Four-degree-of-freedom three-dimensional laser radar sensing device for unmanned driving

Abstract

The invention discloses a four-degree-of-freedom three-dimensional laser radar sensing device for unmanned driving. The four-degree-of-freedom three-dimensional laser radar sensing device comprises a frame module, a four-degree-of-freedom three-dimensional laser radar module, a power supply module and a control module. The frame module is used for executing an intelligent driving instruction; the power supply module is used for supplying power to the control module; the control module is used for receiving a signal and sending a control instruction; the four-degree-of-freedom three-dimensional laser radar module adopts a ball screw nut for transmission, so that a sensing device can move freely in the transverse direction and the longitudinal direction, real-time detection on the complex environment around a vehicle body is achieved, a front-back differential lifting arm is adopted, a three-dimensional laser radar transceiver can adjust the pitching angle in real time according to the road gradient, and the real-time detection on the complex environment around the vehicle body is achieved. The key information is provided for timely obstacle avoidance of the unmanned vehicle. meanwhile, the four-degree-of-freedom three-dimensional laser radar and the vehicle body are dynamically and jointly calibrated by using an excessive space coordinate method, so that the information calibration efficiency is remarkably improved. The sensing device can accurately detect the complex environment in real time, and the safety and reliability of the pilotless automobile are greatly improved.

Description

technical field [0001] The invention relates to a radar sensing device installed in an unmanned vehicle, in particular to a three-dimensional laser radar sensing device with four degrees of freedom, which belongs to the technical field of intelligent sensing. Background technique [0002] Environmental perception is one of the core technologies to realize unmanned driving. Based on its own driving performance and consensus rules, it can identify and plan a driving path that can ensure the vehicle can reach its destination in a standardized, safe and rapid manner in real time, reliably and accurately. Among them, the three-dimensional lidar is based on the lidar to obtain two-dimensional or three-dimensional distance information of the surrounding environment of the vehicle, and perceives the driving environment through distance analysis and recognition technology. Its accuracy and real-time detection of obstacles directly affect whether the unmanned system can formulate corr...

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to provide an obstacle detection device for unmanned vehicles that can safely drive in complex traffic environments. , or turning left to return, or climbing downhill on a mountain road, or driving in a complex traffic environment such as an unstructured off-road road, if the detection of obstacles in front of or on both sides of the vehicle is not accurate and timely, the Can cause the unmanned system to make wrong path planning, causing unexpected problems

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