Laser radar data synchronous acquisition control system for intelligent network connection automobile

Abstract

The invention discloses a laser radar data synchronous acquisition control system for an intelligent networked automobile. The laser radar data synchronous acquisition control system comprises a GPS module, a laser radar and a laser radar signal acquisition system. According to the laser radar data synchronous acquisition control system, the time information is obtained through the GPS module, so that the time of the laser radars is synchronized, and each laser radar signal acquisition system is controlled through an independent thread instead of scanning each laser radar through sequential operation. The multiple laser radars are controlled by the main processing module, operation actions of the multiple laser radars are synchronized, all the laser radars work cooperatively to complete the scanning task, and in the mode, even if the multiple laser radars work at the same time, the scanning time is not longer than the scanning time of a single laser radar; the plurality of laser radar signal acquisition systems perform real-time parallel acquisition and processing on data of each laser radar, so that the data processing speed is greatly improved, and the high independence among the laser radars is maintained.

Description

Technical Field

[0001] The present invention relates to the field of laser radar technology, and in particular to a laser radar data synchronization acquisition control system for intelligent networked vehicles. Background Art

[0002] As ADAS and driverless driving become the main downstream application scenarios of LiDAR, the market space for LiDAR is vast, and the downstream application fields of LiDAR are extensive, which can be mainly divided into driverless driving, high-level assisted driving, service robots and the Internet of Vehicles industry. With the advancement of LiDAR in the automotive field, the LiDAR market for testing and high-precision map surveying and mapping will reach its peak, and passenger car pre-installed mass production will become the main development direction in the future.

[0003] With the widespread application of LiDAR, information fusion and collaboration have become increasingly hot research topics. Since multiple LiDARs work together, the LiDAR data acquisition channels are different, and their sampling frequencies are also different, which leads to differences in the time of sensor information acquisition, and then there are problems with collaborative data processing and synchronization between radars. The synchronous data acquisition of LiDAR is an important factor in determining the effect of data fusion. With the rapid development of intelligent connected vehicle technology, intelligent connected vehicles are required to drive under more complex working conditions. At the same time, intelligent connected vehicles have higher and higher requirements for the quality of information fusion between radars. The application of LiDAR data synchronization acquisition control system is imperative. Summary of the invention

[0004] The purpose of the present invention is to provide a laser radar data synchronization acquisition control system for intelligent connected vehicles to solve the problems raised in the above background technology.

[0005] To achieve the above object, the present invention provides the following technical solutions: A laser radar data synchronization acquisition control system for intelligent networked vehicles, used to coordinate the work between laser radars and coordinate the processing of related data, including: a GPS module, a laser radar and a laser radar signal acquisition system, the number of laser radars is multiple, and each laser radar corresponds to a laser radar signal acquisition system; The laser radar data synchronous acquisition and control system obtains time information through the GPS module to synchronize the time between each laser radar. Each laser radar signal acquisition system is controlled by an independent thread. Instead of scanning each laser radar in sequence, multiple laser radars are controlled by the main processing module. By synchronizing the operation of multiple laser radars, each laser radar works together to complete the scanning task, thereby realizing the laser radar data synchronous acquisition control.

[0006] As a further solution of the present invention: each laser radar works in coordination, and its target recognition process is achieved through five technologies: laser radar coordination, target block scanning, dynamic weighted processing of scanning data, automatic shielding of scanning laser radar faults, and automatic adjustment of system structure.

[0007] As a further solution of the present invention: a laser radar control and main processing module is used to generate a corresponding laser radar data acquisition sub-thread and a laser radar data processing sub-thread for each laser radar.

[0008] As a further solution of the present invention: a laser radar status monitoring and fault processing module is used to perform real-time fault monitoring and diagnosis on the status of each laser radar in the system, and to functionally shield the faulty laser radar.

[0009] As a further solution of the present invention: a system status monitoring module is used to monitor the working status of each hardware device in multiple laser radar signal acquisition systems, including: multiple laser radars, servo motors that drive radars to achieve three-dimensional scanning, motor motion control cards, and various data transmission interfaces, and real-time display and alarm are performed. Each module is implemented by an independent thread, and parameter transfer and information interaction are achieved through memory sharing between modules.

[0010] As a further solution of the present invention: under the coordinated control of the laser radar control and main processing module, each laser radar independently completes the target block scanning and dynamic weighted processing of the scanning data in parallel. During the operation of the system, the validity of the collected data of each laser radar is verified in real time. If a laser radar fails, the laser radar thread is terminated and its function is shielded, and the laser radar status is fed back to the system status display module.

[0011] As a further solution of the present invention: the laser radar control and main processing module adaptively performs dynamic data processing of coordinate matching and error compensation according to the system topology to complete the scanning and recognition task of multiple surfaces of the target.

[0012] Compared with the prior art, the present invention has the following beneficial effects: The laser radar data synchronization acquisition and control system of the present invention obtains time information through the GPS module to synchronize the time between each laser radar. Each laser radar signal acquisition system is controlled by an independent thread. It does not scan each laser radar in sequence. Instead, multiple laser radars are controlled by the main processing module. By synchronizing the operating actions of multiple laser radars, each laser radar works together to complete the scanning task, thereby realizing laser radar data synchronization acquisition control. In this mode, even if multiple laser radars work at the same time, the scanning time will not be greater than the scanning time of a single laser radar. Multiple laser radar signal acquisition systems collect and process the data of each laser radar in real time in parallel, which greatly improves the data processing speed and maintains a high degree of independence between each laser radar. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 This is a system block diagram of the laser radar data synchronization acquisition control system for intelligent connected vehicles. Implementation

[0014] Various exemplary embodiments, features and aspects of the present application will be described in detail below with reference to the accompanying drawings. The same reference numerals in the accompanying drawings represent elements with the same or similar functions. Although various aspects of the embodiments are shown in the accompanying drawings, the drawings are not necessarily drawn to scale unless otherwise specified.

[0015] The word “exemplary” is used exclusively herein to mean “serving as an example, example, or illustration.” Any embodiment described herein as “exemplary” is not necessarily to be construed as preferred or advantageous over other embodiments.

[0016] In addition, in order to better illustrate the present application, numerous specific details are provided in the specific embodiments below. It should be understood by those skilled in the art that the present application can also be implemented without certain specific details. In some examples, methods, means, and elements well known to those skilled in the art are not described in detail in order to highlight the subject matter of the present application. Example

[0017] See also Figure 1 A laser radar data synchronization acquisition and control system for intelligent connected vehicles is used to coordinate the work between the laser radars and coordinate the processing of related data, including: a GPS module, a laser radar and a laser radar signal acquisition system. There are multiple laser radars, and each laser radar corresponds to a laser radar signal acquisition system.

[0018] Specifically, the laser radar data synchronization acquisition and control system obtains time information through the GPS module to synchronize the time between each laser radar. Each laser radar signal acquisition system is controlled by an independent thread. It does not scan each laser radar in sequence. Instead, multiple laser radars are controlled by the main processing module. By synchronizing the operating actions of multiple laser radars, each laser radar works together to complete the scanning task, thereby realizing the laser radar data synchronization acquisition control.

[0019] Preferably, in this embodiment, the laser radars work in coordination, and the target recognition process is achieved through five technologies: laser radar coordination, target block scanning, dynamic weighted processing of scanning data, automatic shielding of scanning laser radar faults, and automatic adjustment of system structure.

[0020] Preferably, in this embodiment, a laser radar control and main processing module is used to generate a corresponding laser radar data acquisition sub-thread and a laser radar data processing sub-thread for each laser radar.

[0021] Preferably, in this embodiment, a laser radar status monitoring and fault handling module is used to perform real-time fault monitoring and diagnosis on the status of each laser radar in the system, and to functionally shield the faulty laser radars.

[0022] Preferably, in this embodiment, a system status monitoring module is used to monitor the working status of each hardware device in multiple laser radar signal acquisition systems, including: multiple laser radars, servo motors that drive the radars to achieve three-dimensional scanning, motor motion control cards, and various data transmission interfaces, and real-time display and alarm are performed. Each module is implemented by an independent thread, and parameter transfer and information interaction are achieved through memory sharing between modules.

[0023] It needs to be specifically explained that: by further explaining the use of the laser radar control and main processing module to generate a corresponding laser radar data acquisition sub-thread and a laser radar data processing sub-thread for each laser radar, the laser radar status monitoring and fault handling module is used to perform real-time fault monitoring and diagnosis on the status of each laser radar in the system, and the faulty laser radar is functionally shielded, and the system status monitoring module is used to monitor the working status of each hardware device in multiple laser radar signal acquisition systems, and perform real-time display and alarm. Each module is implemented by an independent thread, and memory sharing is used between modules to achieve parameter transfer and information interaction, so as to better realize the synchronous acquisition and control of laser radar data. Example

[0024] See also Figure 1A laser radar data synchronization acquisition and control system for intelligent connected vehicles is used to coordinate the work between the laser radars and coordinate the processing of related data, including: a GPS module, a laser radar and a laser radar signal acquisition system. There are multiple laser radars, and each laser radar corresponds to a laser radar signal acquisition system.

[0025] Specifically, the laser radar data synchronization acquisition and control system obtains time information through the GPS module to synchronize the time between each laser radar. Each laser radar signal acquisition system is controlled by an independent thread. It does not scan each laser radar in sequence. Instead, multiple laser radars are controlled by the main processing module. By synchronizing the operating actions of multiple laser radars, each laser radar works together to complete the scanning task, thereby realizing the laser radar data synchronization acquisition control.

[0026] Preferably, in this embodiment, the laser radars work in coordination, and the target recognition process is achieved through five technologies: laser radar coordination, target block scanning, dynamic weighted processing of scanning data, automatic shielding of scanning laser radar faults, and automatic adjustment of system structure.

[0027] Preferably, in this embodiment, a laser radar control and main processing module is used to generate a corresponding laser radar data acquisition sub-thread and a laser radar data processing sub-thread for each laser radar.

[0028] Preferably, in this embodiment, a laser radar status monitoring and fault handling module is used to perform real-time fault monitoring and diagnosis on the status of each laser radar in the system, and to functionally shield the faulty laser radars.

[0029] Preferably, in this embodiment, a system status monitoring module is used to monitor the working status of each hardware device in multiple laser radar signal acquisition systems, including: multiple laser radars, servo motors that drive the radars to achieve three-dimensional scanning, motor motion control cards, and various data transmission interfaces, and real-time display and alarm are performed. Each module is implemented by an independent thread, and parameter transfer and information interaction are achieved through memory sharing between modules.

[0030] Preferably, in this embodiment, under the coordinated control of the laser radar control and main processing modules, each laser radar independently completes the target block scanning and dynamic weighted processing of the scanning data in parallel, and the validity of the collected data of each laser radar is verified in real time during system operation. If a laser radar fails, the laser radar thread is terminated and its function is shielded, and the laser radar status is fed back to the system status display module.

[0031] Preferably, in this embodiment, the laser radar control and main processing module adaptively performs dynamic data processing of coordinate matching and error compensation according to the system topology to complete the scanning and recognition tasks of multiple surfaces of the target.

[0032] It should be specifically explained that: by further explaining that under the coordinated control of the laser radar control and the main processing module, each laser radar independently completes the target block scanning and dynamic weighted processing of the scanning data in parallel, and the validity of the collected data of each laser radar is verified in real time during the system operation. If a laser radar fails, the laser radar thread is terminated and its function is shielded, and the laser radar status is fed back to the system status display module. In addition, the laser radar control and main processing module adaptively performs dynamic data processing of coordinate matching and error compensation according to the system topology structure, completes the scanning and identification tasks of multiple target surfaces, thereby better realizing the synchronous acquisition and control of laser radar data.

[0033] It should be particularly noted that the laser radar data synchronization acquisition and control system of the present invention obtains time information through the GPS module to synchronize the time between each laser radar. Each laser radar signal acquisition system is controlled by an independent thread. It does not scan each laser radar in sequence. Instead, multiple laser radars are controlled by the main processing module. By synchronizing the operating actions of multiple laser radars, each laser radar works together to complete the scanning task, thereby realizing laser radar data synchronization acquisition control. In this mode, even if multiple laser radars work at the same time, the scanning time will not be greater than the scanning time of a single laser radar. Multiple laser radar signal acquisition systems collect and process the data of each laser radar in real time in parallel, which greatly improves the data processing speed and maintains a high degree of independence between each laser radar.

[0034] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, the embodiments should be considered exemplary and non-restrictive in all respects, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims be included in the present invention.

[0035] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A laser radar data synchronization acquisition control system for intelligent networked vehicles, used to coordinate the work between laser radars and coordinate the processing of related data, characterized in that: include: GPS module, laser radar and laser radar signal acquisition system, the number of laser radars is multiple, and each laser radar corresponds to a laser radar signal acquisition system; The laser radar data synchronous acquisition and control system obtains time information through the GPS module to synchronize the time between each laser radar. Each laser radar signal acquisition system is controlled by an independent thread. Instead of scanning each laser radar in sequence, multiple laser radars are controlled by the main processing module. By synchronizing the operation of multiple laser radars, each laser radar works together to complete the scanning task, thereby realizing the laser radar data synchronous acquisition control.

2. The laser radar data synchronous acquisition and control system for intelligent networked vehicles according to claim 1 is characterized in that: The laser radars work together, and their target recognition process is achieved through five technologies: laser radar collaboration, target block scanning, dynamic weighted processing of scanning data, automatic shielding of scanning laser radar faults, and automatic adjustment of system structure.

3. The laser radar data synchronous acquisition and control system for intelligent networked vehicles according to claim 1 is characterized in that: The laser radar control and main processing module is used to generate a corresponding laser radar data acquisition sub-thread and a laser radar data processing sub-thread for each laser radar.

4. The laser radar data synchronous acquisition and control system for intelligent networked vehicles according to claim 1 is characterized in that: The laser radar status monitoring and fault handling module is used to perform real-time fault monitoring and diagnosis on the status of each laser radar in the system, and to functionally shield the faulty laser radar.

5. The laser radar data synchronous acquisition and control system for intelligent networked vehicles according to claim 1 is characterized in that: The system status monitoring module is used to monitor the working status of each hardware device in multiple laser radar signal acquisition systems, including: multiple laser radars, servo motors that drive radars to achieve three-dimensional scanning, motor motion control cards, and various data transmission interfaces, and perform real-time display and alarm. Each module is implemented by an independent thread, and parameter transmission and information interaction are achieved through memory sharing between modules.

6. The laser radar data synchronous acquisition and control system for intelligent networked vehicles according to claim 1 is characterized in that: Under the coordinated control of the laser radar control and main processing modules, each laser radar independently completes the target block scanning and dynamic weighted processing of the scanning data in parallel. During system operation, the validity of the collected data of each laser radar is verified in real time. If a laser radar fails, the laser radar thread is terminated and its function is shielded, and the laser radar status is fed back to the system status display module.

7. The laser radar data synchronous acquisition and control system for intelligent networked vehicles according to claim 6 is characterized in that: The laser radar control and main processing module adaptively performs dynamic data processing of coordinate matching and error compensation according to the system topology to complete the scanning and recognition tasks of multiple surfaces of the target.

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