Intelligent vehicle multi-laser-radar data integration system and method thereof

A technology of intelligent vehicles and radar data, which is applied to vehicle components, vehicle safety arrangements, radio wave measurement systems, etc., to achieve the effect of improving obstacle shielding ability and safe driving performance

Inactive Publication Date: 2012-12-26
BEIJING UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0006] The invention mainly aims at the detection of obstacles in the surrounding environment of intelligent vehicles, the forwarding of obstacle information, early warning and alarm, etc., and proposes a system and method that utilizes data fusion between multiple laser radars to solve problems in unmanned driving and assisted driving. The problem of collision between vehicles and obstacles improves the safety and convenience of vehicle driving

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  • Intelligent vehicle multi-laser-radar data integration system and method thereof
  • Intelligent vehicle multi-laser-radar data integration system and method thereof
  • Intelligent vehicle multi-laser-radar data integration system and method thereof

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Embodiment Construction

[0020] A multi-lidar data fusion system in an intelligent vehicle is composed of a host computer composed of two laptops installed with VS2008 program, a four-line radar IBEO LUX, an LMS291 radar, four UTM-30LX radars, and a network router .

[0021] Its algorithm and workflow are as follows:

[0022] 1. Through the acquisition program written in the VS2008 development environment on the host computer, the data collected from UTM-L and UTM-R is displayed. When the obstacle is within 5m of the left and right sides of the smart vehicle, it starts to pay attention, and when it is less than 1m, it starts Early warning, when less than 0.5m, an alarm request is generated and sent to the planning and decision-making computer, and the planning and decision-making computer sends corresponding instructions to control each actuator to change the driving direction. The data collected from UTM-F and UTM-B shows that when the obstacle is within 10m before and after the intelligent vehicle,...

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Abstract

An intelligent vehicle multi-laser-radar data integration system and a method of the intelligent vehicle multi-laser-radar data integration system utilize unified threat management (UTM) - 30 LX laser radars installed at the front side, the rear side, the left side and the right side of an intelligent vehicle body to acquire surrounding information and transmit the information to an upper computer in charge of data integration to obtain surrounding obstacle information, and utilize data acquired by a (learning managed system) LMS 291 and IBEO LUX installed at the front of an intelligent vehicle and transmit the data to the upper computer in charge of the data integration to obtain the obstacle information in front range of 80 meters. Accurate and final obstacle information map is obtained after the upper computer integrates the data according to a certain algorithm. The obstacle information grid map is packed and is transmitted to a programmed decision-making upper computer through a local area network built by routers, and the programmed decision-making upper computer analyzes the information, judges, makes decisions, and makes corresponding execution instructions. Through the intelligent vehicle multi-laser-radar data integration system and the method of the intelligent vehicle multi-laser-radar data integration system, obstacle-shielding capacity and safe driving performance of an unpiloted intelligent vehicle are effectively improved.

Description

Technical field: [0001] The invention belongs to the field of automobiles and relates to a system for data fusion of various and several laser radars on an intelligent vehicle. Background technique: [0002] Intelligent vehicles are an important part of the intelligent transportation system, and intelligent vehicles are an important carrier for realizing unmanned driving and assisted driving. In order to realize the unmanned driving of intelligent vehicles, it is necessary to know the environmental information around the intelligent vehicles. The environmental information is transmitted to the planning and decision-making part in real time, and the decision-making and planning part selects an optimal collision-free route for the intelligent vehicle through a certain algorithm. It can be seen that the environmental information around the intelligent vehicle and its accuracy play an important role in the subsequent path planning and safe driving. [0003] Vehicle detection s...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60R21/01G01S17/93G01S17/08
Inventor 杨光祖段建民周俊静史丽晓
Owner BEIJING UNIV OF TECH
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