CN104002747B - A kind of multilasered optical radar grating map emerging system based on intelligent car - Google Patents
A kind of multilasered optical radar grating map emerging system based on intelligent car Download PDFInfo
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Abstract
The present invention relates to the multilasered optical radar grating map emerging system based on intelligent car, comprise the line laser radar and four line laser radars that are arranged on intelligent car front, be arranged on eight line laser radars of roof, be arranged on the line laser radar after car; Above-mentioned laser radar is by exchange and utilize ethernet to be connected with the first industrial computer, the data of laser radar utilize ethernet to reach the first industrial computer by exchange, by the first industrial computer, data are resolved and pretreatment, be for data processing respectively for different laser radars again, again rasterizing coding carried out to valid data and by ethernet, encoded radio reached the first industrial computer of responsible data fusion, recycling grating map fusion method is carried out data fusion and carries out rasterizing coding to data, finally by ethernet, encoded radio is reached the second industrial computer.It solves intelligent car and the auxiliary problem collided with obstacle that drives a car, and improves the safety in vehicle travel process.
Description
Technical field
The invention belongs to intelligent car technical field, relate to a kind of multilasered optical radar grating map emerging system, particularly relate to a kind of multilasered optical radar grating map emerging system based on intelligent car.
Background technology
Since intelligent robot is born, intelligent car helps people's safe driving as active safety or DAS (Driver Assistant System), and the research reducing traffic accident gets most of the attention; It is as the larger technical matters of a difficulty, and relate to the intersection of multiple technologies and subject, wherein, environment perception technology has very crucial status.Intelligent car can rely on road information and the vehicle oneself state of self-contained sensor Real-time Collection vehicle periphery, makes rapidly corresponding response according to the complaint message detected, thus the generation etc. tried to forestall traffic accidents.But at present, for intelligent car, single sensor can not provide enough environmental informations for system.
Application number is " 201210309515.0 ", application publication number is " CN102837658A ", name is called the Chinese invention application of " in a kind of intelligent vehicle multilasered optical radar data fusion system and method ", disclose multilasered optical radar data fusion system in a kind of intelligent vehicle, comprise upper computer, four line radars, LMS291 radar, vehicle left side radar UTM-L, vehicle right side radar UTM-R, vehicle front radar UTM-F, rear view of vehicle radar UTM-B, the router of programmed decision-making upper computer, multilasered optical radar fusion; Four line radars and LMS291 radar gather the upper computer that the obstacle information within the scope of the 80m of intelligent vehicle front merges to multilasered optical radar respectively by network interface and Serial Port Transmission; The upper computer that the obstacle information that vehicle left side radar UTM-L and vehicle right side radar UTM-R gathers left side and right side 5m scope around intelligent vehicle is merged to multilasered optical radar by USB type of transmission; The upper computer that vehicle front radar UTM-F and rear view of vehicle radar UTM-B adopt the obstacle information of intelligent vehicle front and rear 10m scope to be transferred to multilasered optical radar to merge, the upper computer that multilasered optical radar merges draws the obstacle anti-collision safety distance of obstacle information within the scope of the 80m of front and left and right vehicle wheel 5m, front and back 10m by data processing algorithm.Multilasered optical radar data fusion system in this intelligent vehicle, although complaint message can be provided to upper computer, its complex structure, cost is higher, and practicality is restricted.
Number of patent application is " 201110372447.8 ", application publication number is " CN102393744A ", name is called the Chinese invention patent application of " a kind of air navigation aid of intelligent car ", disclose a kind of air navigation aid of intelligent car, step is: the navigation of (1) integrated vision, radar navigation and GPS navigation three kinds of navigation strategies; (2) the current geographical location information of vehicle is calculated according to electronic chart and gps signal; (3) current according to vehicle geographical location information selects navigation strategy; The priority of vision guided navigation strategy is the highest, if the road boundary information of the vision guided navigation module institute apperceive identity corresponding with vision guided navigation strategy is inaccurate or unstable, then and prioritizing selection radar navigation strategy; If the obstacle information of the laser radar detection Module recognition corresponding with radar navigation strategy is inaccurate or unstable, then select GPS navigation strategy.The air navigation aid of this intelligent car, there is complex structure in it, cost higher equally, the restricted problem of practicality.
For this reason, need a kind of multilasered optical radar grating map emerging system based on intelligent car that can solve the problems referred to above in prior art, make its simplified structure, reduce costs, Applicable scope is more extensive, meets the needs of actual conditions.
Summary of the invention
The object of the invention is to, a kind of multilasered optical radar grating map emerging system based on intelligent car is provided, solve the problems referred to above existing in prior art, make its simplified structure, reduce costs, Applicable scope is more extensive, meets the needs of actual conditions.
For achieving the above object, the invention provides a kind of multilasered optical radar grating map emerging system based on intelligent car, comprise laser radar, exchange and industrial computer, described laser radar comprises the line laser radar and four line laser radars that are arranged on intelligent car front, and is arranged on eight line laser radars of roof, and is arranged on the line laser radar after car, described industrial computer comprises the first industrial computer and the second industrial computer, described laser radar is by exchange and utilize ethernet to be connected with the first industrial computer, the data of laser radar utilize ethernet to reach the first industrial computer by exchange, by the first industrial computer, data are resolved and pretreatment, then be for data processing respectively for different laser radars, after processing, rasterizing coding carried out to valid data and by ethernet, encoded radio reached the first industrial computer of responsible data fusion, recycling grating map fusion method is carried out data fusion and carries out rasterizing coding to data, finally by ethernet, encoded radio is reached the second industrial computer.
In above scheme preferably, the described multilasered optical radar grating map emerging system based on intelligent car, one line laser radar, have obstacle to be 1, clear is 0; In transmitting procedure, be only transmitted as the coordinate at the grid map place of 1; The data coordinates of each laser radar is converted into front one line laser radar fix to be as the criterion; Then, the laser radar data of having encoded to rasterizing utilizes grating map fusion method to carry out data fusion.
In above either a program preferably, described grating map fusion method, it is as the strategy merged, and specify that the priority of eight line laser radar datas is the highest, four lines take second place, and a line priority is minimum, merges its encoded radio.
In above either a program preferably, described rasterizing coding, the process that its process and grating map realize, it is as the mode of data transmission, is represented by each little grid with (x, y, value, U); Wherein, x represents the line number of each little grid, and y represents the columns of each little grid, value represents the data encoding that little grid is filled, this data value is the data encoding that dissimilar laser radar exports, and U treats that expansion uses, and then will the coordinate of obstacle be had to encode.
In above either a program preferably, described grating map fusion method, its difference according to value value merges.
In above either a program preferably, described rasterizing coding, it is with the origin of coordinates of a line laser radar for initial point, and 10cm*10cm is a grid, and horizontal direction is X-axis, and vertical direction is Y-axis, sets up cartesian coordinate system.
In above either a program preferably, described rasterizing coding, its acquisition range is front 30m, each 10m in left and right, and car rear 30m, does not comprise vehicle body, then whole grating map is long equals 60m and add a vehicle body, wide 20m.
In above either a program preferably, described rasterizing coding, vehicle body is 4m, then whole grating map is made up of 640*200 grid.
In above either a program preferably, described rasterizing coding, it encodes to it with the form of sparse matrix in the process of data transmission.
In above either a program preferably, described rasterizing coding, it is by when having the coordinate of obstacle to encode, an obstacle spot projection is on grating map, the coordinate of its point is (a, b) and its encoded radio is 128 time, it belongs to a point of eight line laser radars, represents road marginal information.
In above either a program preferably, described grating map fusion method, it is as the strategy merged, and specify that the priority of eight line laser radar datas is the highest, four lines take second place, and a line priority is minimum, merges its encoded radio.
In above either a program preferably, the described multilasered optical radar grating map emerging system based on intelligent car, first it transmit image data by ethernet, and carry out pretreatment to the data of radar collection; Then be for data processing respectively for different laser radars; Data after complete for a line laser radar pretreatment carry out filtering process again, then carry out rasterizing coding to valid data and are reached the computing machine of responsible data fusion by UDP; For the data that four line laser radar pretreatments are complete, also need to carry out filtering, cluster and tracking operation, the point extracting actv. obstacle comprises the obstacle of static and dynamic Status, the relative velocity of obstacle disturbance in judgement thing type, then carries out rasterizing coding to valid data and is reached the computing machine of responsible data fusion by UDP; Filtering, cluster and tracking operation are carried out for the data after eight line laser radar pretreatments, extracts road marginal information and intersection information, then valid data encoded and reached the computing machine of responsible data fusion by UDP.
In above either a program preferably, the described multilasered optical radar grating map emerging system based on intelligent car, in the computing machine of responsible data fusion, pass the data of coming to each laser radar to set up four by-pass journeys and receive respectively, then in main thread, utilize grating map fusion method to carry out data fusion to each laser radar data and rasterizing coding is carried out to data, then by UDP transmission, encoded radio is reached decision-making end computing machine, then undertaken resolving above-mentioned information by decision-making end computing machine.
In above either a program preferably, the described multilasered optical radar grating map emerging system based on intelligent car, corresponding algorithm flow is had for each laser radar, this algorithm flow comprises five modules, is data acquisition module, data processing module, data transmission module, data memory module and upper computer display module respectively.
Compared with prior art, the present invention has the following advantages:
A kind of multilasered optical radar grating map emerging system based on intelligent car of the present invention, the problems referred to above existing in prior art can be solved, make intelligent car can obtain abundant ambient condition information, comprise road edge, crossing, obstacle identity, obstacle point and other obstacle object points; It can be good at merging these environmental informations around intelligent car, quantity of information can be provided few and actv. data message to decision-making end computing machine, thus solve intelligent car and the auxiliary problem collided with obstacle that drives a car, improve the safety in vehicle travel process; It provides a kind of technical guarantee for intelligent car driverless operation; Simplified structure simultaneously, reduce costs, Applicable scope is more extensive, can meet the needs of actual conditions.
Accompanying drawing explanation
Below in conjunction with drawings and embodiments, the invention will be further described:
Fig. 1 is the grating map emerging system composition frame chart of a kind of multilasered optical radar grating map emerging system based on intelligent car of the present invention;
Fig. 2 is the grating map emerging system hardware configuration of a kind of multilasered optical radar grating map emerging system based on intelligent car of the present invention;
Fig. 3 is the grating map emerging system data fusion block diagram of a kind of multilasered optical radar grating map emerging system based on intelligent car of the present invention;
Fig. 4 is the laser radar program flow diagram of a kind of multilasered optical radar grating map emerging system based on intelligent car of the present invention;
Fig. 5 is a line laser radar data processing flow chart of a kind of multilasered optical radar grating map emerging system based on intelligent car of the present invention;
Fig. 6 is four line laser radar data processing flow charts of a kind of multilasered optical radar grating map emerging system based on intelligent car of the present invention;
Fig. 7 is eight line laser radar data processing flow charts of a kind of multilasered optical radar grating map emerging system based on intelligent car of the present invention;
Fig. 8 is the last line laser radar grid map of a kind of multilasered optical radar grating map emerging system based on intelligent car of the present invention;
Fig. 9 is a rear line laser radar grid map of a kind of multilasered optical radar grating map emerging system based on intelligent car of the present invention;
Figure 10 is of the present invention a kind of based on four line laser radar grid maps before the multilasered optical radar grating map emerging system of intelligent car;
Figure 11 is the top eight line laser radar grid map of a kind of multilasered optical radar grating map emerging system based on intelligent car of the present invention;
Figure 12 is the grid map after the laser radar of a kind of multilasered optical radar grating map emerging system based on intelligent car of the present invention merges.
Detailed description of the invention
In order to understand the present invention better, below in conjunction with specific embodiment, the present invention is explained in detail.But, obviously can carry out different modification and remodeling to the present invention and not exceed the wider spirit and scope of the present invention of appended claims.Therefore, following examples have exemplary and hard-core implication.
Embodiment 1:
Based on a multilasered optical radar grating map emerging system for intelligent car, comprise laser radar, exchange and industrial computer, described laser radar comprises the line laser radar and four line laser radars that are arranged on intelligent car front, and is arranged on eight line laser radars of roof, and is arranged on the line laser radar after car, described industrial computer comprises the first industrial computer and the second industrial computer, described laser radar is by exchange and utilize ethernet to be connected with the first industrial computer, the data of laser radar utilize ethernet to reach the first industrial computer by exchange, by the first industrial computer, data are resolved and pretreatment, then be for data processing respectively for different laser radars, after processing, rasterizing coding carried out to valid data and by ethernet, encoded radio reached the first industrial computer of responsible data fusion, recycling grating map fusion method is carried out data fusion and carries out rasterizing coding to data, finally by ethernet, encoded radio is reached the second industrial computer.
Embodiment 2:
Based on a multilasered optical radar grating map emerging system for intelligent car, similar to embodiment 1, difference is, one line laser radar, and have obstacle to be 1, clear is 0; In transmitting procedure, be only transmitted as the coordinate at the grid map place of 1; The data coordinates of each laser radar is converted into front one line laser radar fix to be as the criterion; Then, the laser radar data of having encoded to rasterizing utilizes grating map fusion method to carry out data fusion.
Embodiment 3:
A kind of multilasered optical radar grating map emerging system based on intelligent car, similar to embodiment 2, difference is, described grating map fusion method, it is as the strategy merged, and specify that the priority of eight line laser radar datas is the highest, four lines take second place, one line priority is minimum, merges its encoded radio.
Embodiment 4:
A kind of multilasered optical radar grating map emerging system based on intelligent car, similar to embodiment 3, difference is, described rasterizing coding, the process that its process and grating map realize, it is as the mode of data transmission, by each little grid (x, y, value, U) represent; Wherein, x represents the line number of each little grid, and y represents the columns of each little grid, value represents the data encoding that little grid is filled, this data value is the data encoding that dissimilar laser radar exports, and U treats that expansion uses, and then will the coordinate of obstacle be had to encode.
Embodiment 5:
Based on a multilasered optical radar grating map emerging system for intelligent car, similar to embodiment 4, difference is, described grating map fusion method, and its difference according to value value merges.
Embodiment 6:
A kind of multilasered optical radar grating map emerging system based on intelligent car, similar to embodiment 5, difference is, described rasterizing coding, it is with the origin of coordinates of a line laser radar for initial point, and 10cm*10cm is a grid, and horizontal direction is X-axis, vertical direction is Y-axis, sets up cartesian coordinate system.
Embodiment 7:
A kind of multilasered optical radar grating map emerging system based on intelligent car, similar to embodiment 6, difference is, described rasterizing coding, its acquisition range is front 30m, each 10m in left and right, car rear 30m, do not comprise vehicle body, then whole grating map is long equals 60m and adds a vehicle body, wide 20m.
Embodiment 8:
Based on a multilasered optical radar grating map emerging system for intelligent car, similar to embodiment 7, difference is, described rasterizing coding, vehicle body is 4m, then whole grating map is made up of 640*200 grid.
Embodiment 9:
Based on a multilasered optical radar grating map emerging system for intelligent car, similar to embodiment 8, difference is, described rasterizing coding, it encodes to it with the form of sparse matrix in the process of data transmission.
Embodiment 10:
A kind of multilasered optical radar grating map emerging system based on intelligent car, similar to embodiment 9, difference is, described rasterizing coding, it is by when having the coordinate of obstacle to encode, and an obstacle spot projection is on grating map, the coordinate of its point is (a, b) and its encoded radio is 128 time, it belongs to a point of eight line laser radars, represents road marginal information.
Embodiment 11:
A kind of multilasered optical radar grating map emerging system based on intelligent car, similar to embodiment 10, difference is, described grating map fusion method, it is as the strategy merged, and specify that the priority of eight line laser radar datas is the highest, four lines take second place, one line priority is minimum, merges its encoded radio.
Embodiment 12:
A kind of multilasered optical radar grating map emerging system based on intelligent car, similar to embodiment 11, difference is, the described multilasered optical radar grating map emerging system based on intelligent car, first it transmit image data by ethernet, and carry out pretreatment to the data of radar collection; Then be for data processing respectively for different laser radars; Data after complete for a line laser radar pretreatment carry out filtering process again, then carry out rasterizing coding to valid data and are reached the computing machine of responsible data fusion by UDP; For the data that four line laser radar pretreatments are complete, also need to carry out filtering, cluster and tracking operation, the point extracting actv. obstacle comprises the obstacle of static and dynamic Status, the relative velocity of obstacle disturbance in judgement thing type, then carries out rasterizing coding to valid data and is reached the computing machine of responsible data fusion by UDP; Filtering, cluster and tracking operation are carried out for the data after eight line laser radar pretreatments, extracts road marginal information and intersection information, then valid data encoded and reached the computing machine of responsible data fusion by UDP.
Embodiment 13:
A kind of multilasered optical radar grating map emerging system based on intelligent car, similar to embodiment 12, difference is, the described multilasered optical radar grating map emerging system based on intelligent car, in the computing machine of responsible data fusion, pass the data of coming to each laser radar to set up four by-pass journeys and receive respectively, then in main thread, utilize grating map fusion method to carry out data fusion to each laser radar data and rasterizing coding is carried out to data, then by UDP transmission, encoded radio is reached decision-making end computing machine, undertaken resolving above-mentioned information by decision-making end computing machine again.
Embodiment 14:
A kind of multilasered optical radar grating map emerging system based on intelligent car, similar to embodiment 13, difference is, the described multilasered optical radar grating map emerging system based on intelligent car, corresponding algorithm flow is had for each laser radar, this algorithm flow comprises five modules, is data acquisition module, data processing module, data transmission module, data memory module and upper computer display module respectively.
A kind of multilasered optical radar grating map emerging system based on intelligent car of the present invention, its rasterizing coding is as a kind of form of data transmission; If each little grid (x, y, value, U) represent, wherein x represents the line number of each little grid, and y represents the columns of each little grid, value represents the data encoding that little grid is filled, and this data value is the data encoding that dissimilar laser radar exports; U is for expand use in the future; Such as, the data structure be defined as follows:
X and the y coordinate of typedefstructPoint//to be converted to matrix,
{
uintx;
uinty;
ucharvalue;
ucharU;
}Point;
TypedefstructMatrix//sparse matrix data structure
{
intNum;
Pointpoint[MAXSIZE];//
}Matrix;
Matrixmatrix;
The work will done below is exactly there being the coordinate of obstacle to encode; Such as, obstacle spot projection to the coordinate of the point on grating map be (12,34) we can be write as form below:
matrix.point[obs].x=12;
matrix.point[obs].y=34;
matrix.point[obs].value=128;
A kind of multilasered optical radar grating map emerging system based on intelligent car of the present invention, it is based on the multilasered optical radar grating map emerging system of intelligent car, actv. fusion is carried out to the information that multisensor gathers, the data message of the multiple sensor of comprehensive application; By reasonably arranging multilasered optical radar data message and using, realize the data sharing between multilasered optical radar, thus the conformability that can obtain observed object is explained and is described; And the data rasterizing after merging is encoded, then reach decision-making end computing machine by ethernet.This to improve intelligent car system keep in obscurity and safety traffic performance is of great importance.
Claims (14)
1., based on a multilasered optical radar grating map emerging system for intelligent car, comprise laser radar, exchange and industrial computer, it is characterized in that: described laser radar comprises the line laser radar and four line laser radars that are arranged on intelligent car front, and is arranged on eight line laser radars of roof, and is arranged on the line laser radar after car, described industrial computer comprises the first industrial computer and the second industrial computer, described laser radar is by exchange and utilize ethernet to be connected with the first industrial computer, the data of laser radar utilize ethernet to reach the first industrial computer by exchange, by the first industrial computer, data are resolved and pretreatment, then be for data processing respectively for different laser radars, after processing, rasterizing coding carried out to valid data and by ethernet, encoded radio reached the first industrial computer of responsible data fusion, recycling grating map fusion method is carried out data fusion and carries out rasterizing coding to data, finally by ethernet, encoded radio is reached the second industrial computer.
2., as claimed in claim 1 based on the multilasered optical radar grating map emerging system of intelligent car, it is characterized in that: one line laser radar, have obstacle to be 1, clear is 0; In transmitting procedure, be only transmitted as the coordinate at the grid map place of 1; The data coordinates of each laser radar is converted into front one line laser radar fix to be as the criterion; Then, the laser radar data of having encoded to rasterizing utilizes grating map fusion method to carry out data fusion.
3. as claimed in claim 2 based on the multilasered optical radar grating map emerging system of intelligent car, it is characterized in that: described grating map fusion method, it is as the strategy merged, specify that the priority of eight line laser radar datas is the highest, four lines take second place, one line priority is minimum, merges its encoded radio.
4. as claimed in claim 3 based on the multilasered optical radar grating map emerging system of intelligent car, it is characterized in that: described rasterizing coding, the process that its process and grating map realize, it is as the mode of data transmission, by each little grid (x, y, value, U) represent; Wherein, x represents the line number of each little grid, and y represents the columns of each little grid, value represents the data encoding that little grid is filled, this data value is the data encoding that dissimilar laser radar exports, and U treats that expansion uses, and then will the coordinate of obstacle be had to encode.
5. as claimed in claim 4 based on the multilasered optical radar grating map emerging system of intelligent car, it is characterized in that: described grating map fusion method, its difference according to value value merges.
6. as claimed in claim 5 based on the multilasered optical radar grating map emerging system of intelligent car, it is characterized in that: described rasterizing coding, its with the origin of coordinates of a line laser radar for initial point, 10cm*10cm is a grid, horizontal direction is X-axis, vertical direction is Y-axis, sets up cartesian coordinate system.
7. as claimed in claim 6 based on the multilasered optical radar grating map emerging system of intelligent car, it is characterized in that: described rasterizing coding, its acquisition range is front 30m, the each 10m in left and right, car rear 30m, do not comprise vehicle body, then whole grating map is long equals 60m and adds a vehicle body, wide 20m.
8. as claimed in claim 7 based on the multilasered optical radar grating map emerging system of intelligent car, it is characterized in that: described rasterizing coding, vehicle body is 4m, then whole grating map is made up of 640*200 grid.
9. as claimed in claim 8 based on the multilasered optical radar grating map emerging system of intelligent car, it is characterized in that: described rasterizing coding, it encodes to it with the form of sparse matrix in the process of data transmission.
10. as claimed in claim 9 based on the multilasered optical radar grating map emerging system of intelligent car, it is characterized in that: described rasterizing coding, it is by when having the coordinate of obstacle to encode, an obstacle spot projection is on grating map, the coordinate of its point is (a, b) and its encoded radio is 128 time, it belongs to a point of eight line laser radars, represents road marginal information.
11. as claimed in claim 10 based on the multilasered optical radar grating map emerging system of intelligent car, it is characterized in that: described grating map fusion method, it is as the strategy merged, specify that the priority of eight line laser radar datas is the highest, four lines take second place, one line priority is minimum, merges its encoded radio.
12. multilasered optical radar grating map emerging systems based on intelligent car according to any one of claim 1-11, is characterized in that: first it transmit image data by ethernet, and carry out pretreatment to the data of radar collection; Then be for data processing respectively for different laser radars; Data after complete for a line laser radar pretreatment carry out filtering process again, then carry out rasterizing coding to valid data and are reached the computing machine of responsible data fusion by UDP; For the data that four line laser radar pretreatments are complete, also need to carry out filtering, cluster and tracking operation, the point extracting actv. obstacle comprises the obstacle of static and dynamic Status, the relative velocity of obstacle disturbance in judgement thing type, then carries out rasterizing coding to valid data and is reached the computing machine of responsible data fusion by UDP; Filtering, cluster and tracking operation are carried out for the data after eight line laser radar pretreatments, extracts road marginal information and intersection information, then valid data encoded and reached the computing machine of responsible data fusion by UDP.
13. as claimed in claim 12 based on the multilasered optical radar grating map emerging system of intelligent car, it is characterized in that: in the computing machine of responsible data fusion, pass the data of coming to each laser radar to set up four by-pass journeys and receive respectively, then in main thread, utilize grating map fusion method to carry out data fusion to each laser radar data and rasterizing coding is carried out to data, then by UDP transmission, encoded radio is reached decision-making end computing machine, then undertaken resolving above-mentioned information by decision-making end computing machine.
14. as claimed in claim 13 based on the multilasered optical radar grating map emerging system of intelligent car, it is characterized in that: the described multilasered optical radar grating map emerging system based on intelligent car, corresponding algorithm flow is had for each laser radar, this algorithm flow comprises five modules, is data acquisition module, data processing module, data transmission module, data memory module and upper computer display module respectively.
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