects, switching switch element passes sequentially through the base of pressure stabilizing inductance FER15, zener diode D3 and voltage regulation resistance R5 and triode Q1
Pole connection, the collector of triode Q1 are connect with the base stage of triode Q2, and the emitter of triode Q2 is connect with processing chip U2.
By switch switch element operation so that triode Q1, Q2 conducting or truncation, realize processing chip U2 from dormant state into
Enter working condition or enters dormant state from working condition.Specifically, when triode Q1 is truncated, and triode Q2 is connected, processing
Chip U2 enters working condition from dormant state, on the contrary then handle chip U2 and enter dormant state from working condition.
In addition, being also connected with two pole of pressure stabilizing of one end ground connection between above-mentioned switching switch element and the base stage of triode Q1
Pipe D4.Sequentially connected filter capacitor C14, C15, the filtering are also connected between switching switch element and the base stage of triode Q1
One end of capacitor C15 is grounded.
In one embodiment, described reserved referring to Fig. 6, the end feet of processing chip U2 is also connected with reserved subelement
The triode Q20 by key connection that subelement includes and is equipped with, wherein connected between the base stage and collector of triode Q20
There is zener diode D8 and filter inductance C270, the grounded collector of triode Q20 is led to realize that the transmission of signal is stablized
The conducting and truncation by key control triode Q20 are crossed, realizes the control for not working or working to processing chip U2.
In addition, above-mentioned reserved subelement further includes triode Q4 and Mos pipe Q5, triode Q4 and the light being equipped with
By key connection, and the collector of triode Q4 is connect with Mos pipe Q5, when triode Q4 conducting and Mos pipe Q5 conducting, handles core
Piece U2 receives signal driving LED and lights.
In one embodiment, Figure 15 to Figure 22 is please referred to, above-mentioned device further includes power supply unit, said supply unit packet
Power supply, anti-interference subelement, voltage conversion subunit are included, power supply is connect with anti-interference subelement, anti-interference subelement and voltage
Conversion subunit connection, voltage conversion subunit are single with camera 10, video processing unit 20, radar cell 30, coding respectively
Member 50 and main control unit 40 connect；The end feet of processing chip U2 is connected to power detecting subelement, power detecting subelement with
Anti-interference subelement connection.
Specifically, Figure 15 is please referred to, above-mentioned anti-interference subelement includes being sequentially connected to power supply and voltage conversion son list
Voltage regulation resistance R1, zener diode D2, filter L35, filter inductance L1 between member；Wherein, above-mentioned power supply and voltage turn
It changing between subelement and is connected with the filter capacitor C2 of one end ground connection, the other end of filter capacitor C2 is connected with filter capacitor C1,
The other end of filter capacitor C1 is connected between power supply and voltage conversion subunit, to play filter function, in addition, above-mentioned is anti-
Interfering subelement further includes filter capacitor C282, C281, C5, voltage regulation resistance D1, filter capacitor C282, C281, C5, voltage regulation resistance
The both ends of D1 are connect with two end feets of filter L35 respectively.Above-mentioned anti-interference subelement further include filter capacitor C292,
C280, C6, C7, C8, one end of filter capacitor C292, C280, C6, C7, C8 are connected to filter inductance L1 and voltage conversion is single
Between member, other end ground connection.Above-mentioned anti-interference subelement further includes the interface P0 connecting with filter inductance L1.
In one embodiment, Figure 16 is please referred to, which includes the first conversion module, first modulus of conversion
Block is used to be converted to the voltage of 12V the voltage of 5V, for processing chip U2 and CAN chip U5 power supply.First conversion module
Including the first conversion chip U1, the model of first conversion chip U1 but it is not limited to NCV4275, first conversion chip U1
The filter capacitor C269 of voltage regulation resistance R4 and one end ground connection are also connected between processing chip U2；In addition, second conversion
Filter capacitor C12, C13 of one end ground connection are also connected between chip U1 and CAN chip U5, to realize the stabilization of power supply.
In one embodiment, Figure 17 is please referred to, above-mentioned voltage conversion subunit further includes the second conversion module, this second
Conversion module includes the second conversion chip U12, the model of second conversion chip U12 but is not limited to RP170N331D-TR-
5V voltage is converted to 3.3V voltage by AE, conversion chip U12, is supplied to the use of coding unit 50.
In one embodiment, Figure 18 is please referred to, above-mentioned voltage conversion subunit further includes third conversion module, the third
5V voltage is converted to 1.8V/1.1V by conversion module, wherein the third conversion module includes third conversion chip U11, the third
The model of conversion chip U11 but it is not limited to RP550L001B, the end feet of third conversion chip U11 is connected with filter inductance
L3 is also connected with filter capacitor C112, C113 of one end ground connection, the filtering between filter inductance L3 and video processing unit 20
Voltage regulation resistance R76, R77 and filter capacitor C111 are connected between inductance L3 and video processing unit 20, wherein voltage regulation resistance
One end of R76 is connect with filter resistance R77, and one end ground connection of filter resistance R77, above-mentioned filter capacitor C111 and filtered electrical
R77 connection is hindered, provides 1.8V voltage to video processing unit 20 to realize.In addition, the end feet of third conversion chip U11 connects
Have filter inductance L4, be also connected between filter inductance L4 and video processing unit 20 one end ground connection filter capacitor C109,
C110 is connected with voltage regulation resistance R74, R75 and filter capacitor C108 between filter inductance L3 and video processing unit 20,
One end of middle voltage regulation resistance R74 is connect with filter resistance R75, and one end ground connection of filter resistance R75, above-mentioned filter capacitor
C108 is connect with filter resistance R75, provides 1.1V voltage to video processing unit 20 to realize.
In one embodiment, Figure 19 is please referred to, which further includes the 4th conversion module, the 4th conversion
Module includes the 4th conversion chip U15, U6, U17, and the model of the 4th conversion chip U15, U6, U17 is respectively but is not limited to
PR170N251D-TP-AE, the 4th conversion chip U15, U6, U17 respectively by the voltage corresponding conversion of 5V be 2.5V, 1.8V,
3.3V, to power to coding unit 50.
In one embodiment, Figure 20 is please referred to, which further includes the 5th conversion module, the 5th conversion
Module includes the 5th conversion chip U31, the model of the 5th conversion chip U31 but is not limited to TPS5430DDAR, and this
Pressure stabilizing inductance L10 is connected between five conversion chip U31 and main control unit 40, the 5th conversion chip U31 converts 12V voltage
For 5V voltage, supplies main control unit 40 and use.
In one embodiment, as shown in fig. 6, being connected between above-mentioned processing chip U2 and the 5th conversion module makes energon
Unit, the enabled subelement are used to receive the enable signal of processing chip U2 output, to drive the 5th conversion module to master control list
Whether 40 power supply of member or not, thus whether controlling the work of main control unit 40.Specifically, which includes triode
Q9, triode Q9 drive the 5th conversion module to power main control unit 40 in the state of conducting, and triode Q9 is in truncation
The 5th conversion module is driven not power main control unit 40 under state.It is connected between the base stage and processing chip U2 of triode Q9
There is voltage regulation resistance R29, and the emitter of triode Q9 is connect with the 5th conversion module.
In one embodiment, Figure 21 is please referred to, above-mentioned voltage conversion subunit further includes the 6th conversion module, and the 6th
Conversion module includes triode Q12, Q14, Q16, Q18 and Mos pipe Q13, Q15, Q17, Q19；Triode Q12, Q14,
The base stage of Q16, Q18 are connect with interface P0, and Mos pipe Q13 is connect with the collector of camera 10 and triode Q12 respectively, Mos
Pipe Q15 is connect with the collector of camera 10 and triode Q14 respectively, Mos pipe Q17 respectively with camera 10 and triode
The collector of Q16 connects, and Mos pipe Q19 is connect with the collector of camera 10 and triode Q18 respectively, to realize 5V
Voltage supply four-way CCD camera 10.
In one embodiment, Figure 22 is please referred to, above-mentioned voltage conversion subunit further includes the 7th conversion module, and the 7th
Conversion module includes the 7th conversion chip U25, the model of the 7th conversion chip U25 but is not limited to RN5T566B, is utilized
The voltage of 5V is converted to 1.5V/1.1V/3.3V/1.8V by the 7th conversion chip U25, to be powered to main control unit 40.
In one embodiment, it please refers to Fig. 7 to 14, the model of above-mentioned main control unit 40 but is not limited to
CSRS3662A01-IBBO-R, the main control unit 40 include main control chip U6A, U6B, U6C, U6D, U6E, U6F, U6G, U6H.
In one embodiment, referring to Fig. 9, the end feet of above-mentioned main control chip U6D is connected with USB subelement, USB
Unit includes USB interface J2 and USB chip U10, which connect with main control chip U6D, USB interface J2 and USB
Chip U10 connection carries out software upgrading by USB chip U10 and USB interface J2.In addition, the end of above-mentioned main control chip U6D
Foot is connected with read-only memory U32, the model of read-only memory U32 but is not limited to AT24C16, and main control chip U6D
It is also connected with voltage checking chip U7 between the 7th conversion module, to carry out voltage detecting, the type of voltage checking chip U7
Number it is but is not limited to S-19100C27H-M5T2U.And the 7th passes through voltage regulation resistance between conversion module and main control chip U6D
R68, R69 connection.In addition the end feet of main control chip U6D is also connected with clock chip X3, to provide time clock feature.
In one embodiment, as shown in figure 23, filtering is connected separately between the camera 10 and video processing unit 20
Device L5, L6, L7, L8, to be filtered to vision signal.
In one embodiment, Figure 10 to Figure 11 is please referred to, which includes decoder U14A, U14B, institute
It states the model of decoder U14A, U14B but is not limited to TVP5158IPNPQ1.Wherein, decoder U14A and main control chip
U6C connection, decoder U14A are connect with filter L5, L6, L7, L8, and the decoder U14A, U14B are same chips.
In one embodiment, Figure 12 is please referred to, which includes encoder U18, the model of the encoder U18
For but be not limited to CH7026B-TF1, encoder U18 is connect with main control chip U6E.
In one embodiment, Figure 13 is please referred to, the end feet of the main control unit 40 is connected with memory U20, memory U20
Model but be not limited to S34ML02G100TF100, memory U20 is connect with main control chip U6G.And main control chip U6G
It is also connected with sequentially connected power regulator U21 and voltage checking chip U22, between interface J0 to carry out voltage inspection
It surveys, the model of voltage checking chip U22 but is not limited to S-19100C27H-M5T2U, the model of power regulator U21
But it is not limited to RP170N331D-TR-AE.
In one embodiment, Figure 14 is please referred to, the end feet of main control unit 40 is also connected with internal memory U23, internal memory U23
Model but be not limited to IS46TR16128B-15HBLA2, internal memory U2 is connect with main control chip U6B.
The above-mentioned positioning device based on camera and radar fusion, by combining radar signal, CAN signal and camera shooting
The first 10 vehicle environment videos obtained, video are transmitted to main control chip, master control list after 20 decoding process of video processing unit
First 40 pairs of videos, radar signal, CAN signal are merged and are analyzed, and obtain the positioning signal of high accurancy and precision, and by coding unit
It is shown after 50 processing in terminal 60, realizes and vehicle environment is combined to carry out precise positioning, it is at low cost.
The above-mentioned technology contents that the utility model is only further illustrated with embodiment, in order to which reader is easier to understand,
But the embodiments of the present invention is not represented is only limitted to this, any technology done according to the utility model extends or recreation,
By the protection of the utility model.The protection scope of the utility model is subject to claims.
Claims (10)
1. the positioning device based on camera and radar fusion, which is characterized in that including camera, video processing unit, radar
Unit and main control unit；The camera, for obtaining the video of vehicle environment；The video processing unit, for view
Frequency is decoded processing；The radar cell, for obtaining the radar signal and CAN signal of vehicle；The main control unit is used
Video, radar signal and CAN signal after the decoding process for receiving video processing unit input, to video, radar signal
And CAN signal carries out fusion treatment, to obtain the positioning signal of vehicle.
2. the positioning device according to claim 1 based on camera and radar fusion, which is characterized in that described device is also
Including coding unit, the coding unit is transmitted to terminal after positioning signal is carried out coded treatment.
3. the positioning device according to claim 1 based on camera and radar fusion, which is characterized in that the master control list
The model CSRS3662A01-IBBO-R of member.
4. the positioning device according to claim 2 based on camera and radar fusion, which is characterized in that the radar list
Member includes radar sensor, processing chip U2, serial port chip U3 and CAN chip U5；The radar sensor, for obtaining thunder
Up to signal；The CAN chip U5, for receiving radar signal and CAN signal；The processing chip U2, for believing radar
Number and CAN signal carry out integrated processing；The serial port chip U3, for will integrate that treated radar signal and CAN letter
Number it is transmitted to main control unit.
5. the positioning device according to claim 4 based on camera and radar fusion, which is characterized in that the processing core
The end feet of piece U2 is also connected with switching subelement；The switching subelement extremely handles chip U2 for input pattern switching signal,
So that processing chip U2 enters operating mode from suspend mode.
6. the positioning device according to claim 5 based on camera and radar fusion, which is characterized in that switching
Unit includes triode Q1, Q2, and the collector of the triode Q1 is connect with the base stage of the triode Q2, the triode Q2
Emitter connect with the processing chip U2.
7. the positioning device according to claim 6 based on camera and radar fusion, which is characterized in that described device is also
Including power supply unit, said supply unit includes power supply, anti-interference subelement, voltage conversion subunit, the power supply with it is described
Anti-interference subelement connection, the anti-interference subelement are connect with the voltage conversion subunit, the voltage conversion subunit
It is connect respectively with the camera, video processing unit, radar cell, coding unit and main control unit；The processing chip
The end feet of U2 is connected to power detecting subelement, and the power detecting subelement is connect with the anti-interference subelement.
8. the positioning device according to claim 7 based on camera and radar fusion, which is characterized in that the coding is single
Member includes encoder U18, the model CH7026B-TF1 of the encoder U18.
9. the positioning device according to claim 8 based on camera and radar fusion, which is characterized in that at the video
Managing unit includes decoder, the model TVP5158IPNPQ1 of the decoder.
10. the positioning device according to claim 7 based on camera and radar fusion, which is characterized in that the voltage
Conversion subunit further includes the 5th conversion module, and the 5th conversion module includes the 5th conversion chip U31, the processing chip
Enabled subelement is connected between U2 and the 5th conversion module, the enabled subelement is defeated for receiving processing chip U2
Enable signal out, to drive the 5th conversion module to power the main control unit or not power, to control the master
Whether controlling the work of unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821872076.3U CN209148868U (en) | 2018-11-14 | 2018-11-14 | Positioning device based on camera and radar fusion |
Applications Claiming Priority (1)
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