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Moving object speed detection method based on FMCW laser radar

A technology of moving objects and laser radar, which is applied in the direction of measuring devices, electromagnetic wave reradiation, radio wave measurement systems, etc., can solve problems such as large amount of calculation, inaccurate speed estimation, and insufficient object information, so as to achieve optimal accuracy, The effect of improving detection accuracy and simplifying detection complexity

Pending Publication Date: 2021-11-30
HANGZHOU XIGHT SEMICON CO LTD
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Problems solved by technology

[0004] The purpose of the present invention is to propose a method for detecting the speed of moving objects based on FMCW laser radar, which can realize More efficient moving object detection and moving object velocity estimation

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  • Moving object speed detection method based on FMCW laser radar
  • Moving object speed detection method based on FMCW laser radar
  • Moving object speed detection method based on FMCW laser radar

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Embodiment Construction

[0064] In order to better understand the technical solutions of the present application, the embodiments of the present application will be described in detail below in conjunction with the accompanying drawings.

[0065] It should be clear that the described embodiments are only some of the embodiments of the present application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of this application.

[0066] Terms used in the embodiments of the present application are only for the purpose of describing specific embodiments, and are not intended to limit the present application. The singular forms "a", "said" and "the" used in the embodiments of this application and the appended claims are also intended to include plural forms unless the context clearly indicates otherwise.

[0067] In order to make full use of the feature th...

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Abstract

The invention discloses a moving object speed detection method based on an FMCW laser radar, which mainly solves the problems that the target speed of the existing conventional laser radar cannot be detected in a single frame and the detection precision is not high, and comprises the following implementation steps of acquiring point cloud information of the current frame according to the FMCW laser radar, including position information and radial speed information of the point cloud, processing the point cloud information of the frame, distinguishing static points and moving points under the information of the frame, and the distinguishing mode comprises the substeps that the static points are filtered out through the self speed so that the moving points can be clustered, and the moving points and the static points are clustered directly based on speed continuity, and performing speed estimation on the moving point cloud by using a moving object speed estimation method. The method is based on the FMCW laser radar and utilizes the characteristic that the laser radar can obtain the radial speed of the scanning point, achieves the high-precision detection of the speed of the moving object through a single frame, and can be used in the fields of intelligent security and protection, intelligent cities, unmanned driving, auxiliary driving and the like.

Description

technical field [0001] The invention belongs to the technical field of laser radar, in particular to a method for detecting the speed of a moving object based on FMCW laser radar, which can be used in the fields of smart security, smart city, unmanned driving and assisted driving. Background technique [0002] FMCW lidar is a radar with constant transmission power and continuous periodic change of optical carrier frequency (or phase). By means of coherent detection, the modulation frequency difference and relative The Doppler frequency difference introduced by the speed can demodulate the distance and speed of the target. Lidar based on frequency-modulated continuous wave (FMCW) technology can effectively overcome the problem of poor anti-interference of ToF lidar, and the continuous wave working mode has smaller average transmission power and overall power consumption than the pulse working mode, and the coherent detection mode has a Comes with higher sensitivity. Therefo...

Claims

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Application Information

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IPC IPC(8): G01S17/58G01S17/931G06K9/62G06T7/246
CPCG01S17/58G01S17/931G06T7/246G06T2207/10044G06T2207/10028G06F18/23
Inventor 黄锦熙金彬龙郭冕单子豪
Owner HANGZHOU XIGHT SEMICON CO LTD
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