CN109669191A - To landform construction method before vehicle based on single line laser radar - Google Patents
To landform construction method before vehicle based on single line laser radar Download PDFInfo
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- CN109669191A CN109669191A CN201811427777.0A CN201811427777A CN109669191A CN 109669191 A CN109669191 A CN 109669191A CN 201811427777 A CN201811427777 A CN 201811427777A CN 109669191 A CN109669191 A CN 109669191A
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- 238000010276 construction Methods 0.000 title claims abstract description 13
- 238000005259 measurement Methods 0.000 claims description 6
- 230000008054 signal transmission Effects 0.000 claims 1
- 230000004888 barrier function Effects 0.000 description 29
- 238000000034 method Methods 0.000 description 9
- 238000010586 diagram Methods 0.000 description 4
- 238000000354 decomposition reaction Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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- 238000004364 calculation method Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
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Classifications
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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
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Traffic Control Systems (AREA)
Abstract
针对现有技术中采用多线激光雷达进行地形构建而造成的性价比低的问题，本发明提供一种基于单线激光雷达的车辆前向地形构建方法，在载有单线激光雷达的车辆沿X轴方向运动时，障碍物相对车辆的X轴反方向运动，将障碍物的运动方向分解为对激光雷达X、Z方向的运动，结合激光雷达自身Y方向的扫描，完成对障碍物或地形的3D扫描；单线激光雷达与水平面存在一定的夹角θ1。本发明通过车辆沿X方向运动时，障碍物相对车辆的X方向的运动，分解为对倾斜安装的激光雷达X、Z方向的运动，通过激光雷达与地面的几何关系获得障碍物轮廓的高度或者深度以及障碍物的宽度。本发明具有的性价比高、数据量少、重量轻等优点。
Aiming at the problem of low cost performance caused by using multi-line laser radar for terrain construction in the prior art, the present invention provides a vehicle forward terrain construction method based on single-line laser radar. When moving, the obstacle moves in the opposite direction relative to the X-axis of the vehicle, and the movement direction of the obstacle is decomposed into movements in the X and Z directions of the lidar. Combined with the scanning of the lidar itself in the Y direction, the 3D scanning of obstacles or terrain is completed. ; There is a certain angle θ 1 between the single-line lidar and the horizontal plane. According to the invention, when the vehicle moves along the X direction, the movement of the obstacle relative to the X direction of the vehicle is decomposed into the X and Z direction movements of the obliquely installed laser radar, and the height of the obstacle outline or the geometric relationship between the laser radar and the ground is obtained. depth and width of obstacles. The invention has the advantages of high cost performance, less data amount, light weight and the like.
Description
Technical field
To terrain construction before the vehicle scanned the present invention relates to automobile intelligent driving field more particularly to single line laser radar
Method.
Background technique
Optical radar is a kind of common distance measuring sensor, small due to having many advantages, such as high resolution, being interfered by environmental factor,
Various fields are widely used in, laser radar is divided into three kinds of radar of single line laser radar, multi-line laser radar and face battle array.
Laser beam can be very good to assemble by optical system, therefore be not only distance, and target is relative to sensor
Side and upright position also available determination.It can be good at constructing this terrain profile using this measuring principle.
It is many for the research of vehicle front barrier profile at present, but multi-line laser radar is mostly used, this knot
The collected signal of structure is larger, needs that processor arithmetic speed is fast, algorithm is complicated, and this infrastructure cost is high, considers in agriculture
There are other radars not have for signal feedback processing speed and cost performance problem needed for vehicle application, single line laser radar
Cost performance is high, the advantages that data volume is few, light-weight.
Summary of the invention
For use multi-line laser radar to carry out terrain construction in the prior art and caused by the low problem of cost performance, this hair
It is bright to provide before a kind of vehicle based on single line laser radar to landform construction method, it uses with the list for having angle with horizontal plane
Line laser radar carries out the scanning that swings, and without scanning up and down, data volume is few, and hardware configuration is of less demanding, improves
The cost performance of laser radar building map device.
To landform construction method before the vehicle based on single line laser radar, its technical solution is that: it is being loaded with list
When the vehicle of line laser radar moves in the X-axis direction, the X-axis opposite direction of barrier relative vehicle is moved, by the movement of barrier
Directional Decomposition is movement to laser radar X, Z-direction, in conjunction with the scanning of laser radar itself Y-direction, complete to barrier or
The 3D of landform is scanned；There are certain angle thetas with horizontal plane for single line laser radar1。
The safe distance for needing to identify is determined according to vehicle speed, by safe distance, laser radar height and vehicle landform
Handling capacity determines the tilt angle theta of laser radar1,Wherein, l represents what vehicle needed to identify
The shortest distance, h1Represent laser radar height, h2Represent obstacle height when vehicle needs avoidance.
By the X-axis opposite direction Kinematic Decomposition of barrier relative vehicle, the correspondence object height or depth of Z-directionWherein, t is time of the laser pulse from barrier bottom scan to top；V is Vehicle Speed；
Then the length of the X-direction of barrier is v*t2；Wherein, V is Vehicle Speed, t2To measure automobile when height is h
The time that the time of traveling, i.e. scanning are same object；
Single line laser radar feathering angle θ 2 is then known the width in the direction y of barrier by cosine formula are as follows:Wherein, L1、L2To barrier when signal emits twice respectively before and after single line laser radar
Distance.
The beneficial effects of the present invention are: when the present invention is moved in X direction by vehicle, the X-direction of barrier relative vehicle
Movement, be decomposed into inclination installation laser radar X, Z-direction movement, obtained by the geometrical relationship on laser radar and ground
Obtain the height of barrier profile or the width of depth and barrier.The cost performance that the present invention has is high, data volume is few, weight
The advantages that light.
Detailed description of the invention
Fig. 1 is measuring principle schematic diagram of the invention.
Fig. 2 is measuring principle schematic diagram of the present invention to obstacle height Z-direction.
Fig. 3 is measuring principle schematic diagram of the present invention to barrier width Y-direction.
Fig. 4 is measuring principle schematic diagram of the present invention to the X-direction of barrier thickness.
Specific embodiment
The present invention is further detailed with reference to the accompanying drawing.
Present invention is mainly applied to car speed it is not high in the case where, in terms of agricultural automation.Based on single line laser thunder
It can be from laser radar position by single line laser radar loaded on tractor vehicle top to landform construction method before the vehicle reached
Measurement starts terrain detection, and laser beam, which is tilted in, to be incident upon in landform, includes the following steps when in use；
Step 1: the shortest safe distance that needs identify can be determined by vehicle speed according to light propagation formula, by
Safe distance, laser radar height and vehicle landform handling capacity determine the tilt angle of laser radar.
Wherein, above-mentioned safe distance refers to when vehicle needs avoidance, since vehicle has certain travel speed,
When carrying out turning operation, a certain distance is needed to carry out avoidance, this avoidance is safe distance with shortest distance.This distance
Increase with the increase of speed.Vehicle landform handling capacity refer to the height by method acquired disturbance object m described herein,
After wide and thickness information, by program judge vehicle whether can by ability.If vehicle handling capacity itself is high
30cm is spent, it is then more than the handling capacity of vehicle that the height of barrier m, which is 35cm, and vehicle stops.If if vehicle itself passes through
Ability is height 30cm, and the height of barrier m is 25cm, then is no more than the handling capacity of vehicle, vehicle passes through.
Cause to scatter Step 2: the laser pulse that laser is launched is incident on body surface, a portion light wave meeting
By reflection back into the receiver of laser radar, it converts light signals into electric signal and records, meanwhile, by being matched
The same laser pulse signal of standby timer record is by being emitted to the time interval being received.Since the light velocity is known, biography
The measurement adjusted the distance can be converted by broadcasting time interval.
Step 3: when being moved in X direction by vehicle, the movement of the X-direction of barrier m relative vehicle is decomposed such as Fig. 1
For the movement of laser radar X, Z-direction to inclination installation, barrier m can be found out by the geometrical relationship on laser radar and ground
The height or depth and width of profile.
Step 4: there is the blind area of a distance before vehicle driving, need that one ultrasonic wave thunder is installed in front of the car
It reaches.
Step 5: microprocessor carries out terrain construction, control system determines whether vehicle has handling capacity to this landform.
The step 1 includes following procedure: inclination angle theta of the pulsed light beam that laser radar issues relative to vertical direction1's
Expression formula are as follows:
Wherein, l represents vehicle and needs to be set to 5m, h at the beginning of the shortest distance identified1It represents laser radar height and is just set to 3m, h2
Vehicle is represented to need barrier m height when avoidance just θ can be obtained by being set to 0.2m1It is 61 °.
Barrier m linear distance measurement in step 2 laser radar road includes following procedure: laser radar road barrier m
Linear distance L expression formula are as follows:Wherein, L is laser emitter to the geometric distance between reflection point, and c is the light velocity, t
A laser can only be obtained by being emitted to the time interval being received, an echo-signal of beam of laser pulse for laser pulse
The range information of reflection point obtains the range information with a series of laser reflection points of certain bandwidth to be continuous, need to be by one
Fixed mechanical device makes laser emitter carry out operation by way of scanning.Because laser pulse is connect with light velocity propagation
It receives device and always receives the previous pulse being reflected back toward before next pulse sending.
Such as Fig. 2, the step 3 barrier m height or depth and width measurement include following procedure: passing through trigonometric function
Transformation, utilizes the mounting height of laser radar, the inclination angle of laser light number, laser radar swing angle and laser radar to obstacle
Object m distance can calculate barrier m profile elevations h and width, and calculation formula is as follows:
The height of barrier m or the expression formula of depth h are as follows:Wherein, t is laser pulse from barrier m
Time of the bottom scan to top；V is Vehicle Speed；
As the expression formula of Fig. 3, the width d of barrier m areIn formula, L1、L2Respectively
To the distance of barrier m, θ when signal emits twice before and after radar2For radar swing angle.
Such as Fig. 4, the length of the X-direction thickness of barrier m is v*t2；Wherein, V is Vehicle Speed, t2For measurement height
The time of running car, that is, scan time-consuming when same object when for h.
In use, microprocessor can be set, the radar scanning line buffering in a distance is established in the microprocessor
Area (FIFO) constructs complete landform or barrier m using iteration closest approach algorithm.The microprocessor is according to measuring landform or obstacle
Whether the judgement of object m profile has handling capacity to this landform, if it is possible to then be continued on by obstacle, otherwise control system will
It issues command signal and takes appropriate avoidance measure to execution system.
Because method of the present invention needs vehicle to advance after a distance and could form map structuring, in order to
Guarantee safety, several ultrasonic radars can be installed in vehicle front and detect whether that there are object, ultrasonic radar and micro processs
Device communication, if the data that ultrasonic radar is sent back to indicate existence body, and object can positioned at this method at a distance from vehicle
Between the near distance spot and vehicle of detection, microprocessor controls vehicle avoiding obstacles m.
Specifically, the rotation of single line laser radar can be realized by rotary frame, the rotary frame include base,
With the stepper motor being arranged below base；Single line laser radar is set on base, and base angle with horizontal plane is θ1；The folder
Angle θ1It can be default by above-mentioned mode.The angle of light and horizontal plane that single line laser radar projects is also angle theta1；Base
It is fixedly connected, is rotated with the output shaft of stepper motor and rotates with the output shaft of stepper motor.Stepper motor and microprocessor
Electrical connection, microprocessor can acquire the active angle of stepper motor.Simultaneously by presetting, the maximum of stepper motor can be determined
Corner.
The foregoing is merely the preferred embodiment of invention, oneself, is not intended to limit the invention, all in spirit of the invention
With any modifications, equivalent replacements, and improvements made within principle etc., should all be included in the protection scope of the present invention.
Claims (3)
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| CN201811427777.0A CN109669191A (en) | 2018-11-27 | 2018-11-27 | To landform construction method before vehicle based on single line laser radar |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111257903A (en) * | 2020-01-09 | 2020-06-09 | 广州微牌智能科技有限公司 | Vehicle positioning method and device, computer equipment and storage medium |
| CN111398961A (en) * | 2020-03-17 | 2020-07-10 | 北京百度网讯科技有限公司 | Method and apparatus for detecting obstacles |
| TWI721428B (en) * | 2019-05-20 | 2021-03-11 | 友上科技股份有限公司 | Method of detecting obstacles by transportation vehicle having pitching angle-adjustable laser detection device |
| CN112748447A (en) * | 2020-12-23 | 2021-05-04 | 深圳砺剑天眼科技有限公司 | Obstacle avoidance method and system based on laser radar road surface information identification |
| CN115097470A (en) * | 2022-01-21 | 2022-09-23 | 桂林电子科技大学 | Laser radar vehicle dimension measuring instrument and measuring method thereof |
| CN115662111A (en) * | 2022-09-22 | 2023-01-31 | 北京安融畅信息技术有限公司 | A method for identifying road sections passing through villages and towns and a method for troubleshooting hidden dangers in road traffic safety |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI721428B (en) * | 2019-05-20 | 2021-03-11 | 友上科技股份有限公司 | Method of detecting obstacles by transportation vehicle having pitching angle-adjustable laser detection device |
| CN111257903A (en) * | 2020-01-09 | 2020-06-09 | 广州微牌智能科技有限公司 | Vehicle positioning method and device, computer equipment and storage medium |
| CN111398961A (en) * | 2020-03-17 | 2020-07-10 | 北京百度网讯科技有限公司 | Method and apparatus for detecting obstacles |
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| CN112748447A (en) * | 2020-12-23 | 2021-05-04 | 深圳砺剑天眼科技有限公司 | Obstacle avoidance method and system based on laser radar road surface information identification |
| CN115097470A (en) * | 2022-01-21 | 2022-09-23 | 桂林电子科技大学 | Laser radar vehicle dimension measuring instrument and measuring method thereof |
| CN115662111A (en) * | 2022-09-22 | 2023-01-31 | 北京安融畅信息技术有限公司 | A method for identifying road sections passing through villages and towns and a method for troubleshooting hidden dangers in road traffic safety |
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