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Vehicle-mounted laser radar control method, device and vehicle-mounted equipment

A vehicle-mounted lidar and lidar technology, which is used in measurement devices, vehicle parts, transportation and packaging, etc., and can solve problems such as large blind spots for lidar detection.

Active Publication Date: 2017-08-04
UISEE TECH BEIJING LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0007] The object of the present invention is to provide a vehicle-mounted laser radar control method, device and vehicle-mounted equipment to solve the problem of large blind spots in existing laser radar detection

Method used

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  • Vehicle-mounted laser radar control method, device and vehicle-mounted equipment
  • Vehicle-mounted laser radar control method, device and vehicle-mounted equipment
  • Vehicle-mounted laser radar control method, device and vehicle-mounted equipment

Examples

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Effect test

Embodiment 1

[0068] In the embodiment of the present invention, the vehicle-mounted laser radar is not installed in a fixed position, but driven by certain mechanical components to move on the vehicle body. figure 1 A minimalist implementation of a movable vehicle-mounted laser radar is given, wherein the vehicle-mounted laser radar includes a guide rail 101, a sliding bracket (not shown in the figure) and a multi-line laser radar 103; the multi-line laser radar 103 is installed On the sliding bracket, the sliding bracket is arranged on the guide rail 101, and the guide rail 101 is fixed on the top of the car body 1 through two ends; the guide rail 101 is provided with a toothed chain, and the sliding bracket includes a driving motor and a gear, and the driving motor is driven through the gear. , the rotating gear meshes with the chain and rolls, thereby driving the sliding bracket and the lidar 103 on it to move back and forth on the guide rail 101 . As a minimalist implementation, the li...

Embodiment 2

[0082] In an embodiment of the present invention, judging whether there is a key detection blind spot in the lidar according to the perception and control data includes:

[0083] Determine whether the lidar has a detection blind spot according to the perception data;

[0084] When there is a detection blind zone, judge the influence of each detection blind zone on the driving safety of the vehicle according to the perception and control data;

[0085] The blind detection areas are sorted according to their impact on vehicle driving safety, and one or more blind detection areas that are ranked first and / or whose impact exceeds a preset threshold are determined as key blind detection areas.

[0086] Wherein, in one embodiment of the present invention, it is determined whether the lidar has a detection blind spot according to the perception data of the lidar and / or other sensors. Theoretically speaking, due to the limitation of the detection range and / or detection accuracy, the ...

Embodiment 3

[0098] In an embodiment of the present invention, controlling the lidar to move to an effective detection position for the critical detection blind area includes:

[0099] determining an effective detection location for each critical detection blind spot based on the perception and control data;

[0100] Planning the movement path of the lidar according to the effective detection position;

[0101] Drive the lidar to move according to the planned motion path.

[0102] Wherein, in the embodiment of the present invention, the effective detection position is the position of the lidar that can effectively detect the critical detection blind area. The effective detection position is usually determined comprehensively according to the working capability of the lidar; typically, it is determined according to the detectable range of the lidar. For example, for a single key detection blind area, since the range of the key detection blind area is usually not greater than the detectabl...

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Abstract

The invention discloses a vehicle-mounted laser radar control method, a device and vehicle-mounted equipment. The method comprises the steps that sensing and control data of a vehicle and a laser radar are received; whether a critical detection blind zone exists in the laser radar is judged according to the sensing and control data; and when the critical detection blind zone exists, the laser radar is controlled to move toward an effective detection position specific to the critical detection dead zone. The movable vehicle-mounted laser radar is adopted, and the laser radar can be dynamically adjusted towards an object area according to requirement and conducts detection by dynamical adjusting and controlling means, so that the effective detection area of the laser radar is greatly improved.

Description

technical field [0001] The invention belongs to the technical field of vehicle equipment, and in particular relates to a vehicle laser radar control method, device and vehicle equipment. Background technique [0002] With the development of vehicle and computer technology, vehicle assisted driving / automatic driving has become a hot research field. Among them, since there is a need for the perception of obstacles around the vehicle and the environment during assisted driving / automatic driving, it is necessary to add necessary sensing equipment for detection and perception. With its advantages in recognition, ranging and positioning, lidar has been widely used in assisted driving / automatic driving technology. [0003] Compared with the recognition and processing of images collected by cameras, the main advantages of lidar are long detection distance, high precision, and strong anti-interference ability. Specifically, according to the number of emitted laser beams and system ...

Claims

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Application Information

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IPC IPC(8): B60R11/02B60R16/023G01S17/93
CPCB60R11/02B60R16/0231B60R2011/004B60R2011/0092G01S17/931
Inventor 张丹罗赛周小成朱海洋姜岩彭进展
Owner UISEE TECH BEIJING LTD
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