WO2019047389A1 - Procédé de commande de radar laser et radar laser - Google Patents

Procédé de commande de radar laser et radar laser Download PDF

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Publication number
WO2019047389A1
WO2019047389A1 PCT/CN2017/113354 CN2017113354W WO2019047389A1 WO 2019047389 A1 WO2019047389 A1 WO 2019047389A1 CN 2017113354 W CN2017113354 W CN 2017113354W WO 2019047389 A1 WO2019047389 A1 WO 2019047389A1
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WO
WIPO (PCT)
Prior art keywords
laser radar
lidar
area
laser
specific
Prior art date
Application number
PCT/CN2017/113354
Other languages
English (en)
Chinese (zh)
Inventor
邱纯鑫
刘乐天
Original Assignee
深圳市速腾聚创科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by 深圳市速腾聚创科技有限公司 filed Critical 深圳市速腾聚创科技有限公司
Publication of WO2019047389A1 publication Critical patent/WO2019047389A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/46—Indirect determination of position data
    • G01S17/48—Active triangulation systems, i.e. using the transmission and reflection of electromagnetic waves other than radio waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements

Definitions

  • the invention relates to the field of detection, in particular to a laser radar control method and a laser radar.
  • Lidar is a radar system that emits a laser beam to detect the position and velocity of a target.
  • the working principle is to first transmit a probe laser beam to the target, and then compare the received signal reflected from the target with the transmitted signal. After proper processing, information about the target, such as target distance, azimuth, altitude, speed, attitude, and even shape, can be obtained.
  • the prior art laser radars are usually hybrid solid state laser radars that enable 360 degree range scanning.
  • Hybrid solid-state laser radars typically require 360-degree scanning with an internal rotating mechanism.
  • the rotational speed of the internal rotating structure is usually fixed, so the resolution in the vertical and horizontal directions is the same and is not adjustable.
  • laser radar applied to unmanned vehicles has high requirements for scanning accuracy and resolution of the forward direction of unmanned vehicles, while other areas are required.
  • the scanning accuracy and resolution requirements are not high.
  • the laser radar is difficult to achieve the scanning accuracy and resolution requirements of the key areas, and on the other hand, the scanning of other areas cannot be avoided, thus wasting the resources of the laser radar.
  • a lidar control method comprising:
  • the lidar is adjusted to cause the lidar to perform a focused scan of a particular scan area.
  • a laser radar comprising:
  • the controller is further configured to adjust the lidar to cause the lidar to perform a focused scan on a particular scan area.
  • the laser radar of the embodiment of the present invention can The key scanning is performed in a specific scanning area, which improves the accuracy of recognition of the object and improves the reliability of the laser radar.
  • the laser radar does not focus on scanning outside the specific scanning area, and can rationally utilize the resources of the laser radar to save costs. .
  • FIG. 1 is a flow chart showing a method of controlling a laser radar according to an embodiment
  • FIG. 2 is a schematic diagram of a specific object in one frame of data of an embodiment
  • Figure 3 is a schematic illustration of a particular scan area of an embodiment.
  • FIG. 1 is a flowchart of a method for controlling a laser radar according to an embodiment of the present invention. As shown in FIG. 1, the method includes:
  • Step S110 determining a specific scanning area of the laser radar
  • step S120 the laser radar is adjusted to cause the laser radar to perform a key scan on a specific scanning area.
  • step S110 the determining a specific scanning area of the laser radar includes:
  • the area where the specific object is located is taken as the specific scanning area.
  • FIG. 2 is a schematic diagram of a specific object in one frame of data according to an embodiment of the present invention, and FIG. 2 is a simplified schematic diagram.
  • the data collected by the laser radar is point cloud data, that is, objects in each frame of data are Consisting of multiple points.
  • the object 201 may be a roadside tree, a front vehicle, or a roadblock.
  • the object 201 is referred to as a specific object, and the area where the specific object is located is a specific scanning area.
  • a specific object is not necessarily a regular object, so a specific scanning area may be an area centered on a specific object.
  • a certain amount of redundancy can also be set.
  • the area where the object 201 is located takes a rectangular area that can enclose the object 201 as a specific area 202. If a certain amount of redundancy, such as a 10% redundancy, is taken into consideration, a rectangular area surrounding the object 201 and containing a certain amount of redundancy can be used as the specific area 203.
  • step S110 the determining a specific scanning area of the laser radar includes:
  • the specific scanning area is determined according to the moving direction of the laser radar.
  • the laser radar can be installed on a driverless car or other device and device that can move in a zigzag manner.
  • the moving direction of the driverless car or the movable device can be determined.
  • the specific scanning area can be determined according to the moving direction of the laser radar, that is, the moving direction of the driverless car and the movable device.
  • 3 is a schematic diagram of a specific scanning area according to an embodiment of the present invention.
  • the moving direction of the driverless vehicle that is, the traveling direction of the laser radar 300 is a bottom-up moving direction 301, and the moving direction is As the center line, 301 takes a sector area 302 whose angle is a preset angle as a specific scanning area.
  • the outer line of the sector area 302 is indicated by a broken line.
  • the preset angle can be set based on experience.
  • step S120 the laser radar is adjusted to perform a key scan of the specific scanning area by the laser radar, including:
  • the lidar scans a particular scan area, the power of the laser transmitter of the lidar is increased.
  • the laser emitted by the laser radar is emitted by the laser emitter.
  • the emitted laser and the reflected laser are weakened as the detection distance increases.
  • the receiver of the lidar cannot receive the laser. Reflecting the laser, therefore, the effective detection range of the laser radar is limited.
  • the power of the laser transmitter of the laser radar is increased, the effective detection distance of the laser radar can be increased. For a specific scanning area, that is, the area that you want to focus on, the effective detection distance increases, which helps to obtain more effective laser point clouds, and the scanning accuracy of the area is higher.
  • step S120 the laser radar is adjusted to perform a key scan of the specific scanning area by the laser radar, including:
  • the scan speed of the lidar is adjusted.
  • adjusting the scanning speed of the laser radar is to reduce the scanning speed of the laser radar.
  • the time it takes for the lidar to scan a certain angle is N seconds.
  • the time spent scanning the same angle is M seconds, and M seconds is greater than N seconds.
  • the laser transmitter of the laser radar emits laser light in a pulsed manner.
  • the emission process is “accumulation”-“emission”-“accumulation”.
  • the longer the energy storage time the higher the transmission power, that is, the transmission power and time. A certain relationship.
  • the energy storage time is longer. At this time, the number of laser pulses transmitted per unit time is small, thereby reducing the scanning speed of the laser radar. , you can ensure that the number of pulses sent per unit time is equal to the original.
  • the laser energy storage time of the laser radar is kept constant, reducing the scanning speed of the laser radar can increase the number of laser pulses transmitted per unit time, the scanning for a specific scanning area will be more precise and the accuracy will be higher.
  • the power of the laser transmitter is increased, the scanning distance is increased, and the time interval between the corresponding emitted laser and the emitted laser is also increased. Therefore, adjusting the scanning speed of the laser radar is also beneficial to the reception of the reflected laser, and the accuracy of the laser radar can be improved. .
  • the laser radar of the embodiment of the invention may be a solid-state laser radar.
  • the detection range of the solid-state laser radar is usually a fan shape of 120 degrees, and the scanning speed of the solid-state laser radar can be adjusted, and the adjustment method is usually different depending on the structure of the solid-state laser radar. It can adjust the rotational speed of MEMS (Micro-Electro-Mechanical System) galvanometer or other types of galvanometer, or can adjust the speed of OPA (Optical phased array), or can adjust other machinery. The speed of movement of the structure.
  • MEMS Micro-Electro-Mechanical System
  • OPA Optical phased array
  • step S120 the laser radar is adjusted to cause the laser radar to perform a key scan on a specific scanning area, including:
  • the algorithm of the lidar is adjusted if the lidar scans a particular scan area.
  • the receiving of the laser is different from the original laser radar, so the algorithm of the laser radar needs to be adjusted accordingly.
  • the specific scanning area of the laser radar is first determined, and then the laser radar is adjusted to perform the key scanning on the specific scanning area by the laser radar. Therefore, the laser radar of the embodiment of the invention can perform key scanning on the specific scanning area. , the recognition accuracy of the object is improved, and the reliability of the laser radar is improved; meanwhile, the laser radar of the embodiment of the invention is for a specific scanning area.
  • the outer area is not focused on scanning, and the resources of the laser radar can be rationally utilized to save costs.
  • a laser radar is disclosed in an embodiment of the invention, the laser radar comprising:
  • the controller is further configured to adjust the lidar to cause the lidar to perform a focused scan on a particular scan area.
  • the controller is further configured to:
  • the area where the specific object is located is taken as the specific scanning area.
  • the controller is further configured to:
  • the specific scanning area is determined according to the moving direction of the laser radar.
  • the controller is further configured to:
  • a sector area having a predetermined angle is taken as a center line with the moving direction of the laser radar as a center line.
  • the controller is further configured to:
  • the lidar scans a particular scan area, the power of the laser transmitter of the lidar is increased.
  • the controller is further configured to:
  • the scan speed of the lidar is adjusted.
  • the controller is further configured to:
  • the algorithm of the lidar is adjusted if the lidar scans a particular scan area.
  • the laser radar of the embodiment of the present invention can perform key scanning on a specific scanning area, improve the recognition accuracy of the object, and improve the reliability of the laser radar. Meanwhile, the laser radar of the embodiment of the present invention does not have a region other than the specific scanning area. Focus on scanning, you can make rational use of Lidar resources and save costs.
  • the technology in the embodiments of the present invention can be implemented by means of software plus necessary general hardware including general-purpose integrated circuits, general-purpose CPUs, A general-purpose memory, a general-purpose component, or the like can of course be realized by dedicated hardware including an application-specific integrated circuit, a dedicated CPU, a dedicated memory, a dedicated component, etc., but in many cases, the former is a better embodiment.
  • the technical solution in the embodiments of the present invention may be embodied in the form of a software product in essence or in the form of a software product, which may be stored in a storage medium such as a read-only memory.

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Electromagnetism (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

L'invention concerne un procédé de commande de radar laser et un radar laser, le procédé de commande de radar laser comprenant les étapes consistant à : déterminer une région de balayage spécifique d'un radar laser (110); et ajuster le radar laser, de façon à permettre au radar laser de balayer la région de balayage spécifique d'une manière focalisée (120). Au moyen du procédé, la région de balayage spécifique peut être balayée de manière focalisée, la précision d'identification sur un objet est améliorée, et la fiabilité du radar laser est améliorée; et le radar laser ne balaye pas de manière focalisée les régions autres que la région de balayage spécifique, des ressources de radar laser peuvent ainsi être utilisées de manière rationnelle, et le coût est réduit.
PCT/CN2017/113354 2017-09-08 2017-11-28 Procédé de commande de radar laser et radar laser WO2019047389A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201710804472.6 2017-09-08
CN201710804472.6A CN107632296A (zh) 2017-09-08 2017-09-08 激光雷达控制方法及激光雷达

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112731355A (zh) * 2020-12-25 2021-04-30 深圳优地科技有限公司 计算激光雷达安装角度偏差的方法、装置、终端和介质

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CN107728131B (zh) * 2017-11-10 2020-04-28 深圳市速腾聚创科技有限公司 激光雷达及激光雷达控制方法
CN110333499A (zh) * 2018-10-12 2019-10-15 深圳市速腾聚创科技有限公司 激光雷达及激光雷达控制方法
CN109239691A (zh) * 2018-11-08 2019-01-18 深圳市速腾聚创科技有限公司 激光雷达及激光雷达控制方法
CN110398752A (zh) * 2019-08-05 2019-11-01 昂纳信息技术（深圳）有限公司 一种多视场的激光雷达系统
WO2021051736A1 (fr) * 2020-01-22 2021-03-25 深圳市速腾聚创科技有限公司 Procédé et appareil de détermination de la zone de détection, support d'informations et véhicule
WO2022217520A1 (fr) * 2021-04-14 2022-10-20 深圳市大疆创新科技有限公司 Procédé et appareil de détection, plate-forme mobile et support de stockage

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Publication number Priority date Publication date Assignee Title
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CN112731355B (zh) * 2020-12-25 2024-04-05 深圳优地科技有限公司 计算激光雷达安装角度偏差的方法、装置、终端和介质

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