WO2023005135A1 - 激光雷达同步方法、装置、可读存储介质及无人驾驶设备 - Google Patents

激光雷达同步方法、装置、可读存储介质及无人驾驶设备 Download PDF

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WO2023005135A1
WO2023005135A1 PCT/CN2021/141753 CN2021141753W WO2023005135A1 WO 2023005135 A1 WO2023005135 A1 WO 2023005135A1 CN 2021141753 W CN2021141753 W CN 2021141753W WO 2023005135 A1 WO2023005135 A1 WO 2023005135A1
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lidar
laser radar
preset
coordinate system
radar
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PCT/CN2021/141753
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English (en)
French (fr)
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许皓宇
袁义龙
姜媛
王乃峥
夏华夏
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北京三快在线科技有限公司
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Publication of WO2023005135A1 publication Critical patent/WO2023005135A1/zh

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • 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
    • G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning

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  • the present application relates to the technical field of automatic driving, and in particular, relates to a laser radar synchronization method, device, readable storage medium and unmanned driving equipment.
  • lidar is one of the main devices of the perception system of unmanned equipment (such as unmanned delivery vehicles, passenger cars, etc.), mobile robots, etc.
  • unmanned equipment such as unmanned delivery vehicles, passenger cars, etc.
  • mobile robots etc.
  • lidar In order to reduce blind spots, usually one device will deploy multiple lidar.
  • each laser radar continuously rotates and scans to collect point cloud data of surrounding objects, and sends the data packets of the scanned point cloud data to the perception system according to a fixed frequency.
  • the purpose of the present application is to provide a lidar synchronization method, device, readable storage medium and unmanned driving equipment, so as to partially solve the above-mentioned problems existing in related technologies.
  • the present application provides a laser radar synchronization method, the method comprising:
  • the deflection angle determine the mapping value of the target orientation in the target coordinate system in the radar coordinate system of the lidar, and use the mapping value as the initial orientation of the lidar in its radar coordinate system;
  • Each of the lidars is controlled to start with their respective initial orientations, and perform rotational scanning synchronously.
  • the deflection angle is a deflection angle of a coordinate axis parallel to the detection direction in the radar coordinate system of the lidar relative to the coordinate axis of the target coordinate system.
  • controlling each of the laser radars to perform rotational scanning synchronously includes:
  • For each lidar monitor whether the actual speed of the lidar deviates from the preset speed; if the actual speed of the lidar deviates from the preset speed, adjust the speed of the lidar so that the lidar The actual speed reaches the preset speed.
  • the monitoring whether the actual rotational speed of the lidar deviates from the preset rotational speed includes:
  • said adjusting the rotation speed of the lidar includes:
  • the method also includes:
  • the latest circle of point cloud data of each of the lidars is combined into a data packet and sent, wherein each of the lidars performs a 360° rotation scan of the surrounding environment.
  • the group packet sending condition includes one of the following:
  • the latest point cloud data scanned by the target laser radar in the multi-lidar system constitutes a circle of point cloud data
  • the latest point cloud data scanned by any laser radar in the multi-lidar system constitutes a circle of point cloud data.
  • the method also includes:
  • Time synchronization is performed on each of the lidars by using a time synchronization signal, wherein the time synchronization signal includes time pulses and/or time text information.
  • the present application provides a lidar synchronization device, including:
  • the first determination module is used to determine the deflection angle of the radar coordinate system of the laser radar relative to the target coordinate system for each laser radar in the multiple laser radar system when the multi-lidar system is started;
  • the second determination module is configured to determine, according to the deflection angle determined by the first determination module, the mapping value of the target orientation in the target coordinate system in the radar coordinate system of the lidar, and use the mapping value as The initial orientation of the lidar in its radar coordinate system;
  • a control module configured to control each of the lidars to perform rotational scanning synchronously starting from their respective initial orientations determined by the second determination module.
  • the present application provides a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, the steps of the method provided in the first aspect of the present application are implemented.
  • an unmanned driving device including:
  • a processor configured to execute the computer program in the memory, so as to implement the steps of the method provided in the first aspect of the present application.
  • the deflection angle of the radar coordinate system of the laser radar relative to the target coordinate system is determined; according to the deflection angle, the target is determined.
  • the target orientation in the coordinate system is the mapping value in the radar coordinate system of the laser radar, and the mapping value is used as the initial orientation of the laser radar in its radar coordinate system; each laser radar is controlled to start with its own initial orientation start, rotate and scan synchronously.
  • each lidar in the multi-lidar system under the same target coordinate system can be kept consistent at the same time, thereby ensuring that the start and end times and angle ranges of the point cloud data packets of each lidar are consistent , so as to achieve multi-lidar point cloud data fusion, give full play to the advantages of multi-lidar, facilitate the perception system to more accurately obtain the surrounding environment information based on the point cloud data sent by multiple lidars, and expand the perception of the perception system scope.
  • Fig. 1 is a flow chart of a lidar synchronization method according to an exemplary embodiment.
  • Fig. 2 is a flowchart of a lidar synchronization method according to another exemplary embodiment.
  • Fig. 3 is a flow chart of a lidar synchronization method according to another exemplary embodiment.
  • Fig. 4 is a block diagram of a laser radar synchronization device according to an exemplary embodiment.
  • Fig. 5 is a block diagram of an unmanned driving device according to an exemplary embodiment.
  • Fig. 1 is a flow chart of a lidar synchronization method shown according to an exemplary embodiment, wherein the method can be applied to a multi-lidar system composed of a plurality of lidars, and the multi-lidar system can be applied to unmanned Driving equipment, such as unmanned vehicles (eg, unmanned vehicles, unmanned delivery vehicles, passenger cars, etc.), mobile robots, etc. As shown in FIG. 1, the method includes S101-S103.
  • unmanned vehicles eg, unmanned vehicles, unmanned delivery vehicles, passenger cars, etc.
  • mobile robots etc.
  • the method includes S101-S103.
  • the target coordinate system may be the world coordinate system, the vehicle body coordinate system, or the radar coordinate system of any one of the multi-lidar systems, which is not specifically limited in this embodiment.
  • the deflection angle is the deflection angle of the coordinate axis (for example, Y axis) parallel to the detection direction in the radar coordinate system of the lidar relative to the coordinate axis of the target coordinate system.
  • the deflection angles of the radar coordinate system of each laser radar relative to the target coordinate system can be pre-calibrated, or can be determined according to the positional relationship between the radar coordinate system of each laser radar and the target coordinate system when the multi-lidar system is started.
  • the target orientation may be a value preset by the user, or a default empirical value (for example, the true north direction), which is not specifically limited in this embodiment.
  • mapping value of the target orientation in the target coordinate system in the radar coordinate system of different laser radars is used as the initial orientation of the corresponding laser radar in its radar coordinate system, so that the initial orientation of each laser radar can be in the same target coordinate system.
  • the mapping values are the same, so as to ensure that the initial orientation of each lidar in the multi-lidar system is consistent in the same target coordinate system.
  • each laser radar is controlled to perform rotation scanning synchronously starting from its respective initial orientation.
  • each lidar can be controlled to start with its respective initial orientation, and perform rotational scanning at a preset rotational speed.
  • the preset rotational speed may be a value preset by the user, or a default empirical value, which is not specifically limited in this embodiment.
  • the deflection angle of the radar coordinate system of the laser radar relative to the target coordinate system is determined; according to the deflection angle, the target is determined.
  • the target orientation in the coordinate system is the mapping value in the radar coordinate system of the laser radar, and the mapping value is used as the initial orientation of the laser radar in its radar coordinate system; each laser radar is controlled to start with its own initial orientation start, rotate and scan synchronously.
  • each lidar in the multi-lidar system under the same target coordinate system can be kept consistent at the same time, thereby ensuring that the start and end times and angle ranges of the point cloud data packets of each lidar are consistent , so as to achieve multi-lidar point cloud data fusion, give full play to the advantages of multi-lidar, facilitate the perception system to more accurately obtain the surrounding environment information based on the point cloud data sent by multiple lidars, and expand the perception of the perception system scope.
  • step (2) If the actual speed of the laser radar deviates from the preset speed, then perform the following step (2); if the actual speed of the laser radar does not deviate from the preset speed, that is, the actual speed of the laser radar is equal to the preset speed, continue to monitor the laser Whether the actual speed of the radar deviates from the preset speed, that is, return to step (1).
  • the actual rotational speed of the lidar can be detected in real time through a rotational speed sensor installed on the lidar to determine the actual rotational speed of the detected lidar. Whether the speed deviates from the preset speed.
  • steps (11) to (14) can be used to monitor whether the actual rotational speed of the lidar deviates from the preset rotational speed:
  • the number of rotations it can rotate within the preset time period should be the above preset number of rotations. That is to say, if the lidar rotates according to the preset speed, after the preset time period, its orientation should return to the above initial orientation. Therefore, the lidar can be determined by comparing the current orientation of the lidar with the initial orientation. Whether the actual speed deviates from the preset speed. Specifically, if the current orientation is not the same as the initial orientation, perform the following step (13); if the current orientation is the same as the initial orientation, it is also necessary to determine whether the actual number of rotations of the lidar within the preset time period is the preset number of turns. Set the number of laps, that is, perform the following steps (12).
  • step (14) If the actual number of turns of the laser radar within the preset time period is the preset number of turns, then perform the following step (14); if the actual number of turns of the laser radar within the preset time period is not the preset number of turns , it indicates that the actual rotation number of the lidar in the preset time period may be greater than the preset number of rotations, or less than the preset number of rotations. At this time, it can be determined that the actual rotation speed of the lidar deviates from the preset rotation speed, that is, perform the following steps (13).
  • the specific implementation manner of adjusting the rotation speed of the lidar in the above step (2) will be described in detail below. Specifically, if the actual number of rotations of the lidar within the preset time period is greater than the preset number of rotations, or the actual number of rotations of the lidar within the preset time period is the preset number of rotations, but the current orientation is not the same as If the initial orientation is not the same, it indicates that the actual rotation speed of the laser radar is greater than the preset rotation speed. The actual rotation speed of the radar drops to the preset rotation speed; if the actual rotation number of the lidar within the preset time period is less than the preset number of rotations, it indicates that the actual rotation speed of the lidar is lower than the preset rotation speed.
  • the rotation speed of the lidar (for example, the rotation speed of the lidar is increased according to the second preset rate), until the actual rotation speed of the lidar increases to the preset rotation speed.
  • the first preset rate and the second preset rate may be equal or unequal, which is not specifically limited in the present disclosure.
  • the actual speed of each laser radar can be gradually adjusted to the preset speed, so that the laser radars in the multi-lidar system can be aligned in the same target coordinate system.
  • the orientation is gradually adjusted to be consistent.
  • the above method further includes S104.
  • time synchronization is performed on each lidar by using a time synchronization signal.
  • the time synchronization signal may include time pulses and/or time text information.
  • the time synchronization signal can be generated by a clock device, wherein the clock device is connected to each laser radar, and the clock device can send a time synchronization signal to each laser radar according to a fixed cycle. After receiving the time synchronization signal, each laser radar will automatically The clock of the clock is synchronized with the clock of the clock device, so as to ensure the time synchronization of each laser radar in the multi-lidar system.
  • Fig. 3 is a flow chart of a lidar synchronization method according to another exemplary embodiment. As shown in FIG. 3, the above method further includes S105 and S106.
  • the sending condition of the group package is that the latest scanned point cloud data of the target laser radar in the multi-lidar system constitutes a circle of point cloud data, wherein the target laser radar can be preset by the user, or can be By default, there is no specific limitation in this embodiment.
  • the sending condition of the group packet is that the latest scanned point cloud data of any laser radar in the multi-lidar system constitutes a circle of point cloud data, that is, the latest scanned point cloud data of any laser radar in the multi-lidar system If the point cloud data constitutes a circle of point cloud data, it is determined that the sending condition of the group package is met.
  • each laser radar performs a 360° rotating scan of the surrounding environment.
  • the present application also provides a laser radar synchronization device, as shown in Figure 4, the laser radar synchronization device 400 includes:
  • the first determining module 401 is configured to, for each laser radar in the multi-lidar system, determine the deflection angle of the radar coordinate system of the laser radar relative to the target coordinate system when the multi-lidar system is started;
  • the second determining module 402 is configured to determine, according to the deflection angle determined by the first determining module 401, the mapping value of the target orientation in the target coordinate system in the radar coordinate system of the lidar, and convert the mapping The value is used as the initial orientation of the lidar in its radar coordinate system;
  • the control module 403 is configured to control each of the laser radars to start from their respective initial orientations determined by the second determination module 402 to perform rotational scanning synchronously.
  • the deflection angle of the radar coordinate system of the laser radar relative to the target coordinate system is determined; according to the deflection angle, the target is determined.
  • the target orientation in the coordinate system is the mapping value in the radar coordinate system of the laser radar, and the mapping value is used as the initial orientation of the laser radar in its radar coordinate system; each laser radar is controlled to start with its own initial orientation start, rotate and scan synchronously.
  • each lidar in the multi-lidar system under the same target coordinate system can be kept consistent at the same time, thereby ensuring that the start and end times and angle ranges of the point cloud data packets of each lidar are consistent , so as to achieve multi-lidar point cloud data fusion, give full play to the advantages of multi-lidar, facilitate the perception system to more accurately obtain the surrounding environment information based on the point cloud data sent by multiple lidars, and expand the perception of the perception system scope.
  • the deflection angle is a deflection angle of a coordinate axis parallel to the detection direction in the radar coordinate system of the lidar relative to the coordinate axis of the target coordinate system.
  • control module 403 includes: a monitoring submodule, configured to monitor whether the actual rotational speed of the lidar deviates from a preset rotational speed for each lidar; If the rotation speed deviates from the preset rotation speed, adjust the rotation speed of the lidar so that the actual rotation speed of the lidar reaches the preset rotation speed.
  • a monitoring submodule configured to monitor whether the actual rotational speed of the lidar deviates from a preset rotational speed for each lidar; If the rotation speed deviates from the preset rotation speed, adjust the rotation speed of the lidar so that the actual rotation speed of the lidar reaches the preset rotation speed.
  • the monitoring submodule includes:
  • the first judging submodule is used to judge whether the current orientation of the lidar in its radar coordinate system is the same as the initial orientation according to a preset time period, wherein each of the lidars performs a 360° rotation on the surrounding environment scanning, and the preset time period is determined based on the preset number of turns and the preset rotational speed;
  • a third determining submodule configured to determine that the actual rotation speed of the lidar deviates from the preset rotation speed if the current orientation is different from the initial orientation
  • the second judging submodule is used to judge whether the actual number of revolutions of the laser radar within the preset time period is the preset number of revolutions if the current orientation is the same as the initial orientation;
  • the fourth determination sub-module is configured to determine that the actual rotation speed of the lidar deviates from the preset rotation speed if the actual rotation number is not the preset rotation number.
  • the adjustment submodule includes:
  • the reducing submodule is used to: if the actual number of rotations is greater than the preset number of turns, or the actual number of rotations is the preset number of turns but the current orientation is different from the initial orientation, then Gradually reduce the rotational speed of the lidar until the actual rotational speed of the lidar drops to the preset rotational speed;
  • the increasing sub-module is used to gradually increase the rotation speed of the laser radar until the actual rotation speed of the laser radar reaches the preset rotation speed if the actual number of rotations is less than the preset number of rotations.
  • the device 400 also includes:
  • a judging module configured to judge whether the sending condition of the group packet is met
  • a sending module configured to combine the latest circle of point cloud data of each of the laser radars into a data packet and send it if the condition for sending the group package is met, wherein each of the laser radars conducts a 360° survey of the surrounding environment Rotate scan.
  • the group packet sending condition includes one of the following:
  • the latest point cloud data scanned by the target laser radar in the multi-lidar system constitutes a circle of point cloud data
  • the latest point cloud data scanned by any laser radar in the multi-lidar system constitutes a circle of point cloud data.
  • the device 400 also includes:
  • a time synchronization module configured to use a time synchronization signal to perform time synchronization on each of the lidars, wherein the time synchronization signal includes time pulses and/or time text information.
  • the present application also provides a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the steps of the above lidar synchronization method provided in the present application are realized.
  • Fig. 5 is a block diagram of an unmanned driving device 500 according to an exemplary embodiment.
  • the unmanned driving device 500 may include: a processor 501 and a memory 502 .
  • the unmanned driving device 500 may also include one or more of a multimedia component 503 , an input/output (I/O) interface 504 , and a communication component 505 .
  • the processor 501 is used to control the overall operation of the unmanned driving device 500, so as to complete all or part of the steps in the above lidar synchronization method.
  • the memory 502 is used to store various types of data to support the operation of the unmanned equipment 500, such data may include instructions for any application or method operated on the unmanned equipment 500, and application Related data, such as contact data, sent and received messages, pictures, audio, video, etc.
  • the memory 502 can be realized by any type of volatile or non-volatile storage device or their combination, such as Static Random Access Memory (Static Random Access Memory, referred to as SRAM), Electrically Erasable Programmable Read-Only Memory (EPROM) Electrically Erasable Programmable Read-Only Memory, referred to as EEPROM), Erasable Programmable Read-Only Memory (Erasable Programmable Read-Only Memory, referred to as EPROM), Programmable Read-Only Memory (Programmable Read-Only Memory, referred to as PROM), read-only Memory (Read-Only Memory, referred to as ROM), magnetic memory, flash memory, magnetic disk or optical disk.
  • Multimedia components 503 may include screen and audio components.
  • the screen can be, for example, a touch screen, and the audio component is used for outputting and/or inputting audio signals.
  • an audio component may include a microphone for receiving external audio signals.
  • the received audio signal may be further stored in the memory 502 or sent through the communication component 505 .
  • the audio component also includes at least one speaker for outputting audio signals.
  • the I/O interface 504 provides an interface between the processor 501 and other interface modules, which may be a keyboard, a mouse, buttons, and the like. These buttons can be virtual buttons or physical buttons.
  • the communication component 505 is used for wired or wireless communication between the unmanned device 500 and other devices.
  • the communication component 505 may include: a Wi-Fi module, a Bluetooth module, an NFC module and the like.
  • the driverless device 500 may be implemented by one or more application-specific integrated circuits (Application Specific Integrated Circuit, ASIC for short), digital signal processors (Digital Signal Processor, DSP for short), digital signal processing equipment (Digital Signal Processing Device, referred to as DSPD), programmable logic device (Programmable Logic Device, referred to as PLD), field programmable gate array (Field Programmable Gate Array, referred to as FPGA), controller, microcontroller, microprocessor or other Electronic components are implemented for performing the above-mentioned lidar synchronization method.
  • ASIC Application Specific Integrated Circuit
  • DSP Digital Signal Processor
  • DSPD Digital Signal Processing Device
  • PLD programmable logic device
  • FPGA Field Programmable Gate Array
  • controller microcontroller, microprocessor or other Electronic components are implemented for performing the above-mentioned lidar synchronization method.
  • a computer-readable storage medium including program instructions is also provided, and when the program instructions are executed by a processor, the steps of the above lidar synchronization method are implemented.
  • the computer-readable storage medium can be the above-mentioned memory 502 including program instructions, and the above-mentioned program instructions can be executed by the processor 501 of the unmanned driving device 500 to complete the above-mentioned lidar synchronization method.

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Abstract

一种激光雷达同步方法、装置、可读存储介质及无人驾驶设备。该方法包括：在多激光雷达系统启动时，针对系统中每一激光雷达，确定激光雷达的雷达坐标系相对于目标坐标系的偏转角度（S101）；根据偏转角度，确定目标坐标系中的目标朝向在激光雷达的雷达坐标系下的映射值，并将映射值作为激光雷达在其雷达坐标系下的初始朝向（S102）；控制每一激光雷达以各自的初始朝向为起始，同步进行旋转扫描（S103）。

Description

激光雷达同步方法、装置、可读存储介质及无人驾驶设备
本申请要求在2021年7月30日提交中国专利局、申请号为202110872846.4、发明名称为“激光雷达同步方法、装置、可读存储介质及无人驾驶设备”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及自动驾驶技术领域，具体地，涉及一种激光雷达同步方法、装置、可读存储介质及无人驾驶设备。
背景技术
现阶段，激光雷达是无人驾驶设备(例如，无人配送车、乘用车等)、移动机器人等的设备的感知系统的主要设备之一，为了减少盲区，通常一辆设备会部署多个激光雷达。其中，各激光雷达不断旋转扫描收集周边物体的点云数据，并按照固定频率将各自扫描得到的点云数据组成数据包发给感知系统使用。
发明内容
本申请的目的是提供一种激光雷达同步方法、装置、可读存储介质及无人驾驶设备，以部分地解决相关技术中存在的上述问题。
为了实现上述目的，第一方面，本申请提供一种激光雷达同步方法，所述方法包括：
在多激光雷达系统启动时，针对所述多激光雷达系统中的每一激光雷达，确定该激光雷达的雷达坐标系相对于目标坐标系的偏转角度；
根据该偏转角度，确定所述目标坐标系中的目标朝向在该激光雷达的雷达坐标系下的映射值，并将该映射值作为该激光雷达在其雷达坐标系下的初始朝向；
控制每一所述激光雷达以各自的初始朝向为起始，同步进行旋转扫描。
可选地，所述偏转角度为该激光雷达的雷达坐标系中平行于探测方向的坐标轴相对于所述目标坐标系的所述坐标轴的偏转角度。
可选地，控制每一所述激光雷达同步进行旋转扫描，包括：
针对每一所述激光雷达，监测该激光雷达的实际转速是否偏离预设转速；若该激光雷达的所述实际转速偏离所述预设转速，则调整该激光雷达的转速，以使该激光雷达的实际转速达到所述预设转速。
可选地，所述监测该激光雷达的实际转速是否偏离预设转速，包括：
按照预设时间周期判断该激光雷达在其雷达坐标系下的当前朝向与所述初始朝向是否相同，其中，每一所述激光雷达均对周围环境进行360°旋转扫描，且所述预设时间周期基于预设圈数和所述预设转速确定；
若所述当前朝向与所述初始朝向不相同，则确定该激光雷达的实际转速偏离所述预设转速；
若所述当前朝向与所述初始朝向相同，则判断该激光雷达在所述预设时间周期内的实际旋转圈数是否为所述预设圈数；
若所述实际旋转圈数不为所述预设圈数，则确定该激光雷达的实际转速偏离所述预设转速。
可选地，所述调整该激光雷达的转速，包括：
若所述实际旋转圈数大于所述预设圈数，或者所述实际旋转圈数为所述预设圈数但所述当前朝向与所述初始朝向不相同，则逐步减小该激光雷达的转速，直到该激光雷达的实际转速降到所述预设转速；
若所述实际旋转圈数小于所述预设圈数，则逐步增大该激光雷达的转速，直到该激光雷达的实际转速增到所述预设转速。
可选地，所述方法还包括：
判断是否达到组包发送条件；
若达到所述组包发送条件，则将每一所述激光雷达的最新一圈点云数据组合成数据包并发送，其中，每一所述激光雷达均对周围环境进行360°旋转扫描。
可选地，所述组包发送条件包括以下中的一者：
所述多激光雷达系统中的目标激光雷达最新扫描的点云数据构成一圈点云数据；
所述多激光雷达系统中的任一激光雷达最新扫描的点云数据构成一圈点云数据。
可选地，所述方法还包括：
利用时间同步信号对每一所述激光雷达进行时间同步，其中，所述时间同步信号包括时间脉冲和/或时间文本信息。
第二方面，本申请提供一种激光雷达同步装置，包括：
第一确定模块，用于在多激光雷达系统启动时，针对所述多激光雷达系统中的每一激光雷达，确定该激光雷达的雷达坐标系相对于目标坐标系的偏转角度；
第二确定模块，用于根据所述第一确定模块确定出的该偏转角度，确定所述目标坐标系中的目标朝向在该激光雷达的雷达坐标系下的映射值，并将该映射值作为该激光雷达在其雷达坐标系下的初始朝向；
控制模块，用于控制每一所述激光雷达以所述第二确定模块确定出的各自的初始朝向为起始，同步进行旋转扫描。
第三方面，本申请提供一种计算机可读存储介质，其上存储有计算机程序，该程序被处理器执行时实现本申请第一方面提供的所述方法的步骤。
第四方面，本申请提供一种无人驾驶设备，包括：
存储器，其上存储有计算机程序；
处理器，用于执行所述存储器中的所述计算机程序，以实现本申请第一方面提供的所述方法的步骤。
在上述技术方案中，在多激光雷达系统启动时，针对多激光雷达系统中的每一激光雷达，确定该激光雷达的雷达坐标系相对于目标坐标系的偏转角度；根据该偏转角度，确定目标坐标系中的目标朝向在该激光雷达的雷达坐标系下的映射值，并将该映射值作为该激光雷达在其雷达坐标系下的初始朝向；控制每一激光雷达以各自的初始朝向为起始，同步进行旋转扫描。这样，可以使得多激光雷达系统中的各激光雷达在同一目标坐标系下的朝向在同一时刻保持一致，由此，可以保证各激光雷达的点云数据包的起止时间、覆盖的角度范围均一致，从而能够实现多激光雷达点云数据融合，充分发挥多激光雷达的优势，便于感知系统根 据多个激光雷达发送的点云数据更为准确地获知周边环境信息，并且，扩大了感知系统的感知范围。
本申请的其他特征和优点将在随后的具体实施方式部分予以详细说明。
附图说明
附图是用来提供对本申请的进一步理解，并且构成说明书的一部分，与下面的具体实施方式一起用于解释本申请，但并不构成对本申请的限制。在附图中：
图1是根据一示例性实施例示出的一种激光雷达同步方法的流程图。
图2是根据另一示例性实施例示出的一种激光雷达同步方法的流程图。
图3是根据另一示例性实施例示出的一种激光雷达同步方法的流程图。
图4是根据一示例性实施例示出的一种激光雷达同步装置的框图。
图5是根据一示例性实施例示出的一种无人驾驶设备的框图。
具体实施例
以下结合附图对本申请的具体实施方式进行详细说明。应当理解的是，此处所描述的具体实施方式仅用于说明和解释本申请，并不用于限制本申请。
图1是根据一示例性实施例示出的一种激光雷达同步方法的流程图，其中，该方法可以应用于由多个激光雷达构成的多激光雷达系统，该多激光雷达系统可以应用于无人驾驶设备，例如，无人驾驶车辆(例如，无人驾驶车，无人配送车、乘用车等)、移动机器人等。如图1所示，该方法包括S101～S103。
在S101中，在多激光雷达系统启动时，针对多激光雷达系统中的每一激光雷达，确定该激光雷达的雷达坐标系相对于目标坐标系的偏转角度。
在本实施例中，目标坐标系可以为世界坐标系、车体坐标系、多激 光雷达系统中任一激光雷达的雷达坐标系，对此，本实施例不作具体限定。
偏转角度为该激光雷达的雷达坐标系中平行于探测方向的坐标轴(例如，Y轴)相对于目标坐标系的该坐标轴的偏转角度。并且，各激光雷达的雷达坐标系相对于目标坐标系的偏转角度可以是预先标定好的，也可以在多激光雷达系统启动时，根据各激光雷达的雷达坐标系和目标坐标系的位置关系来确定。
在S102中，根据该偏转角度，确定目标坐标系中的目标朝向在该激光雷达的雷达坐标系下的映射值，并将该映射值作为该激光雷达在其雷达坐标系下的初始朝向。
在本实施例中，目标朝向可以是用户预先设定的值，也可以是默认的经验值(例如，正北方向)，在本实施例中不作具体限定。
将目标坐标系中的目标朝向在不同激光雷达的雷达坐标系下的映射值作为相应激光雷达在其雷达坐标系下的初始朝向，可以使得每一激光雷达的初始朝向在同一目标坐标系下的映射值相同，从而保证多激光雷达系统中的各激光雷达在同一目标坐标系下的初始朝向一致。
在S103中，控制每一激光雷达以各自的初始朝向为起始，同步进行旋转扫描。
具体来说，可以控制每一激光雷达以各自的初始朝向为起始，按照预设转速进行旋转扫描。其中，预设转速可以是用户预先设定的值，也可以是默认的经验值，在本实施例中不作具体限定。
现有技术中，由于不同激光雷达发送点云数据包的频率以及各激光雷达的点云数据包的起止时间、覆盖的角度范围均不一致，这样，将无法进行多激光雷达点云数据融合，也就无法发挥多激光雷达的优势，导致感知系统无法准确、全面地获知周边环境信息。
在上述技术方案中，在多激光雷达系统启动时，针对多激光雷达系统中的每一激光雷达，确定该激光雷达的雷达坐标系相对于目标坐标系的偏转角度；根据该偏转角度，确定目标坐标系中的目标朝向在该激光雷达的雷达坐标系下的映射值，并将该映射值作为该激光雷达在其雷达坐标系下的初始朝向；控制每一激光雷达以各自的初始朝向为起始，同 步进行旋转扫描。这样，可以使得多激光雷达系统中的各激光雷达在同一目标坐标系下的朝向在同一时刻保持一致，由此，可以保证各激光雷达的点云数据包的起止时间、覆盖的角度范围均一致，从而能够实现多激光雷达点云数据融合，充分发挥多激光雷达的优势，便于感知系统根据多个激光雷达发送的点云数据更为准确地获知周边环境信息，并且，扩大了感知系统的感知范围。
由于激光雷达的硬件结构原因，在其运行一段时间后，实际转速会发生偏差，即偏离上述预设转速，故在激光雷达旋转扫描期间，需要监测它的实际转速是否偏离预设转速，并在确定实际转速偏离预设转速时，对它的转速进行调整，以使激光雷达的实际转速达到上述预设转速，从而保证后续各激光雷达的转速一致，进而保证多激光雷达系统中的各激光雷达在同一目标坐标系下的朝向在同一时刻保持一致。具体来说，可以通过以下步骤(1)和步骤(2)来控制每一激光雷达同步进行旋转扫描：
(1)针对每一激光雷达，监测该激光雷达的实际转速是否偏离预设转速。
若该激光雷达的实际转速偏离预设转速，则执行以下步骤(2)；若该激光雷达的实际转速未偏离预设转速，即该激光雷达的实际转速等于预设转速，则继续监测该激光雷达的实际转速是否偏离预设转速，即返回步骤(1)。
(2)调整该激光雷达的转速，以使该激光雷达的实际转速达到预设转速。
下面针对上述步骤(1)中的监测该激光雷达的实际转速是否偏离预设转速的具体实施方式进行详细说明。具体来说，可以通过多种方式来实现，在一种实施方式中，可以通过设置在该激光雷达上的转速传感器来实时检测该激光雷达的实际转速，以确定检测到的该激光雷达的实际转速是否偏离预设转速。
在另一种实施方式中，可以通过以下步骤(11)～步骤(14)来监测该激光雷达的实际转速是否偏离预设转速：
(11)按照预设时间周期判断该激光雷达在其雷达坐标系下的当前 朝向与上述初始朝向是否相同。
在本实施方式中，多激光雷达系统中的每一激光雷达均对周围环境进行360°旋转扫描，且预设时间周期基于预设圈数和上述预设转速确定。示例地，预设时间周期＝预设圈数*预设转速。
若激光雷达的转速恒定为上述预设转速，则其在预设时间周期内可旋转的圈数应为上述预设圈数。也就是说，若激光雷达按照预设转速旋转，经过上述预设时间周期后，其朝向应回到上述初始朝向，因此，可以通过激光雷达的当前朝向与初始朝向的比较结果来确定该激光雷达的实际转速是否偏离预设转速。具体来说，若当前朝向与初始朝向不相同，则执行以下步骤(13)；若当前朝向与初始朝向相同，则还需要判断该激光雷达在预设时间周期内的实际旋转圈数是否为预设圈数，即执行以下步骤(12)。
(12)判断该激光雷达在预设时间周期内的实际旋转圈数是否为预设圈数。
若该激光雷达在预设时间周期内的实际旋转圈数为预设圈数，则执行以下步骤(14)；若该激光雷达在预设时间周期内的实际旋转圈数不为预设圈数，则表明该激光雷达在预设时间周期的实际旋转圈数可能大于预设圈数，或者小于预设圈数，此时，可以确定该激光雷达的实际转速偏离预设转速，即执行以下步骤(13)。
(13)确定该激光雷达的实际转速偏离预设转速。
(14)确定该激光雷达的实际转速未偏离预设转速。
在该种实施方式中，无需在激光雷达上额外设置转速传感器即可监测该激光雷达的实际转速是否偏离预设转速，不但节省了硬件成本，而且准确度高。
下面针对上述步骤(2)中的调整该激光雷达的转速的具体实施方式进行详细说明。具体来说，若该激光雷达在预设时间周期内的实际旋转圈数大于预设圈数，或者该激光雷达在预设时间周期内的实际旋转圈数为预设圈数、但当前朝向与初始朝向不相同，则表明该激光雷达的实际转速大于预设转速，此时，可以逐步减小该激光雷达的转速(示例地，激光雷达的转速按照第一预设速率递减)，直到该激光雷达的实际转速降 到预设转速；若该激光雷达在预设时间周期内的实际旋转圈数小于预设圈数，则表明该激光雷达的实际转速小于预设转速，此时，可以逐步增大该激光雷达的转速(示例地，激光雷达的转速按照第二预设速率递增)，直到该激光雷达的实际转速增到预设转速。其中，第一预设速率和第二预设速率可以相等，也可以不相等，对此，本公开不作具体限定。
在该种实施方式中，通过逐步调各整激光雷达的转速，可以将各激光雷达的实际转速逐步调整到预设转速，从而可以将多激光雷达系统中的各激光雷达在同一目标坐标系下的朝向在逐步调整到一致。
另外，为了实现多激光雷达系统中各激光雷达的完全同步，还需要对各激光雷达的时间进行同步。具体来说，如图2所示，上述方法还包括S104。
在S104中，利用时间同步信号对每一激光雷达进行时间同步。
在本实施例中，时间同步信号可以包括时间脉冲和/或时间文本信息。其中，可以通过时钟设备来生成时间同步信号，其中，该时钟设备与各激光雷达连接，时钟设备可以按照固定周期向各激光雷达发送时间同步信号，各激光雷达接收该时间同步信号后，将自身的时钟与时钟设备的时钟同步，从而保证多激光雷达系统中各激光雷达的时间同步。
图3是根据另一示例性实施例示出的一种激光雷达同步方法的流程图。如图3所示，上述方法还包括S105和S106。
在S105中，判断是否达到组包发送条件。
在一种实施方式中，该组包发送条件为多激光雷达系统中的目标激光雷达最新扫描的点云数据构成一圈点云数据，其中，目标激光雷达可以为用户预先设定的，也可以是默认的，在本实施例中不作具体限定。
在另一种实施方式中，该组包发送条件为多激光雷达系统中的任一激光雷达最新扫描的点云数据构成一圈点云数据，即多激光雷达系统中的任一激光雷达最新扫描的点云数据构成一圈点云数据，则确定达到组包发送条件。
若达到组包发送条件，则执行以下S106；若未达到组包发送条件，则继续监测是否达到组包发送条件，即返回S105。
在S106中，将每一激光雷达的最新一圈点云数据组合成数据包并发 送。
其中，每一激光雷达均对周围环境进行360°旋转扫描。
基于同样的发明构思，本申请还提供一种激光雷达同步装置，如图4所示，该激光雷达同步装置400包括：
第一确定模块401，用于在多激光雷达系统启动时，针对所述多激光雷达系统中的每一激光雷达，确定该激光雷达的雷达坐标系相对于目标坐标系的偏转角度；
第二确定模块402，用于根据所述第一确定模块401确定出的该偏转角度，确定所述目标坐标系中的目标朝向在该激光雷达的雷达坐标系下的映射值，并将该映射值作为该激光雷达在其雷达坐标系下的初始朝向；
控制模块403，用于控制每一所述激光雷达以所述第二确定模块402确定出的各自的初始朝向为起始，同步进行旋转扫描。
在上述技术方案中，在多激光雷达系统启动时，针对多激光雷达系统中的每一激光雷达，确定该激光雷达的雷达坐标系相对于目标坐标系的偏转角度；根据该偏转角度，确定目标坐标系中的目标朝向在该激光雷达的雷达坐标系下的映射值，并将该映射值作为该激光雷达在其雷达坐标系下的初始朝向；控制每一激光雷达以各自的初始朝向为起始，同步进行旋转扫描。这样，可以使得多激光雷达系统中的各激光雷达在同一目标坐标系下的朝向在同一时刻保持一致，由此，可以保证各激光雷达的点云数据包的起止时间、覆盖的角度范围均一致，从而能够实现多激光雷达点云数据融合，充分发挥多激光雷达的优势，便于感知系统根据多个激光雷达发送的点云数据更为准确地获知周边环境信息，并且，扩大了感知系统的感知范围。
可选地，所述偏转角度为该激光雷达的雷达坐标系中平行于探测方向的坐标轴相对于所述目标坐标系的所述坐标轴的偏转角度。
可选地，控制模块403包括：监测子模块，用于针对每一所述激光雷达，监测该激光雷达的实际转速是否偏离预设转速；调整子模块，用于若该激光雷达的所述实际转速偏离所述预设转速，则调整该激光雷达的转速，以使该激光雷达的实际转速达到所述预设转速。
可选地，所述监测子模块包括：
第一判断子模块，用于按照预设时间周期判断该激光雷达在其雷达坐标系下的当前朝向与所述初始朝向是否相同，其中，每一所述激光雷达均对周围环境进行360°旋转扫描，且所述预设时间周期基于预设圈数和所述预设转速确定；
第三确定子模块，用于若所述当前朝向与所述初始朝向不相同，则确定该激光雷达的实际转速偏离所述预设转速；
第二判断子模块，用于若所述当前朝向与所述初始朝向相同，则判断该激光雷达在所述预设时间周期内的实际旋转圈数是否为所述预设圈数；
第四确定子模块，用于若所述实际旋转圈数不为所述预设圈数，则确定该激光雷达的实际转速偏离所述预设转速。
可选地，所述调整子模块包括：
减小子模块，用于若所述实际旋转圈数大于所述预设圈数，或者所述实际旋转圈数为所述预设圈数但所述当前朝向与所述初始朝向不相同，则逐步减小该激光雷达的转速，直到该激光雷达的实际转速降到所述预设转速；
增大子模块，用于若所述实际旋转圈数小于所述预设圈数，则逐步增大该激光雷达的转速，直到该激光雷达的实际转速增到所述预设转速。
可选地，所述装置400还包括：
判断模块，用于判断是否达到组包发送条件；
发送模块，用于若达到所述组包发送条件，则将每一所述激光雷达的最新一圈点云数据组合成数据包并发送，其中，每一所述激光雷达均对周围环境进行360°旋转扫描。
可选地，所述组包发送条件包括以下中的一者：
所述多激光雷达系统中的目标激光雷达最新扫描的点云数据构成一圈点云数据；
所述多激光雷达系统中的任一激光雷达最新扫描的点云数据构成一圈点云数据。
可选地，所述装置400还包括：
时间同步模块，用于利用时间同步信号对每一所述激光雷达进行时 间同步，其中，所述时间同步信号包括时间脉冲和/或时间文本信息。
关于上述实施例中的装置，其中各个模块执行操作的具体方式已经在有关该方法的实施例中进行了详细描述，此处将不做详细阐述说明。
本申请还提供一种计算机可读存储介质，其上存储有计算机程序，该程序被处理器执行时实现本申请提供的上述激光雷达同步方法的步骤。
图5是根据一示例性实施例示出的一种无人驾驶设备500的框图。如图5所示，该无人驾驶设备500可以包括：处理器501，存储器502。该无人驾驶设备500还可以包括多媒体组件503，输入/输出(I/O)接口504，以及通信组件505中的一者或多者。
其中，处理器501用于控制该无人驾驶设备500的整体操作，以完成上述的激光雷达同步方法中的全部或部分步骤。存储器502用于存储各种类型的数据以支持在该无人驾驶设备500的操作，这些数据例如可以包括用于在该无人驾驶设备500上操作的任何应用程序或方法的指令，以及应用程序相关的数据，例如联系人数据、收发的消息、图片、音频、视频等等。该存储器502可以由任何类型的易失性或非易失性存储设备或者它们的组合实现，例如静态随机存取存储器(Static Random Access Memory，简称SRAM)，电可擦除可编程只读存储器(Electrically Erasable Programmable Read-Only Memory，简称EEPROM)，可擦除可编程只读存储器(Erasable Programmable Read-Only Memory，简称EPROM)，可编程只读存储器(Programmable Read-Only Memory，简称PROM)，只读存储器(Read-Only Memory，简称ROM)，磁存储器，快闪存储器，磁盘或光盘。多媒体组件503可以包括屏幕和音频组件。其中屏幕例如可以是触摸屏，音频组件用于输出和/或输入音频信号。例如，音频组件可以包括一个麦克风，麦克风用于接收外部音频信号。所接收的音频信号可以被进一步存储在存储器502或通过通信组件505发送。音频组件还包括至少一个扬声器，用于输出音频信号。I/O接口504为处理器501和其他接口模块之间提供接口，上述其他接口模块可以是键盘，鼠标，按钮等。这些按钮可以是虚拟按钮或者实体按钮。通信组件505用于该无人驾驶设备500与其他设备之间进行有线或无线通信。无线通信，例如 Wi-Fi，蓝牙，近场通信(Near Field Communication，简称NFC)，2G、3G、4G、NB-IOT、eMTC、或其他5G等等，或它们中的一种或几种的组合，在此不做限定。因此相应的该通信组件505可以包括：Wi-Fi模块，蓝牙模块，NFC模块等等。
在一示例性实施例中，无人驾驶设备500可以被一个或多个应用专用集成电路(Application Specific Integrated Circuit，简称ASIC)、数字信号处理器(Digital Signal Processor，简称DSP)、数字信号处理设备(Digital Signal Processing Device，简称DSPD)、可编程逻辑器件(Programmable Logic Device，简称PLD)、现场可编程门阵列(Field Programmable Gate Array，简称FPGA)、控制器、微控制器、微处理器或其他电子元件实现，用于执行上述的激光雷达同步方法。
在另一示例性实施例中，还提供了一种包括程序指令的计算机可读存储介质，该程序指令被处理器执行时实现上述的激光雷达同步方法的步骤。例如，该计算机可读存储介质可以为上述包括程序指令的存储器502，上述程序指令可由无人驾驶设备500的处理器501执行以完成上述的激光雷达同步方法。
以上结合附图详细描述了本申请的优选实施方式，但是，本申请并不限于上述实施方式中的具体细节，在本申请的技术构思范围内，可以对本申请的技术方案进行多种简单变型，这些简单变型均属于本申请的保护范围。
另外需要说明的是，在上述具体实施方式中所描述的各个具体技术特征，在不矛盾的情况下，可以通过任何合适的方式进行组合。为了避免不必要的重复，本申请对各种可能的组合方式不再另行说明。
此外，本申请的各种不同的实施方式之间也可以进行任意组合，只要其不违背本申请的思想，其同样应当视为本申请所公开的内容。

Claims (11)

  1. 一种激光雷达同步方法，所述方法包括：
    在多激光雷达系统启动时，针对所述多激光雷达系统中的每一激光雷达，确定该激光雷达的雷达坐标系相对于目标坐标系的偏转角度；
    根据该偏转角度，确定所述目标坐标系中的目标朝向在该激光雷达的雷达坐标系下的映射值，并将该映射值作为该激光雷达在其雷达坐标系下的初始朝向；
    控制每一所述激光雷达以各自的初始朝向为起始，同步进行旋转扫描。
  2. 根据权利要求1所述的方法，其中，所述偏转角度为该激光雷达的雷达坐标系中平行于探测方向的坐标轴相对于所述目标坐标系的所述坐标轴的偏转角度。
  3. 根据权利要求1所述的方法，其中，控制每一所述激光雷达同步进行旋转扫描，包括：
    针对每一所述激光雷达，监测该激光雷达的实际转速是否偏离预设转速；若该激光雷达的所述实际转速偏离所述预设转速，则调整该激光雷达的转速，以使该激光雷达的实际转速达到所述预设转速。
  4. 根据权利要求3所述的方法，其中，所述监测该激光雷达的实际转速是否偏离预设转速，包括：
    按照预设时间周期判断该激光雷达在其雷达坐标系下的当前朝向与所述初始朝向是否相同，其中，每一所述激光雷达均对周围环境进行360°旋转扫描，且所述预设时间周期基于预设圈数和所述预设转速确定；
    若所述当前朝向与所述初始朝向不相同，则确定该激光雷达的实际转速偏离所述预设转速；
    若所述当前朝向与所述初始朝向相同，则判断该激光雷达在所述预设时间周期内的实际旋转圈数是否为所述预设圈数；
    若所述实际旋转圈数不为所述预设圈数，则确定该激光雷达的实际转速偏离所述预设转速。
  5. 根据权利要求4所述的方法，其中，所述调整该激光雷达的转速，包括：
    若所述实际旋转圈数大于所述预设圈数，或者所述实际旋转圈数为所述预设圈数但所述当前朝向与所述初始朝向不相同，则逐步减小该激光雷达的转速，直到该激光雷达的实际转速降到所述预设转速；
    若所述实际旋转圈数小于所述预设圈数，则逐步增大该激光雷达的转速，直到该激光雷达的实际转速增到所述预设转速。
  6. 根据权利要求1-5中任一项所述的方法，其中，所述方法还包括：
    判断是否达到组包发送条件；
    若达到所述组包发送条件，则将每一所述激光雷达的最新一圈点云数据组合成数据包并发送，其中，每一所述激光雷达均对周围环境进行360°旋转扫描。
  7. 根据权利要求6所述的方法，其中，所述组包发送条件包括以下中的一者：
    所述多激光雷达系统中的目标激光雷达最新扫描的点云数据构成一圈点云数据；
    所述多激光雷达系统中的任一激光雷达最新扫描的点云数据构成一圈点云数据。
  8. 根据权利要求1-5中任一项所述的方法，其中，所述方法还包括：
    利用时间同步信号对每一所述激光雷达进行时间同步，其中，所述时间同步信号包括时间脉冲和/或时间文本。
  9. 一种激光雷达同步装置，包括：
    第一确定模块，用于在多激光雷达系统启动时，针对所述多激光雷 达系统中的每一激光雷达，确定该激光雷达的雷达坐标系相对于目标坐标系的偏转角度；
    第二确定模块，用于根据所述第一确定模块确定出的该偏转角度，确定所述目标坐标系中的目标朝向在该激光雷达的雷达坐标系下的映射值，并将该映射值作为该激光雷达在其雷达坐标系下的初始朝向；
    控制模块，用于控制每一所述激光雷达以所述第二确定模块确定出的各自的初始朝向为起始，同步进行旋转扫描。
  10. 一种计算机可读存储介质，其上存储有计算机程序，该程序被处理器执行时实现权利要求1-8中任一项所述方法的步骤。
  11. 一种无人驾驶设备，包括：
    存储器，其上存储有计算机程序；
    处理器，用于执行所述存储器中的所述计算机程序，以实现权利要求1-8中任一项所述方法的步骤。
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