Laser radar with omnidirectional variable rotation stepping angle and scanning method thereof

Abstract

The invention, which relates to the field of laser radar, specifically discloses a laser radar with an omnidirectional variable rotation stepping angle and a scanning method thereof. The laser radar comprises a rotating scanning subsystem, a laser radar ranging subsystem, and a scanning control subsystem. The rotating scanning subsystem performs 360-degree omnidirectional scanning with a variablerotational stepping angle and has a minimum rotational stepping angle and a maximum rotational stepping angle. The laser radar ranging subsystem carries out ranging within an effective detection rangeand determines whether a target is an effective target based on the measuring result. The scanning control subsystem is responsible for turning on or off the laser radar and carrying out scanning based on a scanning algorithm. The effective target is scanned at the minimum rotational stepping angle according to the scanning algorithm; and a non-effective target is scanned by means of doubling theminimum rotational stepping angle continuously. Therefore, the space point number of laser radar scanning is reduced effectively; the number of laser radar processing is reduced; and the efficiency and cost performance of the laser radar are improved.

Description

technical field [0001] The invention relates to the field of laser radar, in particular to a laser radar with an omnidirectional variable rotation step angle and a scanning method thereof. Background technique [0002] In recent years, with the rise of unmanned driving technology, lidar is considered to be one of the best technical means for detecting the surrounding environment of unmanned vehicles, and combined with other sensing systems to achieve automatic driving. Lidar has the characteristics of high measurement accuracy, fast speed, high spatial resolution, and a wide range of applicable scenarios. [0003] At present, in order to achieve omnidirectional 360° detection, laser radar generally adopts a mechanical rotation method to realize its scanning detection of the surrounding environment. Among them, the typical scanning method is to use mechanical rotation to drive the laser transmitter and receiver to rotate together to achieve 360° omnidirectional scanning. The...

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Problems solved by technology

[0005] The purpose of the present invention is to provide an omnidirectional variable rotation step angle in order to solve the problem that the laser radar scans point by point with the spatial point cloud distribution to generate a large amount of scanning data that needs to be processed, resulting in waste of resources and low operating efficiency. LiDAR and its scanning method

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