Five-path laser radar for vehicle and control method thereof
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A lidar and radar technology, applied in two-dimensional position/channel control, utilization of re-radiation, electromagnetic wave re-radiation and other directions, can solve the problems of long scanning period, weak shock resistance, complex structure, etc., and achieve high accuracy , Shorten the scanning cycle and facilitate the effect of precise control
Active Publication Date: 2014-06-25
DONGFENG MOTOR CORP HUBEI
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[0004] The purpose of the present invention is to overcome the defects and problems of long scanning period, complex structure, weak shock resistance and high cost in the prior art, and provide a short scanning period, simple structure, strong shock resistance and low cost. Lower vehicle five-channel laser radar and its control method
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[0058] Hardware settings:
[0059] See figure 1 , figure 2 versus Image 6 , A five-channel lidar for vehicles, including a radar controller 1 and five-channel transceivers 4 arranged in a sector shape, each transceiver 4 includes a single-channel laser emitting lens barrel 5 and a single-channel laser receiving lens barrel 6 , Drive circuit 7, amplifier 8 and high-speed comparator 9, the central axes of the five single-channel laser emitting barrels 5 all intersect at the same point on the same plane, and the angle between adjacent single-channel laser emitting barrels 5 Is 3°.
[0060] Radar controller 1: It is an FPGA processor, its main frequency is 200MHz, and its main frequency is related to the minimum identification time tmin.
[0061] See image 3 , Figure 4 , The single-channel laser emitting lens barrel 5: includes the barrel housing 10 and the laser diode 51, collimator lens 52, and reshaping lens 53, the input end of the laser diode 51 is connected to the output end ...
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Abstract
The invention relates to a five-path laser radar for a vehicle and a control method of the five-path laser radar. The five-path laser radar comprises a radar controller, and five paths of transceivers in fan-shaped arrangement, wherein each path of transceiver respectively comprises a laser emitting lens tube and a laser receiving lens tube, the center axes of the five paths of transceivers are all crossed at the same point on the same plane, and in addition, the included angle between the adjacent laser emitting lens tubes is identical. When the five-path laser radar is used, the five paths of transceivers are firstly controlled for sequentially emitting and receiving laser pulses, the interval time is identical, then, the passing time t between the emitting and the receiving of each path of laser pulses is calculated, next, the t is subjected to twice screening through a formula that t is greater than or equal to t and smaller than or equal to 1mus and the variance, the threshold and the circulation number group, then, the qualified t average value in the cyclic number group is calculated, and finally, the region of obstacles, the distance between the obstacles and the vehicle and the relative speed are determined according to the average value, so obstacles are avoided. The design has the advantages that the scanning period is short, the structure is simple, in addition, the cost is lower, the anti-shock performance is higher, and the detection distance, the range and the precision can meet the vehicle requirements.
Description
Technical field [0001] The invention relates to a pulsed laser radar for vehicles, in particular to a five-channel laser radar for vehicles and a control method thereof, and is particularly suitable for determining the position, distance and relative speed of front obstacles through five-channel pulsed lasers, and performs effective dodge. Background technique [0002] Lidar is a radar system that detects characteristic quantities such as the position and speed of a target with a laser beam. The principle is to launch a laser beam to the target, compare the received echo reflected from the target with the transmitted signal, and obtain relevant information about the target after proper processing, such as target distance and speed. From the point of view of principle and structure, lidar is extremely similar to laser rangefinder. However, the detection range of the laser beam is extremely narrow, which cannot meet the requirements of the vehicle radar for the detection range. ...
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