CN209992863U - Vehicle formation device based on laser radar - Google Patents
Vehicle formation device based on laser radar Download PDFInfo
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- CN209992863U CN209992863U CN201920863610.2U CN201920863610U CN209992863U CN 209992863 U CN209992863 U CN 209992863U CN 201920863610 U CN201920863610 U CN 201920863610U CN 209992863 U CN209992863 U CN 209992863U
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Abstract
The application relates to the field of transportation, in particular to a vehicle formation device based on a laser radar. The application relates to a vehicle formation device based on laser radar, include: the laser radar is arranged on the vehicle and used for detecting the vehicle and acquiring the distance between the front vehicle and the rear vehicle; the vehicle control module is connected with the laser radar circuit and used for receiving the distance between the front vehicle and the rear vehicle, comparing the distance with the pre-stored early warning distance, obtaining a result and sending an instruction to the execution module according to the result; and the execution module is communicated with the vehicle control module and is used for operating the acceleration and deceleration of the vehicle to enable the distance between the vehicles to be greater than the early warning distance. The method and the device have the advantages that the advantages of high detection precision and high frequency of the laser radar are utilized, the distance between the vehicles is adjusted, and vehicle formation is completed; the interference of the environment is weak, and especially, the light change has little influence on the accuracy of vehicle detection.
Description
Technical Field
The utility model discloses the application relates to the traffic field, especially relates to a vehicle formation device based on laser radar.
Background
At present, with the improvement of living standard and the development of automobile technology, automobiles become more and more popular and become an indispensable tool for daily trips of people. At the same time, there are more and more vehicle formations, such as: police cars maintain social order, fire fighting vehicles rescue fire, self-driving tourism and the like, and traffic congestion can be effectively relieved and driving safety can be improved when vehicles are grouped for driving. However, in the current driving process of a fleet, vehicles usually need to communicate by means of talkback and the like to determine whether to form a formation for driving, and the communication efficiency of talkback and the like is low, so that a lot of time is consumed for communication to complete the formation, and the traveling efficiency of the vehicles is reduced.
Other vehicle formation methods include formation using civil satellite positioning systems, ultrasonic, vision modules, and the like. Since the precision of the civil satellite positioning system is not required, it is difficult to maintain the vehicle distance during the formation of the vehicles, and the satellite positioning system with higher precision is more expensive. And the precision of the ultrasonic wave and the vision module is often influenced by outdoor complex environment, the precision is poor, the distance measurement is unstable and the maintenance cost is high.
Therefore, satellite-independent positioning, ultrasound and vision module sensors are desired to enable formation.
SUMMERY OF THE UTILITY MODEL
The embodiment of the application provides a vehicle type recognition device based on laser radar, and solves the problems that in the prior art, the precision is not high and the environmental influence is large.
To achieve the purpose, the application embodiment of the present invention adopts the following technical solutions:
in one aspect, a lidar-based vehicle formation apparatus includes:
the laser radar is arranged on the vehicle and used for detecting the vehicle and acquiring the distance between the front vehicle and the rear vehicle;
the vehicle control module is connected with the laser radar circuit and used for receiving the distance between the front vehicle and the rear vehicle, comparing the distance with the pre-stored early warning distance, obtaining a result and sending an instruction to the execution module according to the result;
and the execution module is communicated with the vehicle control module and is used for operating the acceleration and deceleration of the vehicle to enable the distance between the vehicles to be greater than the early warning distance.
In a possible implementation manner, the laser radar comprises a transmitting module, a receiving module and a control module, wherein the transmitting module emits light to a set direction, the emitted light enters the receiving module through an echo signal reflected by a target, and the control module is used for controlling the transmitting module and the receiving module to work and implement ranging.
In a possible implementation manner, the number of the laser radars 3, the vehicle control modules 4 and the execution modules 5 is N, where N is the number of vehicles in the fleet.
In a possible implementation mode, the laser radar is arranged at the tail part of the front vehicle or the front part of the rear vehicle.
In a possible implementation manner, the emitting module is a semiconductor laser or a solid-state laser, the receiving module is a photoelectric sensor, and the control module is a microprocessor.
In a possible implementation manner, the early warning distance is 1-3 meters.
In a possible implementation manner, the early warning distance is 1.5-2 meters.
In one possible implementation, the vehicle control module also prestores the farthest distance between the vehicles, and the farthest distance is 5-10 meters.
In a possible implementation manner, the vehicle formation device based on the laser radar further comprises an adjusting bracket, wherein the adjusting bracket is arranged on a vehicle and used for fixing the laser radar, and the laser radar can be adjusted by pitching plus or minus 5 degrees in the vertical direction and rotating plus or minus 5 degrees in the horizontal direction.
In a possible implementation manner, an auxiliary indication laser is further arranged on the adjusting bracket and used for indicating the area measured by the radar.
According to the embodiment of the application, the laser radar is adopted to actively detect the distance between the front vehicle and the rear vehicle, the early warning distance is obtained after the vehicle control module obtains the distance between the front vehicle and the rear vehicle, the result is transmitted to the execution module, and the execution module takes corresponding measures to ensure the consistency of the distance between the front vehicle and the rear vehicle. The method and the device have the advantages that the advantages of high detection precision and high frequency of the laser radar are utilized, the distance between the vehicles is adjusted, and vehicle formation is completed; the interference of the environment is weak, and especially, the light change has little influence on the accuracy of vehicle detection.
Drawings
Fig. 1 is a schematic diagram of the working principle of the embodiment of the present application.
Fig. 2 is a schematic diagram of module connection according to an embodiment of the present application.
Fig. 3 is a schematic diagram of module connection of the lidar according to an embodiment of the present application.
Fig. 4-5 are schematic views of an adjustment bracket according to an embodiment of the present application.
In the figure: 1. front vehicle; 2. carrying out rear vehicle; 3. a laser radar; 4. a vehicle control module; 5. an execution module; 6. a transmitting module; 7. a receiving module; 8. a control module; 9. adjusting the bracket; 10. an auxiliary indicator light; 11. and adjusting screws.
Detailed Description
The technical scheme of the application is further explained by the specific implementation mode in combination with the attached drawings.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
In order to make the technical solutions better understood by those skilled in the art, 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 only partial 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.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the application described herein may be used. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, apparatus, article, or device that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or device.
The embodiment of the application.
Example 1
As shown in fig. 1, a vehicle formation device based on laser radar includes:
the system comprises a laser radar 3 arranged on a vehicle and used for detecting the vehicle and acquiring the vehicle distance of a front vehicle 1 or a rear vehicle 2, wherein the laser radar 3 is arranged on the rear vehicle 2 in the figure 1 and used for acquiring the distance of the front vehicle 1;
as shown in fig. 2, the vehicle control module 4 is electrically connected to the laser radar 3, and is configured to receive a vehicle distance of the leading vehicle 1, compare the vehicle distance with a pre-stored warning distance, obtain a result, and send an instruction to the execution module according to the result;
the execution module 5 is communicated with the vehicle control module 4, and operates the vehicle to accelerate and decelerate according to the instruction sent by the vehicle control module 4, so that the distance between vehicles is larger than the early warning distance.
This application laser radar surveys the precision height, and the high advantage of frequency adjusts the distance between the front and back car, accomplishes the vehicle formation. When the distance S between the front vehicle 1 and the rear vehicle 2 is less than the pre-stored early warning distance, the vehicle control module 4 obtains a result, sends the result to the execution module 5, so that the execution module 5 operates the front vehicle 1 to accelerate or the rear vehicle 2 to decelerate, and the distance S between the front vehicle 1 and the rear vehicle 2 is greater than the early warning distance.
The laser radar comprises a transmitting module 6, a receiving module 7 and a control module 8, wherein the transmitting module 6 emits light to a set direction, the emitted light enters the receiving module 7 through an echo signal reflected by a target, and the control module 8 is used for controlling the transmitting module 6 and the receiving module 7 to work and implement ranging.
The laser radar 3 measures the distance between the vehicles by using a TOF method, and measures the distance between the front vehicle 1 or the rear vehicle 2 and the vehicle by emitting light in a set direction.
The number of the laser radars 3, the number of the vehicle control modules 4 and the number of the execution modules 5 are N, and N is the number of the vehicles in the fleet.
Each vehicle in the fleet may be either a leading vehicle or a trailing vehicle. When the laser radar 3 is arranged at the tail part of the front vehicle 1, the last vehicle in the fleet does not need to be provided with the laser radar 3; when the lidar 3 is arranged in front of the rear vehicle 2, the first vehicle in the platoon may not be provided with a lidar 3. The number of lidar 3 is now N-1.
The laser radar 3 is arranged at the tail part of the front vehicle or the front part of the rear vehicle.
As shown in fig. 1, when the laser radar 3 is arranged at the front of the rear vehicle 2, the vehicle control module 4 is electrically connected with the laser radar 3, when the vehicle distance between the front vehicle 1 and the rear vehicle 2 is less than or equal to the pre-stored early warning distance, the vehicle control module 4 sends an acceleration instruction to the execution module 5 arranged on the front vehicle 1, and the execution module 5 controls the front vehicle 1 to accelerate and pull away the distance between the front vehicle 1 and the rear vehicle 2; the vehicle distance between the current vehicle 1 and the rear vehicle 2 is greater than the pre-stored early warning distance, and the vehicle control module 4 does not send an instruction to the execution module 5;
if the laser radar 3 is arranged at the rear part of the front vehicle 1, the vehicle control module 4 is electrically connected with the laser radar 3, when the vehicle distance between the front vehicle 1 and the rear vehicle 2 is less than or equal to the pre-stored early warning distance, the vehicle control module 4 sends a deceleration instruction to the execution module 5 arranged on the rear vehicle 2, and the execution module 5 controls the rear vehicle 2 to decelerate and pull the distance between the front vehicle 1 and the rear vehicle 2; the vehicle distance of the current vehicle 1 relative to the following vehicle 2 is greater than the pre-stored early warning distance, and the vehicle control module 4 does not send an instruction to the execution module 5.
The emitting module 6 is a semiconductor laser or a solid-state laser, the receiving module 7 is a photoelectric sensor, and the control module 8 is a microprocessor.
The early warning distance is 1-3 meters.
The early warning distance is 1.5-2 meters.
If the early warning distance is too short, the vehicles are easy to scratch and rub under the condition of high vehicle speed; too far away, the motorcade is too long, which affects traffic.
The vehicle control module 4 also prestores the farthest distance between the vehicles, and the farthest distance is 5-10 meters.
As shown in fig. 1, when the laser radar 3 is arranged in front of the rear vehicle 2, the vehicle control module 4 is electrically connected with the laser radar 3, and when the vehicle distance of the front vehicle 1 relative to the rear vehicle 2 is greater than the pre-stored farthest distance, the vehicle control module 4 sends a deceleration instruction to the execution module 5 arranged on the front vehicle 1, and the execution module 5 controls the front vehicle 1 to decelerate and reduce the distance to the rear vehicle 2;
if laser radar 3 sets up when preceding car 1 rear portion, vehicle control module 4 is connected with laser radar 3 electricity, and when preceding car 1 is greater than the farthest distance that prestores for the vehicle distance of back car 2, vehicle control module 4 sends the instruction of accelerating to the execution module 5 that sets up on back car 2, and execution module 5 controls back car 2 and accelerates, reduces the distance with preceding car 1.
The distance between the motorcades is not suitable to be too far, and the motorcade is easy to be overlong, thereby influencing traffic.
The vehicle formation device based on the laser radar further comprises an adjusting support 9, wherein the adjusting support 9 is arranged on a vehicle and used for fixing the laser radar, and the vehicle formation device can be adjusted by pitching +/-5 degrees in the vertical direction and rotating +/-5 degrees in the horizontal direction.
Because the front vehicle and the rear vehicle cannot be always kept on a straight line, the laser radar 3 needs to be adjusted by means of the adjusting bracket 9 when accurately detecting the distance information of the vehicles in the left front and the right front, and the adjusting bracket is designed according to the size of the radar to realize the adjustment of +/-5 degrees of pitching and +/-5 degrees of rotation. Fig. 4 and 5 show a structure of an adjusting bracket 9, which uses an adjusting screw 11 to realize horizontal rotation and vertical pitch adjustment.
As shown in fig. 5, an auxiliary indication laser 10 is further disposed on the adjusting bracket 9 for indicating the area measured by the radar.
Dispose supplementary instruction laser instrument 10 on adjusting bracket 9, be mainly used for surveying whether the radar facula is in the reservation position of front and back vehicle, prevent that laser radar facula position from beating partially, supplementary instruction laser instrument 10's emergent light direction is the same with laser radar 3's emergent light direction, and when supplementary instruction laser instrument 10's emergent light facula was in the reservation position of front and back vehicle, laser radar 3 also aimed at the reservation position. Because the vehicle formation is a vehicle type, the specific distance can be calibrated in the process of remote detection, and the purpose of accurate measurement is achieved.
The technical principles of the present application have been described above in connection with specific embodiments. The description is made for the purpose of illustrating the principles of the present application and is not to be construed in any way as limiting the scope of the application. Based on the explanations herein, those skilled in the art will be able to conceive of other embodiments of the present application without inventive effort, which shall fall within the scope of the present application.
Claims (10)
1. A vehicle formation device based on laser radar is characterized by comprising:
the laser radar is arranged on the vehicle and used for detecting the vehicle and acquiring the distance between the front vehicle and the rear vehicle;
the vehicle control module is connected with the laser radar circuit and used for receiving the distance between the front vehicle and the rear vehicle, comparing the distance with the pre-stored early warning distance, obtaining a result and sending an instruction to the execution module according to the result;
and the execution module is communicated with the vehicle control module and is used for operating the acceleration and deceleration of the vehicle to enable the distance between the vehicles to be greater than the early warning distance.
2. The vehicle formation device based on the laser radar as claimed in claim 1, wherein the laser radar comprises a transmitting module, a receiving module and a control module, the transmitting module emits light to a set direction, the emitted light enters the receiving module through an echo signal reflected by a target, and the control module is used for controlling the transmitting module and the receiving module to work and implement ranging.
3. The device for formation of vehicles based on lidar according to claim 2, wherein the number of the lidar (3), the vehicle control module (4) and the execution module (5) is N, and N is the number of the vehicles in the fleet.
4. The lidar based vehicle formation device of claim 3, wherein the lidar is disposed at a rear portion of a front vehicle or a front portion of a rear vehicle.
5. The lidar-based vehicle formation device of claim 4, wherein the transmitting module is a semiconductor laser or a solid-state laser, the receiving module is a photoelectric sensor, and the control module is a microprocessor.
6. The lidar based vehicle formation device of claim 5, wherein the precaution distance is 1-3 meters.
7. The lidar based vehicle formation device according to claim 6, wherein the precaution distance is 1.5-2 meters.
8. The lidar-based vehicle formation device of claim 7, wherein the vehicle control module is further configured to pre-store a maximum distance between vehicles, the maximum distance being 5-10 meters.
9. The lidar based vehicle formation device of claim 8, further comprising an adjustment bracket disposed on the vehicle for fixing the lidar, wherein the adjustment bracket can be adjusted by ± 5 ° in vertical direction and ± 5 ° in horizontal direction.
10. The lidar based vehicle formation device of claim 9, wherein an auxiliary indication laser is further disposed on the adjustment bracket for indicating a region measured by the radar.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920863610.2U CN209992863U (en) | 2019-06-10 | 2019-06-10 | Vehicle formation device based on laser radar |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920863610.2U CN209992863U (en) | 2019-06-10 | 2019-06-10 | Vehicle formation device based on laser radar |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209992863U true CN209992863U (en) | 2020-01-24 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920863610.2U Active CN209992863U (en) | 2019-06-10 | 2019-06-10 | Vehicle formation device based on laser radar |
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| Country | Link |
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| CN (1) | CN209992863U (en) |
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- 2019-06-10 CN CN201920863610.2U patent/CN209992863U/en active Active
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