JP2017150902A - On-vehicle laser radar device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an on-vehicle laser radar device that can measure faraway road surfaces in detail with the laser radar device installed on a moving body, and can discover faraway obstacles at a time of high-speed travelling in an early stage.SOLUTION: An on-vehicle laser radar device 30 is installed on a moving body A and rotates around a vertical shaft 31 to measure a road surface 1 of surroundings. The on-vehicle laser radar device comprises: a plurality of light projectors 32 that projects laser light 3 from a near distance of the moving body A toward a far distance thereof at a space apart from each other; and a plurality of light receivers that receives the laser light 3. The plurality of light projectors 32 or a plurality of light receivers is set such that an angle difference with respect to the vertical shaft 31 between adjacent laser light 3 becomes gradually narrower toward a far distance purpose from a close distance purpose in order. Further, the light projector 32 and light receiver are two-dimensionally arranged sparsely for the close distance and densely for the far distance.SELECTED DRAWING: Figure 10

Description

  The present invention relates to an in-vehicle laser radar device that is mounted on a moving body (for example, a mobile robot) and accurately detects unevenness of topography around the moving body.

  For example, Non-Patent Document 1 and Patent Documents 1 to 4 disclose in-vehicle laser radar devices that detect unevenness of topography around a moving body.

  Non-Patent Document 1 and Patent Documents 1 and 2 disclose a laser radar device that simultaneously measures the surroundings while rotating using a large number of laser beams.

  The “wide-angle laser radar device” of Patent Document 3 measures the distance and direction to a reflector by a combination of one light projecting unit and a plurality of light receiving elements.

  In the “monitoring device” of Patent Document 4, the irradiation region is changed by moving the light receiving unit and the light projecting lens in the zoom lens control unit.

Velodyne, “High Definition Lidar”, Internet <URL: http: // www. velodynedar. com / lidar / lidar. aspx>

WO2008 / 008970A2 WO2011 / 146523A2 Japanese Patent Laid-Open No. 7-191148 JP 2006-317304 A

The laser radar devices of Non-Patent Document 1 and Patent Documents 1 and 2 are opposed to each other by simultaneously measuring the surroundings while rotating using a large number of laser beams by means of laser beam projectors and light receivers arranged at equal intervals. Suitable for measuring the shape of the reflector.
However, in applications where the vehicle is placed on top of a moving body such as a vehicle and the road surface around the host vehicle is measured from a bird's-eye view, the irradiation point of the laser beam on the road surface depends on the geometrical condition and the traveling direction of the host vehicle and In any rotation direction of the laser beam, the road surface near the own vehicle can be measured densely, but the far road surface is sparse. In addition, the beam diameter of the laser beam increases as the far road surface. For this reason, the spatial resolution at the road surface measurement point becomes worse as the distance increases, so that the undulations on the far road surface cannot be measured in detail. For this reason, it is difficult for conventional laser radar devices to detect obstacles far away that are particularly necessary when traveling at high speed, and cannot travel at high speed.

  FIG. 1 is a configuration diagram of a conventional laser radar device 5 disclosed in Patent Document 1. In FIG. In this figure, (A) is a perspective view of a conventional laser radar device 5, and (B) is a sectional view taken along line BB in (A).

In FIG. 1A, a laser radar device 5 includes a housing 6, an upper radar system 7A, a lower radar system 7B, and a base portion 8, and has a plurality of pairs of projectors and receivers (not shown).
The upper radar system 7A is built in the upper part of the housing 6, and the lower radar system 7B is built in the lower part of the housing 6 slightly downward from the upper radar system 7A. The housing 6 is installed on the base portion 8.

  In FIG. 1B, the base portion 8 has a rotor and a stator, and the housing 6 is rotated 360 ° around the vertical axis in the figure.

  Each of the upper radar system 7A and the lower radar system 7B has a plurality of pairs of light projectors and light receivers, and each of the light projectors and the light receivers independently receives and projects laser light (projects light). Preferably, the plurality of laser beams are emitted and irradiated one by one at different times.

The above-described conventional laser radar device 5 includes, for example, 64 pairs of light projectors and light receivers, a vertical field of view of 26.8 °, a maximum measurement distance of about 100 to 120 m, a measurement accuracy of +/− about 2 cm (horizontal distance of 25 m). In position).
Further, in the specific example, the upper radar system 7A detects + 2 ° to −8.33 ° with respect to the horizontal at a 1/3 ° pitch, and the lower radar system 14B has −8.53 ° to −24.33 ° with respect to the horizontal. Are detected at a pitch of 1/2 °.

FIG. 2 is a schematic diagram showing a usage state of the conventional laser radar device 5 described above. In this figure, (A) is a side view, (B) is a plan view, and (C) is a relationship diagram between a projector 9A and a projector lens 9B.
In this figure, 1 is a road surface, 2 is a moving body traveling on the road surface 1, 3 is a laser beam, and 4 is an irradiation spot irradiated onto the road surface 1.

  The conventional laser radar device 5 is installed on the upper part of the moving body 2. The laser radar device 5 includes a plurality of pairs of light projectors 9A and light receivers (not shown), and one or a plurality of light projection lenses 9B and light receiving lenses (not shown).

  One or a plurality of light projecting lenses 9B are provided in front of the plurality of light projectors 9A, respectively, and sequentially irradiate the road surface 1 with pulsed laser light 3 that sequentially emits light one by one. Similarly, one or a plurality of light receiving lenses are provided in front of the plurality of light receivers, respectively, and sequentially receive the plurality of laser beams 3 reflected by the road surface 1.

  The laser radar device 5 simultaneously measures the surroundings while rotating using a large number of laser beams 3 by using a projector 9A and a light receiver arranged at equal intervals on the rear part of the projector lens 9B. That is, the laser radar device 5 calculates the distance to the reflection position from the time difference between irradiation (light projection) and light reception of each laser beam 3, and detects the unevenness of the terrain around the moving body.

In the conventional laser radar device 5, the measurement pitch is constant, and in the specific example described above, the measurement pitch by the upper radar system 7A is 1/3 ° in the range of + 2 ° to −8.33 ° with respect to the horizontal.
Therefore, in FIG. 2, the diameter of the irradiation spot 4b at a horizontal distance of 100 m is four times that of the irradiation spot 4a at a horizontal distance of 25 m. In addition, the interval between adjacent irradiation spots 4 is larger (coarse) at the horizontal distance of 100 m than the horizontal distance of 25 m in both the circumferential direction and the traveling direction.

  Therefore, since the distance in the circumferential direction and the distance in the traveling direction of the laser irradiation points are wide at a distance, the obstacle detection accuracy is deteriorated.

  The present invention has been developed to solve the above-described problems. That is, an object of the present invention is to provide an in-vehicle laser radar device that can be installed on a moving body and can measure a distant road surface in detail, and can detect a distant obstacle at an early stage when traveling at high speed.

According to the present invention, an in-vehicle laser radar device that is installed on a moving body and rotates around a vertical axis to measure a surrounding road surface,
A plurality of light projectors that project laser light at intervals from a short distance to a long distance of the moving body, and a plurality of light receivers that receive the laser light,
The plurality of light projectors or the plurality of light receivers are configured such that an angle difference with respect to the vertical axis of the adjacent laser light is set narrower in order from short distance to long distance. A radar device is provided.

  The light projector or the light receiver is arranged so that the irradiation intervals in the traveling direction on the road surface are uniform.

  The projector and the light receiver are two-dimensionally arranged sparsely for the short distance and densely for the long distance.

  The projectors are arranged so that the irradiation intervals in the circumferential direction on the road surface are uniform so that the laser beam is irradiated onto the road surface within a certain angle range from the vertical axis.

  The projector is arranged in a narrow range in the circumferential direction for the short distance and wide in the circumferential direction for the long distance so that the laser beam is irradiated on the road surface within a certain angle range from the vertical axis. Arranged in the range.

A light projecting lens for condensing a plurality of the laser beams on the road surface from the short distance to the long distance;
A light receiving lens that condenses each of the plurality of laser beams reflected by the road surface on the plurality of light receivers, and
The light projecting lens or the light receiving lens has an optical system in which the irradiation spot diameter of the laser light on the road surface is equal.

  According to the present invention, the plurality of light projectors or the plurality of light receivers are set such that the angle difference between adjacent laser beams with respect to the vertical axis is narrowed in order from short distance to long distance.

With this configuration, it is possible to project and receive the laser beam densely at a distance as compared with the conventional example in which the angle difference with respect to the vertical axis of the adjacent laser beam is the same.
Therefore, the in-vehicle laser radar device according to the present invention can be installed on a moving body to measure the far road surface in detail, and a distant obstacle can be found at an early stage when traveling at high speed.

1 is a configuration diagram of a conventional laser radar device disclosed in Patent Document 1. FIG. It is a schematic diagram which shows the use condition of the conventional laser radar apparatus. It is a block diagram of the moving body provided with the vehicle-mounted laser radar apparatus of this invention. It is a connection block diagram of the control apparatus of a moving body. 1 is an overall configuration diagram of an in-vehicle laser radar device according to the present invention. It is explanatory drawing which shows arrangement | positioning of several projector with respect to a light projection lens. It is a schematic diagram of the irradiation spot of the road surface irradiated with the light projector. It is an AA arrow line view of FIG. It is a schematic diagram of the irradiation spot of the road surface irradiated with the some projector shown in FIG. It is a schematic diagram which shows the use condition of the vehicle-mounted laser radar apparatus of this invention.

  Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In addition, the same code | symbol is attached | subjected to the common part in each figure, and the overlapping description is abbreviate | omitted.

  FIG. 3 is a configuration diagram of the moving object A provided with the on-vehicle laser radar device 30 of the present invention, and FIG. 4 is a connection block diagram of control devices of the moving object A.

  In this example, the moving body A is a semi-autonomous traveling vehicle A capable of autonomous traveling, and is controlled by the vehicle control computer 10 and the autonomous control computer 25 connected to the vehicle control computer 10 via the LAN 11. It is like that.

  A wireless LAN 13 and a steering camera 14 connected to the antenna 12 are connected to the input side of the vehicle control computer 10 via an input / output circuit 15. Further, a GPS 16 as a self-position data acquisition unit, a vertical gyro 17 for posture control, and a vehicle speed pulse 18 for measuring a moving speed are connected to the input side via a serial line.

  A steering actuator 22 and a brake / accelerator actuator 23 are connected to the output side of the vehicle control computer 10 via a motor driver 21. Furthermore, the motor driver 21, the actuators 22 and 23, and the wheels 24 constitute a traveling mechanism 20.

  The vehicle control computer 10 has a function of transmitting various information acquired by the GPS 16 and the vertical gyro 17 to a remote control device (not shown) via the LAN 11, the wireless LAN 13, and the antenna 12. Further, it has a function of operating and stopping the steering actuator 22 and the brake / accelerator actuator 23 via the motor driver 21 based on the operation information transmitted from the remote control device.

  On the input side of the computer 25 for autonomous control, there is a laser sensor 26 that constitutes an external measurement unit suitable for acquiring near-field information on unevenness of terrain in the traveling direction, and for autonomous driving suitable for acquiring wide-angle information at a long distance. A stereo camera 27 is connected. The autonomous control computer 25 has a function of transmitting distance measurement data acquired by the laser sensor 26 and the stereo camera 27 to the remote control device via the LAN 11.

  A remote control device (not shown) exchanges data via the LAN 11 with a display that displays an image obtained by the control camera 14 of the semi-autonomous vehicle A, a remote control unit, the vehicle control computer 10 and the autonomous control computer 25. The control part which performs is comprised. The remote control unit can instruct the traveling direction and the traveling speed to the semi-autonomous traveling vehicle A in consideration of surrounding conditions.

  In addition, this invention is not limited to the mobile body A mentioned above, Other mobile bodies may be sufficient.

FIG. 5 is an overall configuration diagram of the in-vehicle laser radar device 30 according to the present invention.
The in-vehicle laser radar device 30 according to the present invention is a laser radar device that is installed on a moving body A (preferably an upper portion thereof) and rotates around a vertical axis 31 to measure a surrounding road surface 1. The vertical axis 31 is preferably a rotation axis perpendicular to the road surface 1 when the road surface 1 is horizontal.

  In FIG. 5, the in-vehicle laser radar device 30 of the present invention includes a plurality of light projectors 32, a plurality of light receivers 34, a turning device 36, and a control device 38.

The plurality of light projectors 32 project the laser light 3 at intervals from the short distance to the long distance of the moving body A, and the plurality of light receivers 34 project the laser light 3 projected from the short distance to the long distance. Is received.
A light projection lens 33 and a light reception lens 35 are provided on the front surface of the plurality of light projectors 32 and the front surface of the plurality of light receivers 34, respectively.

In the present invention, the “short distance” means a distance where the distance L from the vertical axis 31 (more precisely, the light projecting lens 33 or the light receiving lens 35) to the irradiation position of the laser light 3 is relatively short, “Long distance” means that the distance L is longer than the short distance.
For example, the short distance is a distance L of less than 50 m, that is, 10 m or more and less than 50 m, and the far distance is a distance L of 50 m or more, that is, 50 m or more and less than 120 m. These distances are merely examples, and the present invention is not limited to these examples and can be arbitrarily set.

Each projector 32 outputs a pulsed laser beam 3 and irradiates (projects) the laser beam 3 onto the road surface 1 through a projector lens 33. The light projecting lens 33 focuses the plurality of laser beams 3 on the road surface 1 from a short distance to a long distance.
Each light receiver 34 receives the pulsed laser light 3 reflected by the road surface 1 through a light receiving lens 35. The light receiving lens 35 condenses the plurality of laser beams 3 reflected by the road surface 1 on the plurality of light receivers 34, respectively.

  The turning device 36 horizontally turns the plurality of light projectors 32 and the plurality of light receivers 34 around the vertical axis 31. This turning angle is detected by an encoder or the like and output to the control device 38.

  The control device 38 controls the irradiation time of each projector 32 and detects the light reception time of each light receiver 34, and reflects the reflection position (road surface 1) from the time difference between irradiation (light projection) and light reception of each laser beam 3. Measure the distance to.

In FIG. 5, the reflection of the laser light 3 projected by one certain projector 32 is arranged to be received by one corresponding light receiver 34. Preferably, the arrangement of the plurality of light projectors 32 with respect to the light projection lens 33 and the arrangement of the plurality of light receivers 34 with respect to the light reception lens 35 are substantially the same.
Hereinafter, the arrangement of the light projecting lens 33 will be described.

FIG. 6 is an explanatory diagram showing the arrangement of the plurality of projectors 32 with respect to the projector lens 33. In this figure, (A) shows a case where the optical axis of the light projection lens 33 is horizontal, and (B) shows a case where the optical axis of the light projection lens 33 is inclined downward from the horizontal axis by an angle α.
6A and 6B, h is the center height of the projector lens 33 from the road surface 1, and H is the amount of displacement of the projector 32 from the center axis of the projector lens 33. Further, f is the focal length of the projection lens 33, θ is the angle with respect to the vertical axis of the laser beam 3, L is the distance from the projection lens 33 to the irradiation position of the laser beam 3, and d is the irradiation interval in the traveling direction (distance L). Interval).
The numbers in parentheses are the order of the plurality of projectors 32, and are set to 0, 1, 2,..., N−1, n, n + 1.

In FIG. 6A, L (n−1), L (n), and L (n + 1) can be geometrically expressed by Equation (1) of Formula 1.
When the irradiation interval d in the traveling direction of the adjacent laser beams 3 is equal on the road surface 1, Equation (2) is established.
Expressions (3) and (4) are derived from Expressions (1) and (2).
Moreover, the displacement amount H of the some projector 32 can be shown by Formula (5) in FIG. 6 (A) (B). When the optical axis of the light projecting lens 33 is horizontal, the angle α is zero.

That is, in both the traveling direction of the own vehicle and the rotation direction of the laser beam 3, the road surface in the vicinity of the own vehicle can be measured densely, but the far road surface is sparse. Furthermore, since the beam diameter of the laser beam 3 increases as the road surface is farther away, the spatial resolution is also deteriorated. Therefore, in this invention, the displacement amount H of each projector 32 is set so that Formula (4) (5) may be satisfy | filled. Thereby, it can arrange | position so that the irradiation interval d of the advancing direction to the road surface 1 may become equal, and the spatial resolution of the road surface 1 from the vicinity of the own vehicle to a distant is improved.
In the present invention, “equal” does not have to be equal in a strict sense, and means at least “approaching evenly”. For example, a difference of 10 to 50% is included in “equal”.

In the present invention, the angle difference with respect to the vertical axis of the adjacent laser light 3 is set narrower in order from the short distance to the long distance.
Preferably, the displacement amount H of each projector 32 is set so as to satisfy the expressions (4) and (5).

  The relationship shown in FIG. 6 can be applied to the plurality of light receivers 34 as they are.

FIG. 7 is a schematic diagram of the irradiation spot 4 on the road surface 1 irradiated by the projector 32.
In this figure, a black circle is an irradiation spot 4 when the projector 32 and the light receiver 34 are arranged one-dimensionally (conventional example), and an angle ψ indicates an angle in the turning direction.
White circles indicate the irradiation spot 4 when the projector 32 and the light receiver 34 are two-dimensionally arranged (the present invention).

  As shown in FIG. 7, in this invention, it arrange | positions so that the number of the light projectors 32 may also be doubled in the position where the advancing direction distance L1, L2 ... is doubled. By doing so, there is a problem in the case of a one-dimensional array such as the projector 32 of the conventional laser range finder, that the circumferential irradiation interval e on the road surface 1 becomes wider as the distance increases, and the spatial resolution becomes worse. Can be improved.

In addition, it is necessary to detect distant obstacles at an early stage in order to travel at high speed, and for this purpose, the detection accuracy of distant obstacles must be high.
Obstacle detection necessary for traveling can be detected by a determination method described in Japanese Patent No. 5666322. That is, a plurality of road surface distances in the traveling direction and the circumferential direction are measured by a laser radar, and an obstacle is detected from the relationship between the distance change and the irradiation position of the irradiation spot 4.

  In this case, since the irradiation interval d in the traveling direction and the irradiation interval e in the circumferential direction are wide at a distance, the obstacle detection accuracy is deteriorated. However, according to the present invention, the arrangement of the projectors 32 is set so that the irradiation interval d in the traveling direction and the irradiation interval e in the circumferential direction are equal to each other, and the irradiation spot diameter on the road surface 1 is the same by the projection lens. By setting the optical system to be, the obstacle detection accuracy can be made the same without depending on the distance from the host vehicle.

8 and 9 are diagrams showing specific examples of the present invention.
FIG. 8 is an AA arrow view of FIG. In this figure, a plurality of (32 in this example) projectors 32 are shown as small circles. In addition, the 0th, nth, n + 1th, and 31st positions in the order of the projectors 32 are respectively indicated by numbers 0, n, n + 1, and 31 in a circle.

In FIG. 8, the displacement amount H of each projector 32 is set so as to satisfy the above-described equations (4) and (5).
That is, the plurality of light projectors 32 are two-dimensionally arranged sparsely for short distance and densely for long distance.

Further, along the vertical axis ZZ passing through the center of the light projecting lens 33, the plurality of light projectors 32 are arranged in a narrow range in the circumferential direction for short distance use, and the plurality of light projectors 32 are arranged in the circumferential direction for long distance use. It is arranged in a wide range.
The “narrow range in the circumferential direction” and “wide range in the circumferential direction” are preferably within a certain angular range (for example, within +/− 15 °) from the vertical axis on the irradiated road surface 1.

In FIG. 8, the light projecting lens 33 has an optical system that makes the irradiation spot diameter of the laser light 3 on the road surface 1 equal. In this example, the optical system is a progressive lens.
In the present invention, since the projector 32 is arranged so that both the irradiation interval d in the traveling direction and the irradiation interval e in the circumferential direction on the road surface 1 are equal, the irradiation spot diameter of the laser beam 3 is also long and short. A progressive lens having a different focal length with respect to the visual field direction is used as the light projection lens 33 so that the projection lens 33 is the same.
The progressive lens is not limited to two focal lengths for short distance and long distance, and may have three or more focal lengths.

  The configuration described above can be similarly applied to the plurality of light receivers 34 and the light receiving lens 35.

FIG. 9 is a schematic diagram of the irradiation spot 4 on the road surface 1 irradiated by a plurality of (32 in this example) projectors 32 shown in FIG.
In this figure, a black circle indicates the irradiation spot 4 when the plurality of projectors 32 are facing the front, and a white circle indicates the irradiation spot 4 when the plurality of projectors 32 are turned from the front by a certain angle (30 ° in this example). Is shown.

In FIG. 9, since the displacement amount H of each projector 32 is set so as to satisfy the equations (4) and (5), the irradiation interval d (black circle irradiation spot 4) in the traveling direction of the adjacent laser light 3 is made equal. can do.
In addition, for a short distance above the horizontal axis YY of the projection lens 33, the plurality of projectors 32 are arranged in a narrow range in the circumferential direction, and for a long distance below the horizontal axis YY, a plurality of projectors. 32 is arranged in a wide range in the circumferential direction. With this configuration, the irradiation interval e (black circle irradiation spot 4) in the circumferential direction of adjacent laser beams 3 can be made closer to each other.
Further, the projection lens 33 is a progressive lens, and the near surface portion above the horizontal axis YY and the long distance portion below the horizontal axis YY have different focal lengths. The size of the irradiation spot 4 irradiated to 1 can be made close to each other.

Further, as shown by the white circle irradiation spot 4 in FIG. 9, the vertical axis 31 is irradiated by irradiating the plurality of projectors 32 (32 in this example) described above for each turn of a certain angle (30 ° in this example). 360 degrees can be measured around the center.
Further, at this time, since the irradiation interval e (white circle irradiation spot 4) in the circumferential direction of the adjacent laser light 3 is also approximately equal, measurement can be performed at equal intervals from a short distance to a long distance.

FIG. 10 is a schematic diagram showing a use state of the in-vehicle laser radar device 30 of the present invention.
In this figure, (A) is a side view, (B) is a plan view, and (C) is a relationship diagram of a projector 32 and a projector lens 33.

  In the in-vehicle laser radar device 30 of the present invention, the angle difference between the adjacent laser beams 3 with respect to the vertical axis 31 is set to be narrower in order from short distance to long distance. That is, preferably, since the displacement amount H of each projector 32 is set so as to satisfy the expressions (4) and (5), the irradiation intervals d in the traveling direction of the adjacent laser beams 3 can be made equal.

Moreover, as shown in FIG. 9, the irradiation interval e in the circumferential direction between the irradiation positions of the adjacent laser beams 3 can be made closer to the same.
Furthermore, since the light projection lens 33 is a progressive lens, the size of the irradiation spot 4 irradiated on the road surface 1 can be made close to each other.

Therefore, in FIG. 10, the size of the irradiation spot 4b at the horizontal distance of 100 m can be made closer to the irradiation spot 4a at the horizontal distance of 25 m. Further, both the irradiation interval d in the traveling direction and the irradiation interval e in the circumferential direction on the road surface 1 can be made closer to the position of the horizontal distance 25 m.
As a result, when the measurement accuracy at a position at a horizontal distance of 25 m is +/− about 2 cm, the measurement accuracy at a position at a horizontal distance of 100 m can be made nearly equal (for example, 2 to 6 cm).

  For example, the unevenness of 2 to 6 cm can be traveled at high speed by the moving body A. Therefore, in the apparatus of the present invention, when it is detected that the surface is flat, there is actually a possibility that there is an unevenness of about 2 to 6 cm 100 meters ahead, but the vehicle can travel at a higher speed than before.

  According to the present invention described above, the plurality of light projectors 32 or the plurality of light receivers 34 are set such that the angle difference with respect to the vertical axis 31 of the adjacent laser light 3 is narrowed in order from short distance to long distance. .

With this configuration, it is possible to project and receive the laser beam 3 more closely in the distance compared to the conventional example in which the angle difference between the adjacent laser beams 3 with respect to the vertical axis 31 is the same.
Therefore, the in-vehicle laser radar device 30 according to the present invention can be installed on the moving body A to measure the far road surface in detail, and a distant obstacle can be found at an early stage when traveling at high speed.

  In other words, according to the present invention, the road surface 1 can be measured with substantially the same spatial resolution regardless of whether it is near or far away, so that it is easy to find distant obstacles and high speed traveling is possible.

  Note that the present invention is not limited to the above-described embodiment, and it is needless to say that various modifications can be made without departing from the gist of the present invention.

A mobile body (semi-autonomous vehicle), d irradiation interval in the traveling direction,
e Circumferential irradiation interval, H displacement, ψ angle, 1 road surface, 2 mobile object,
3 Laser light, 4, 4a, 4b Irradiation spot, 5 Laser radar device,
6 Housing, 7A Upper radar system, 7B Lower radar system,
8 base part, 9A projector, 9B projector lens, 10 vehicle control computer,
11 LAN, 12 antenna, 13 wireless LAN, 14 steering camera,
15 input / output circuit, 16 GPS, 17 vertical gyro, 18 vehicle speed pulse,
20 traveling mechanism, 21 motor driver, 22 steering actuator,
23 Brake / accelerator actuators, 24 wheels,
25 Computer for autonomous control, 26 Laser sensor, 27 Stereo camera,
30 on-vehicle laser radar device, 31 vertical axis, 32 projector, 34 light receiver,
33 projector lens, 35 light receiving lens, 36 swivel device, 38 control device

Claims (6)

An in-vehicle laser radar device that is installed on a moving body and rotates around a vertical axis to measure a surrounding road surface,
A plurality of light projectors that project laser light at intervals from a short distance to a long distance of the moving body, and a plurality of light receivers that receive the laser light,
The plurality of light projectors or the plurality of light receivers are configured such that an angle difference with respect to the vertical axis of the adjacent laser light is set narrower in order from short distance to long distance. Radar device.   The in-vehicle laser radar device according to claim 1, wherein the light projector or the light receiver is arranged so that irradiation intervals in the traveling direction on the road surface are uniform.   The in-vehicle laser radar device according to claim 1, wherein the projector and the light receiver are two-dimensionally arranged sparsely for the short distance and densely for the long distance.   The light projector is arranged so that the irradiation interval in the circumferential direction on the road surface is uniform so that the laser light is irradiated onto the road surface within a certain angle range from the vertical axis. The on-vehicle laser radar device according to claim 1.   The projector is arranged in a narrow range in the circumferential direction for the short distance and wide in the circumferential direction for the long distance so that the laser beam is irradiated on the road surface within a certain angle range from the vertical axis. The in-vehicle laser radar device according to claim 1, wherein the on-vehicle laser radar device is disposed in a range. A light projecting lens for condensing a plurality of the laser beams on the road surface from the short distance to the long distance;
A light receiving lens that condenses each of the plurality of laser beams reflected by the road surface on the plurality of light receivers, and
The in-vehicle laser radar device according to claim 1, wherein the light projecting lens or the light receiving lens has an optical system in which an irradiation spot diameter of the laser light on the road surface is equal.

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