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Unmanned vehicle multi-sensor data synchronous acquisition system

A multi-sensor, data collection technology used in the field of unmanned vehicles

Active Publication Date: 2017-06-23
BEIJING INSTITUTE OF TECHNOLOGYGY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] In view of the above analysis, the present invention aims to provide an unmanned vehicle multi-sensor data synchronous acquisition system to solve the problems of the existing unmanned vehicle data acquisition system

Method used

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Embodiment Construction

[0041] Preferred embodiments of the present invention will be specifically described below in conjunction with the accompanying drawings, wherein the accompanying drawings constitute a part of the application and are used together with the embodiments of the present invention to explain the principle of the present invention.

[0042] According to a specific embodiment of the present invention, a multi-sensor data synchronous acquisition system for unmanned vehicles is disclosed, including:

[0043] Binocular camera, 32-line laser radar, 64-line laser radar, inertial navigation serial port 0, inertial navigation data receiving Nport, vehicle controller, command sending and vehicle status feedback Nport, Ethernet switch 1, Ethernet switch 2, Planning industrial computer, perception industrial computer, CAN data acquisition equipment, CAN1 network, CAN2 network, steering controller, AMT controller, engine controller and torque sensor;

[0044] Further, the binocular camera inclu...

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Abstract

The invention relates to an unmanned vehicle multi-sensor data synchronous acquisition system which comprises an environment awareness data acquisition device, an Ethernet switch 1, an inertial navigation data acquisition device, a vehicle control unit, an instruction issuing and vehicle state feedback Nport, an Ethernet switch 2, a planning industrial personal computer, a sensing industrial personal computer, a CAN data acquisition device, a CAN network, and a CAN network data acquisition device. The planning industrial personal computer stores CAN network data, a corresponding relation between bottom layer time issued by the vehicle control unit through the CAN network and the time of the timer of the CAN data acquisition device, and inertial navigation data. The sensing industrial personal computer stores environment awareness data, and achieves synchronous association of the CAN network data, the environment awareness data, and the inertial navigation data using the bottom layer time issued by the vehicle control unit as marks. A test shows that the unmanned vehicle multi-sensor data synchronous acquisition system is stable and reliable, and provides technical guarantee for the synchronous replaying of the unmanned vehicle environmental information data, the navigation and positioning data, the vehicle attitude information and vehicle bottom state information.

Description

technical field [0001] The invention relates to the technical field of unmanned vehicles, in particular to a multi-sensor data synchronous acquisition system for unmanned vehicles. Background technique [0002] As the cutting-edge technology of today's vehicles, unmanned driving technology has attracted extensive attention from scholars from all over the world. The traditional vehicle data acquisition system, commonly known as the black box, is a digital electronic recording device that can collect, save and playback the collected data. The data it collects is mainly based on the underlying data of the vehicle, including vehicle speed, time, mileage and other status information about the vehicle. [0003] However, there are many sensing devices on unmanned vehicles. In addition to the underlying data of the vehicle, such as engine speed, gear position, torque, etc., it also includes the position information and attitude information output by the integrated navigation system...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01D21/02G05B19/042H04L12/40
CPCG01D21/02G05B19/042H04L12/40H04L12/40006H04L2012/40215H04L2012/40273
Inventor 陈慧岩王博洋翟涌韩雨
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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