Laser radar data acquisition system, laser radar and vehicle

Abstract

The invention discloses a laser radar data acquisition system, a laser radar and a vehicle, and the system comprises an FPGA which is used for obtaining a frame synchronization time sequence signal from a central control unit, and collecting a laser ranging point cloud according to the synchronized time sequence signal; and the MCU is used for acquiring a frame synchronization time sequence signal from the central control unit and acquiring point cloud angle information according to the synchronized time sequence signal. Therefore, through close cooperation of software and hardware, the stability, the real-time performance and the cost performance of the laser radar acquisition system are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of laser radar, in particular to a laser radar data acquisition system, a laser radar and a vehicle. BACKGROUND

[0002] Laser radar (LiDAR, Light Detection and Ranging) is a sensor that precisely obtains the distance of a space object by emitting a laser beam and measuring the time of reflection. As a core sensor widely used in automatic driving, unmanned aerial vehicles, geographic mapping and other fields, laser radar can provide high-precision three-dimensional point cloud data to help systems realize environmental perception and modeling. However, there are still many challenges in the data acquisition process of current laser radar systems.

[0003] A laser radar system generally consists of a laser emission unit, a receiving unit, a scanning unit and a data processing unit. The accuracy and speed of data acquisition depend largely on the timing control of laser emission and reception, the angle synchronization of the sensor and the processing capability of the point cloud data. In addition, laser radar systems generally use FPGA and SOC (System on Chip) based hardware platforms to realize data acquisition control, but these solutions require high computing power and consume a lot of hardware resources, resulting in high system costs and difficulty in balancing low power consumption and high performance.

[0004] Currently, laser radar systems also have certain limitations in time synchronization between sensors, data transmission and processing. Due to the limited synchronization accuracy of hardware and software, especially in a vehicle environment, due to vibration, temperature fluctuations and system load, there are often errors in the time synchronization between the laser radar and other sensors, which in turn affects the accuracy of the point cloud data. Especially in application scenarios such as autonomous driving, sensors are required to efficiently and stably synchronize to ensure the accuracy of real-time processing and decision-making. SUMMARY

[0005] Embodiments of the present application provide a laser radar data acquisition system, a laser radar and a vehicle, which are used to at least solve one of the above technical problems.

[0006] In a first aspect, embodiments of the present application provide a laser radar data acquisition system, comprising: an FPGA, configured to obtain a frame synchronization timing signal originating from a central control unit, and collect laser ranging point cloud according to the synchronized timing signal; an MCU, configured to obtain a frame synchronization timing signal originating from a central control unit, and collect point cloud angle information according to the synchronized timing signal.

[0007] In a second aspect, embodiments of the present application provide a laser radar, which is deployed with the laser radar data acquisition system as described above.

[0008] In a third aspect, the embodiments of the present application provide a vehicle, comprising: the laser radar as described above; and a central control unit, wherein the central control unit comprises a vehicle-mounted domain controller.

[0009] In a fourth aspect, the embodiments of the present application provide a storage medium, wherein one or more programs including execution instructions are stored in the storage medium, the execution instructions can be read and executed by an electronic device (including but not limited to a computer, a server, or a network device, etc.) to execute any one of the above.

[0010] In a fifth aspect, a computer device is provided, comprising: at least one processor, and a memory connected to the at least one processor in communication, wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute any one of the above laser radar data acquisition systems.

[0011] In a sixth aspect, the embodiments of the present application also provide a computer program product, comprising a computer program stored on a storage medium, the computer program comprising program instructions, when the program instructions are executed by a computer, the computer executes any one of the above laser radar data acquisition systems.

[0012] The beneficial effects of the embodiments of the present application are as follows: Through the precise cooperation of FPGA and MCU, high-precision timing synchronization, low-power data acquisition and control are respectively responsible, and a high-efficiency and stable laser radar data acquisition architecture is formed. FPGA ensures the accurate synchronization of laser ranging point cloud and point cloud angle information, eliminates the timing error in the traditional system, and improves the accuracy and real-time performance of the data. And the MCU realizes the accurate processing and control of the data under low power consumption, effectively reduces the consumption of hardware resources and the cost of the system. Therefore, through the close cooperation of software and hardware, the timing error, power consumption control and cost problem of the laser radar system in complex environment are effectively solved, and the stability, real-time performance and cost performance of the system are improved. BRIEF DESCRIPTION OF DRAWINGS

[0013] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creating laborious work.

[0014] Figure 1 The structural connection diagram of an example of the laser radar system in the related art is shown; Figure 2 Fig. 1 shows a structural schematic diagram of an example of a laser radar data acquisition system according to an embodiment of the present application; Figure 3 Fig. 3 shows an operation flow chart of an example of the MCU synchronizing the window signal timing according to an embodiment of the present application; Figure 4 Fig. 4 shows an effect schematic diagram of aligning and synchronizing the window start position signal with the frame synchronization timing signal; Figure 5 Fig. 5 shows a signal timing flow chart of an example of a laser radar data acquisition method according to an embodiment of the present application; Figure 6 Fig. 6 shows a system architecture schematic diagram of an example of a vehicle-mounted laser radar data acquisition system according to an embodiment of the present application; Figure 7 Fig. 7 shows a structural schematic diagram of an embodiment of an electronic device of the present application. DETAILED DESCRIPTION

[0015] In order to make the objectives, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some but not all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application. It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict.

[0016] It should also be noted that, in this document, the terms “comprising”, “including”, “containing”, “having” and the like, not only include those elements, but also include other elements not explicitly listed or inherent to such processes, methods, articles or devices. Without more limitations, the elements defined by the statement “comprising” do not exclude the presence of other identical elements in the process, method, article or device comprising the elements.

[0017] In the technical solutions of the present application, the collection, storage, use, processing, transmission, provision and disclosure of user personal information, etc. comply with relevant laws and regulations and do not violate public order and good customs.

[0018] Figure 1 Fig. 1 shows a structural schematic diagram of an example of a laser radar data acquisition system according to an embodiment of the present application;

[0019] As Figure 1As shown, the laser radar is a high-precision sensor that measures the distance of an object through a laser beam. It mainly consists of a master control unit, a rotating mirror unit, a laser emitting unit, a laser receiving unit, and the measured object. The master control unit is responsible for multiple key functions, including rotating mirror control, timing control of laser emission and reception, point cloud data processing, and time synchronization between sensors.

[0020] Currently, the common solution for the master control unit uses a combination of FPGA (Field Programmable Gate Array) and SOC (System on Chip). The FPGA is responsible for processing the timing control of laser emission and reception, as well as rotating mirror control, while the SOC is responsible for receiving, processing, and forwarding point cloud data. Although this solution has high precision in technical implementation, it also has the following shortcomings: 1) High computing power requirement and resource consumption: Since the FPGA needs to handle motor control and timing logic, the performance requirements of the SOC and FPGA in the master control unit are high, resulting in high hardware resource consumption and cost.

[0021] 2) High complexity of motor control: The development and optimization of motor control based on FPGA, especially the FOC (Field-Oriented Control) algorithm, is complex, and since the algorithm iteration is slow, it cannot fully meet the vehicle-level requirements of ISO 26262 ASIL (Automotive Safety Integrity Level) certification. The rotating mirror motor, as the core component of the laser radar, its reliability and stability are crucial to the accuracy of the system.

[0022] 3) Low time synchronization accuracy: The time synchronization scheme between the vehicle domain controller and the radar SOC and FPGA is complex, and the software synchronization accuracy is low, which is easily affected by the uncertainty of software scheduling, resulting in the overall performance of the system cannot meet the real-time accuracy requirements.

[0023] In view of this, in this paper, a laser radar data acquisition system based on FPGA and MCU collaborative design is proposed. Through the efficient collaboration of FPGA and MCU, the system realizes high-precision timing synchronization of laser radar sensors, point cloud data processing, and motor control, thereby optimizing the power consumption and cost of the system, and improving the accuracy and real-time performance of data acquisition.

[0024] It should be understood that the above description of the prior art is only intended to facilitate the public's better understanding of the spirit and motivation of the present application, and is not considered as a limitation of the present application. In addition, the technical solutions described in the above prior art may not be prior art, but also may be undisclosed technical solutions, such as solutions under research or in the laboratory stage.

[0025] Figure 2A structural diagram of an example of a laser radar data acquisition system according to an embodiment of the present application is shown.

[0026] As shown in Figure 2 The laser radar data acquisition system 200 includes an FPGA 210 and an MCU 220. The FPGA 210 is used to obtain a frame synchronization timing signal from the central control unit 10 and acquire laser ranging point cloud according to the synchronized timing signal. The MCU 220 is used to obtain a frame synchronization timing signal from the central control unit and acquire point cloud angle information according to the synchronized timing signal.

[0027] It should be noted that the laser radar data acquisition system can be deployed on various terminal devices and can be applied in diversified business scenarios, such as autonomous driving, mobile robots, unmanned aerial vehicles, etc. Accordingly, the type of the central control unit 10 corresponding to different business scenarios is different. For example, in the autonomous driving scenario, the central control unit 10 can be a vehicle domain controller; in the mobile robot scenario, the central control unit 10 can be a robot domain controller; in the unmanned aerial vehicle scenario, the central control unit 10 can be an unmanned aerial vehicle flight controller.

[0028] In the technical solution, the laser radar system 200 adopts a design based on a heterogeneous computing architecture, supporting a rotating mirror type vehicle-mounted laser radar integrated with a SPAD (single photon avalanche diode) chip. Through cooperative task allocation of the FPGA and the MCU, the laser radar can realize high-precision point cloud acquisition and real-time data transmission, thereby supporting low-cost and high-reliability LiDAR applications.

[0029] It should be noted that, unlike the rotating mirror control commonly driven by the FPGA in the prior art, in the embodiment of the present application, the FPGA only retains the underlying hardware logic such as laser transceiver timing and synchronization pulse generation, and does not need to perform rotating mirror control. The task of rotating mirror control is completed by the MCU, which drives or acquires the angle of the rotating mirror motor according to the timing synchronization signal, ensuring accurate acquisition of point cloud angle information.

[0030] For example, after the FPGA 210 receives a frame synchronization timing signal (F_SYNC) from the central control unit 10, it generates timing signals for laser emission and reception through an internal clock control circuit after real-time processing. The FPGA 210 is responsible for driving the laser emission unit according to the predetermined timing to ensure that each emitted laser beam can accurately capture the reflected signal under synchronized timing.

[0031] The MCU 220 can receive a frame synchronization timing signal from the central control unit 10 or a frame synchronization timing signal forwarded by the FPGA, ensure timing synchronization with the FPGA, and accurately control the collection of point cloud angle information. While the FPGA 210 collects laser ranging point clouds according to the frame synchronization timing, the MCU 220 collects point cloud angle information by reading the angle of the rotating mirror motor according to the frame synchronization timing. The MCU 220 controls the data collection of the angle sensor according to the synchronization timing signal, ensuring accurate matching of laser ranging point clouds and point cloud angle information at each sampling time.

[0032] It should be noted that in the related art, the processing of point cloud data of a laser radar is usually performed locally on the radar, such as SOC-based processing, which can cause excessive computational load of the system, especially when processing high-precision data, which can limit the response speed and real-time performance of the system. In addition, local processing also increases the power consumption and hardware cost of the system, and therefore, the existing solution cannot meet the requirements of efficient, low-power, and high-performance data collection.

[0033] In the embodiments of the present application, since the frame synchronization timing signals used by the FPGA 210 and the MCU 220 both originate from the central control unit, the frame timing of the laser radar can be consistent with the central control unit 10. Therefore, in some examples, the point cloud data processing can be performed by the central control unit 10 instead of being performed locally by the laser radar, avoiding the complexity and computational burden of performing data processing locally on the radar in the traditional solution.

[0034] Thanks to the synchronization consistency of the frame timing, the central control unit 10 can combine the laser ranging point cloud and the point cloud angle information through an efficient data fusion algorithm, and perform complex three-dimensional point cloud reconstruction operations. Therefore, the laser radar no longer relies on a high-performance but expensive SOC, but can replace the SOC with a low-cost MCU, reducing the consumption of hardware resources and system cost, while ensuring the reliability and real-time performance of data processing. In addition, thanks to the synchronization consistency of the frame timing, the laser radar can be better integrated with other sensors in a terminal system (such as a vehicle-mounted system or a UAV system), such as a vision sensor, a GPS, an inertial navigation unit, etc., thereby supporting more sophisticated or diversified business function applications.

[0035] In some examples of the embodiments of the present application, the MCU 220 is a vehicle-grade safety MCU, such as an MCU that meets the vehicle-grade ISO26262 ASIL-B functional safety certification. The vehicle-grade MCU can provide stable computing power under high safety requirements, ensuring the reliability of the rotating mirror motor control, thereby solving the problem that the traditional vehicle-mounted laser radar system cannot fully meet the vehicle-grade requirements, and improving the adaptability and stability of the system in complex environments.

[0036] Figure 3 An operational flow chart illustrating an example of window signal timing synchronization performed by an MCU according to an embodiment of the present application is shown.

[0037] like Figure 3 As shown, in step S310, the window starting position signal generated by the radar mirror motor is monitored.

[0038] Here, the window start position signal generated by the radar's mirror motor is captured by the motor's motion. The mirror motor is typically used to adjust the lidar's scanning angle, thereby determining the lidar's measurement range. During lidar operation, the window start position signal indicates the mirror motor's angle and indicates the starting position of the lidar scan.

[0039] Specifically, in a rotating mirror automotive LiDAR, the mirror motor is equipped with a position sensor (such as an encoder or rotation sensor) that provides real-time feedback on the motor's angle. When the mirror motor begins scanning, it generates a window start position signal, or FOV (Field of View) signal, based on the predetermined scanning path. This signal identifies the starting point of the window. This signal not only indicates the start of scanning but also determines the LiDAR's scanning range for the target area.

[0040] In step S320 , the time offset between the window start position signal and the frame synchronization timing signal is calculated with reference to the frame synchronization timing signal.

[0041] Here, the MCU compares the window start signal (FOV signal) with the frame synchronization timing signal (F_SYNC) and calculates the time deviation between the two.

[0042] In step S330, the radar mirror motor is adjusted through position closed-loop control so that the window start position signal is aligned with the frame synchronization timing signal.

[0043] Here, the calculated time offset is used as input to adjust the motion of the mirror motor through a closed-loop position control (such as a PID controller). By providing real-time feedback on the actual angle of the mirror motor, the MCU continuously adjusts the control signal to ensure that the window start signal is aligned with the frame synchronization timing signal.

[0044] Figure 4 This diagram shows an example of aligning and synchronizing the field of view (FOV) signal with the frame synchronization timing signal (F_SYNC). F_SYNC represents the frame synchronization signal from a central control unit or other synchronization source, providing a consistent time base for all sensors in the system. FOV is the field of view angle signal generated by the radar mirror motor control and identifies the starting position of the LiDAR scanning area.

[0045] As Figure 4 shown in the timing relationship between the F_SYNC signal and the FOV signal, the MCU adjusts the angle of the rotating mirror motor according to the calculated time offset to complete the alignment of the F_SYNC signal and the FOV signal. Specifically, before alignment, there is a certain offset of the FOV signal relative to the F_SYNC signal, and after alignment, the FOV signal and the F_SYNC signal are completely synchronized in timing, ensuring that the lidar and the central control unit and other device sensors can achieve precise time synchronization.

[0046] Figure 5 A signal timing flow diagram showing an example of a lidar data acquisition method according to an embodiment of the present application, which involves signal flow between the central control unit, FGPA and MCU.

[0047] As Figure 5 shown, the central control unit sends a frame synchronization timing signal to the FGPA, and the FGPA generates a point cloud acquisition timing reference in response to the frame synchronization timing signal.

[0048] The role of the central control unit in the lidar system is to provide a unified time reference signal, i.e. a frame synchronization timing signal (F_SYNC), for all sensors, to ensure that all sensors and system components work within the same time frame, and then send this signal to the FPGA through a cable or wirelessly.

[0049] During the exposure process of the laser receiving sensor column, the FGPA generates a column synchronization timing signal and sends it to the MCU, which defines the synchronization acquisition timing for the laser ranging point cloud and point cloud angle information.

[0050] It should be understood that the column synchronization timing signal refers to a further divided sub-timing signal within the global timing framework determined by the frame synchronization, corresponding to the column-level synchronization scanning process of the sensor array. The receiving array of the lidar is usually multi-column or column-by-column scanning, which requires a more detailed synchronization signal. The column synchronization timing enables precise acquisition rhythm of column-by-column data within the frame, ensuring consistency of point cloud distance and angle. In addition, column-level triggering enables point cloud data to be collected and transmitted for processing simultaneously, rather than waiting for the entire frame to be collected before processing, improving real-time performance.

[0051] Specifically, the FPGA generates a column synchronization timing signal according to the received frame synchronization timing signal. Each column synchronization timing signal corresponds to each column of the lidar sensor array, and under the control of this timing signal, each column of sensors will scan in a predetermined timing. The generated column synchronization timing signal is transmitted to the MCU, which accurately controls the sensors according to the signal to ensure that the scanning process of each column is synchronized.

[0052] Further, the MCU triggers a hardware interrupt in response to an edge of the column synchronization timing signal, and reads an angle encoder value of a radar rotating mirror motor as point cloud angle information in an interrupt context, and then sends the point cloud angle information to the FPGA.

[0053] Specifically, the MCU triggers an interrupt according to an edge of the column synchronization timing signal, and acquires angle information of laser radar scanning in real time by reading an angle encoder value of the rotating mirror motor. In each sampling period, the MCU triggers an interrupt according to the column synchronization timing signal, and reads angle data. The MCU sends the read angle information to the FPGA for synchronization processing of the laser ranging point cloud data by the FPGA.

[0054] By using the hardware pulse synchronization mode, the MCU can accurately trigger an interrupt in response to an edge of the column synchronization timing signal, and read an angle encoder value of the rotating mirror motor in real time, thereby ensuring synchronization of the angle information of the laser radar scanning and the ranging point cloud data. The hardware trigger mode provides high-precision time synchronization, avoids delay and uncertainty caused by software scheduling, and ensures real-time consistency of the point cloud data and the angle information.

[0055] The FPGA acquires laser ranging point cloud data generated by column exposure of a laser receiving sensor, and fuses the point cloud angle information with the laser ranging point cloud data according to the column synchronization timing signal to generate a point cloud fusion data frame, and sends the point cloud fusion data frame to a central control unit.

[0056] Here, the FPGA is used to generate the point cloud fusion data frame, rather than directly performing complex algorithm processing on the data. The point cloud fusion data frame simply combines the point cloud data collected by the laser ranging sensor and the angle information provided by the MCU to form a complete data frame. In other words, the FPGA performs framing operation to generate a data frame based on the synchronized timing of the distance and angle information, and more complex algorithm processing (such as point cloud filtering and three-dimensional modeling) is performed by the central control unit or the domain control unit.

[0057] Specifically, the FPGA time-synchronizes the distance data of the point cloud with the angle information provided by the MCU according to the column synchronization timing signal, and organizes the data in a predetermined format to package the framed data into a complete data frame, facilitating subsequent system or central control unit analysis and further processing.

[0058] The central control unit analyzes the time sequence reference of the point cloud fusion data frame based on the frame synchronization timing signal, and generates corresponding laser three-dimensional point cloud through point cloud three-dimensional coordinate calculation.

[0059] Here, the central control unit is responsible for parsing the point cloud fusion data frames sent by the FPGA and performing more complex point cloud data processing, including data filtering, denoising, spatial optimization, and three-dimensional reconstruction. The central control unit not only performs time-synchronous parsing of the data frames, but also further filters the point cloud through advanced algorithms (such as statistical filtering, distance filtering, etc.) to remove erroneous points, outliers, and environmental noise, and finally performs three-dimensional coordinate calculations to generate complete three-dimensional point cloud data. For example, the central control unit uses trigonometric functions and coordinate transformation algorithms (such as perspective projection algorithm, polar coordinate conversion, etc.) to convert two-dimensional point cloud data into coordinate information in three-dimensional space. By synthesizing and fusing multiple point cloud data sets, the final three-dimensional point cloud map is generated, completing high-precision three-dimensional modeling.

[0060] Thanks to the synchronized frame timing between the central control unit and the LiDAR, the central control unit can handle complex point cloud algorithm processing (such as data filtering and 3D reconstruction), reducing the computational burden of the LiDAR and the cost of the radar control system. Furthermore, the high-performance computing capabilities of the central control unit enable point cloud data to be processed and transmitted in a shorter time, thereby improving system response speed.

[0061] In some examples of the embodiments of the present application, the embodiments of the present application provide a laser radar, which is deployed with a laser radar data acquisition system as described in any of the above items of the present application.

[0062] In some examples of embodiments of the present application, embodiments of the present application provide a vehicle, comprising: a laser radar as described in any one of the above items of the present application; and a central control unit, wherein the central control unit includes an on-board domain controller.

[0063] Figure 6 A system architecture diagram of an example of a vehicle-mounted lidar data acquisition system according to an embodiment of the present application is shown. The system architecture mainly includes a central control unit and a vehicle-mounted radar. The central control unit includes a vehicle-mounted domain controller, etc., and the vehicle-mounted radar includes a vehicle-grade MCU, FPGA, laser transmitter, laser receiving sensor, etc.

[0064] like Figure 6 As shown, the onboard MCU controls and monitors the radar mirror motor, referencing the F_SYNC (Frame Synchronization) signal from the central control unit. Based on this signal, the MCU calculates the deviation from the view window starting point and adjusts the mirror motor through closed-loop position control to align the radar mirror's FOV (Field of View) status signal with the F_SYNC signal. This ensures time synchronization between the LiDAR and other sensors in the vehicle's domain controller. This allows the LiDAR to coordinate with other sensors in the vehicle system, ensuring the timing consistency of all sensor frame data.

[0065] When the laser exposure receiving sensor column is exposed, the FPGA generates and synchronously sends an S_SYNC signal (i.e., a column synchronization timing signal) to the automotive MCU. After receiving the signal, the MCU triggers a hardware interrupt and reads the angle encoder value of the rotating mirror motor to obtain the point cloud angle information. Since the MCU has extremely high interrupt response accuracy (generally less than 1 microsecond), the synchronization error between the point cloud angle and the point cloud column information is less than 1 microsecond, making the data collected by the laser radar more accurate and reducing the inconsistency caused by synchronization error.

[0066] The point cloud angle information is sent from the MCU to the FPGA through the SPI protocol. The FPGA fuses the angle information with the laser ranging point cloud data and fills it into the point cloud MIPI frame. Finally, the fused data (MIPI frame) is transmitted to the vehicle domain controller through the serial-deserial system for subsequent processing and decision-making.

[0067] By using the cooperative work of the automotive MCU and the FPGA, real-time data acquisition and synchronization of the laser radar can be completed under the premise of low power consumption and high precision. In addition, the system adopts a high-precision angle synchronization and column synchronization scheme, greatly improving the quality and real-time processing capability of the point cloud data.

[0068] It should be noted that, for the foregoing method embodiments, in order to simply describe, they are all described as a series of actions, but those skilled in the art should know that the present application is not limited to the order of the actions described, because according to the present application, certain steps can be performed in other order or at the same time. Secondly, those skilled in the art should know that the embodiments described in the specification all belong to preferred embodiments, and the actions and modules involved are not necessarily required by the present application. In the above embodiments, the description of each embodiment is focused on, and the parts not described in detail in a certain embodiment can be referred to the related description of other embodiments.

[0069] In some embodiments, the present application also provides a computer program product, which includes a computer program stored on a non-volatile computer readable storage medium, and the computer program includes program instructions, which, when executed by a computer, cause the computer to perform any of the above laser radar data acquisition methods.

[0070] In some embodiments, the present application also provides an electronic device, which includes at least one processor, and a memory connected to the at least one processor in communication, wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform a laser radar data acquisition method.

[0071] The device of the embodiment of the present application can be used to execute the laser radar data collection method of the embodiment of the present application, and accordingly achieve the technical effects achieved by the laser radar data collection method of the embodiment of the present application. Here, the related functional modules can be implemented by a hardware processor.

[0072] Figure 7 is a hardware structure schematic diagram of an electronic device for executing the laser radar data collection method provided by another embodiment of the present application, as shown in Figure 7 The device includes: one or more processors 710 and a memory 720, Figure 7 In the embodiment, the processor 710 is taken as an example.

[0073] The device for executing the laser radar data collection method can further include an input device 730 and an output device 740.

[0074] The processor 710, the memory 720, the input device 730 and the output device 740 can be connected through a bus or other means, Figure 7 In the embodiment, the connection through the bus is taken as an example.

[0075] The memory 720, as a non-volatile computer readable storage medium, can be used to store non-volatile software programs, non-volatile computer executable programs and modules, such as program instructions / modules corresponding to the laser radar data collection method in the embodiment of the present application. The processor 710 executes various functional applications and data processing of the server by running the non-volatile software programs, instructions and modules stored in the memory 720, that is, implements the laser radar data collection method of the above method embodiment.

[0076] The memory 720 can include a program storage area and a data storage area, wherein the program storage area can store an operating system, at least one application program required by a function; the data storage area can store data created according to the use of the device, etc. In addition, the memory 720 can include a high-speed random access memory, and can also include a non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, or other non-volatile solid-state storage device. In some embodiments, the memory 720 can optionally include a memory remotely arranged relative to the processor 710, which can be connected to the device through a network. Examples of the above network include but are not limited to the Internet, an intranet, a local area network, a mobile communication network and a combination thereof.

[0077] The input device 730 can receive input digital or character information, and generate signals related to the user settings and function control of the device. The output device 740 can include a display device such as a display screen.

[0078] The one or more modules are stored in the memory 720 and, when executed by the one or more processors 710, perform the method of collecting lidar data in any of the method embodiments described above.

[0079] The product described above can perform the method provided in the embodiments of the present application, has the corresponding function modules and beneficial effects of performing the method. Technical details not described in detail in the embodiments can be referred to the method provided in the embodiments of the present application.

[0080] The electronic device of the embodiments of the present application exists in various forms, including but not limited to: (1) Mobile communication device: The feature of this kind of device is to have mobile communication function, and to provide voice and data communication as the main target. This kind of terminal includes: smart phone (such as iPhone), multimedia phone, functional phone, and low-end phone, etc.

[0081] (2) Ultra-mobile personal computer device: This kind of device belongs to the category of personal computer, has computing and processing functions, and generally also has the characteristics of mobile Internet. This kind of terminal includes: PDA, MID and UMPC device, etc., such as iPad.

[0082] (3) Portable entertainment device: This kind of device can display and play multimedia content. This kind of device includes: audio and video player (such as iPod), handheld game console, electronic book, and smart toy and portable car navigation device.

[0083] (4) Server: A device that provides computing services. The components of a server include a processor, a hard disk, a memory, a system bus, etc. The server is similar to a general computer architecture, but due to the need to provide high-reliability services, it has higher requirements in terms of processing capability, stability, reliability, security, scalability, manageability, etc.

[0084] (5) Other electronic devices with data interaction function.

[0085] In some embodiments, the present application also provides a mobile platform, which is installed with the computer device described in any of the embodiments of the present application. The mobile platform includes but is not limited to vehicles, tracked robots, biped robots, quadruped robots, etc., wherein the vehicles can be passenger cars, pickup trucks, trucks, etc. It should be noted that the above are only examples, and the present application does not limit the specific form of the mobile platform.

[0086] The device embodiments described above are merely illustrative, wherein the units described as separate components can or can not be physically separate, and the components displayed as units can or can not be physical units, i.e., can be located in one place, or can be distributed to multiple network units. Part or all of the modules can be selected according to actual needs to achieve the purpose of the embodiment scheme.

[0087] Through the description of the above embodiments, those skilled in the art can clearly understand that the embodiments can be implemented by means of software plus a general hardware platform, and of course can also be implemented by hardware. Based on such understanding, the above technical solutions can be embodied in the form of a software product, which can be stored in a computer readable storage medium, such as a ROM / RAM, a magnetic disk, an optical disk, etc., and includes a plurality of instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute the methods described in each embodiment or some parts of the embodiments.

[0088] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A laser radar data acquisition system, comprising: FPGA, used to obtain the frame synchronization timing signal from the central control unit and collect the laser ranging point cloud according to the synchronized timing signal; The MCU is used to obtain the frame synchronization timing signal from the central control unit and collect point cloud angle information based on the synchronized timing signal.

2. The system according to claim 1, wherein: The MCU is used to perform the following operations: Monitor the window starting position signal generated by the radar mirror motor; Calculating a time deviation between the window start position signal and the frame synchronization timing signal with reference to the frame synchronization timing signal; The radar mirror motor is adjusted through position closed-loop control so that the window starting position signal is aligned with the frame synchronization timing signal.

3. The system according to claim 1, wherein: The FPGA is used to perform the following operations: Receive the frame synchronization timing signal sent by the central control unit, and forward the frame synchronization timing signal to the MCU; The MCU is used to perform the following operations: Receive the frame synchronization timing signal forwarded by the FPGA.

4. The system according to claim 1, wherein: The FPGA is used to perform the following operations: generating a point cloud acquisition timing reference in response to the frame synchronization timing signal; During the exposure process of the laser receiving sensor column, a column synchronization timing signal is generated and sent to the MCU; the column synchronization timing signal defines the synchronous acquisition timing for the laser ranging point cloud and point cloud angle information.

5. The system according to claim 4, wherein: The MCU is used to perform the following operations: triggering a hardware interrupt in response to an edge of the column synchronization timing signal, and reading an angle encoder value of a radar mirror motor as point cloud angle information in an interrupt context; The point cloud angle information is sent to the FPGA.

6. The system according to claim 5, wherein: The FPGA is used to perform the following operations: Acquire laser ranging point cloud data generated by exposure of the laser receiving sensor array; fusing the point cloud angle information with the laser ranging point cloud data according to the column synchronization timing signal to generate a point cloud fusion data frame; The point cloud fusion data frame is sent to the central control unit.

7. The system according to claim 6, wherein: The central control unit is used to parse the timing reference of the point cloud fusion data frame based on the frame synchronization timing signal, and generate the corresponding laser three-dimensional point cloud by solving the three-dimensional coordinates of the point cloud.

8. A laser radar, deployed with the laser radar data acquisition system according to any one of claims 1 to 7.

9. A vehicle comprising: The laser radar according to claim 8; as well as A central control unit, wherein the central control unit comprises an onboard domain controller.

10. The laser radar according to claim 8, wherein: The MCU is an automotive-grade safety MCU.

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