CN107728162A - Pilotless automobile parking safety monitoring system based on laser radar - Google Patents
Pilotless automobile parking safety monitoring system based on laser radar Download PDFInfo
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- CN107728162A CN107728162A CN201710958945.8A CN201710958945A CN107728162A CN 107728162 A CN107728162 A CN 107728162A CN 201710958945 A CN201710958945 A CN 201710958945A CN 107728162 A CN107728162 A CN 107728162A
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- laser radar
- pilotless automobile
- monitoring system
- data
- safety monitoring
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Traffic Control Systems (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention discloses the parking safety monitoring system of the pilotless automobile based on laser radar, belong to pilotless automobile technical field, utilize the road condition data of laser radar real time scan du vehicule, the data transfer of scanning is into computing unit, the cloud data for scanning acquisition is split, clustered, rebuild and identified by the Point Cloud Processing program in computing unit, then laser ranging module calculates the distance and speed of each object, judge whether it endangers passenger getting off car, and opening/closing door of vehicle is controlled by control unit, realize that passenger safety is got off.The present invention utilizes the road condition data for the laser radar real time scan du vehicule installed in pilotless automobile, the distance and speed of each object are calculated by range finder module, judge whether it endangers passenger getting off car and control opening/closing door of vehicle by control unit, ensure passenger safety.
Description
Technical field
The present invention relates to pilotless automobile technical field, the specifically pilotless automobile based on laser radar stops
Car safety monitoring system.
Background technology
With the development of unmanned technology, pilotless automobile will gradually realize civil nature.Current unmanned skill
Art mainly obtains the high-precision map of vehicle periphery by laser radar, with reference to GPS geo-location system and IMU inertial navigation moulds
The feature of block real-time perception environment, map match positioning is carried out, analyze path planning and vehicle row is controlled by vehicle CAN bus
Sail.Laser radar carries out 360 degree of scannings using panorama rotary scanning mode to surrounding environment, and such a scan mode can be obtained directly
Cloud data is obtained, wherein the three-dimensional space position coordinate information of target is contained, color (RGB) information and intensity
（Intensity）Information.
The safety problem that current unmanned technology is mainly focused in vehicle traveling process solves, but passenger is leaving
During vehicle it can also happen that dangerous, when automobile navigation traveling terminates, passenger is likely to occur danger when leaving carrier, makes full use of
Effect of the laser radar in monitoring can preferably solve the problem.
The content of the invention
The technical assignment of the present invention is to provide a kind of pilotless automobile parking safety monitoring system based on laser radar,
Using the road condition data for the laser radar real time scan du vehicule installed in pilotless automobile, data processing software is coordinated to lead to
The control unit control opening/closing door of vehicle of vehicle is crossed, realizes that passenger safety is got off function.
The technical solution adopted for the present invention to solve the technical problems is：
Pilotless automobile parking safety monitoring system based on laser radar, including it is related to mobile lidar（LiDAR）, base
In Dian Yunku（PCL）Point Cloud Processing module, laser ranging module and controlling switch module；Swept in real time using laser radar
The road condition data of du vehicule is retouched, the data transfer of scanning is into computing unit, the Point Cloud Processing program in computing unit
The cloud data that obtains will be scanned split, cluster, rebuild and identify, then laser ranging module calculate the distance of each object with
Speed, judges whether it endangers passenger getting off car, and controls opening/closing door of vehicle by control unit, realizes that passenger safety is got off.
Preferably, after vehicle automatic navigation traveling terminates, laser radar keeps working condition scanning vehicle periphery
Road conditions, obtain cloud data.
Preferably, the Point Cloud Processing program in computing unit is based on PCL（Point cloud storehouse）, point cloud key point is extracted first
With characteristic vector, then data are split by a cloud algorithm, clustered, be registering, are rebuild, identification.
Further, described laser radar passes through the data processing mould based on PCL in USB2.0 interfaces and computing unit
Block connects, and data processing module receives radar cloud data and simultaneously carries out three-dimensional reconstruction and target identification, and by the number of targets of identification
According to transmission to laser ranging module.Because the rate of data acquisition of laser radar is quickly, select USB2.0 interfaces will herein
Cloud data is transferred to computing unit.
Further, laser ranging module calculates the distance of object and vehicle, judges thing by contrasting two frame cloud datas
Body is in dynamic or static state and calculates the speed of dynamic motion object.Laser ranging module can return according to the laser of reception
The relative distance and speed of ripple information measurement target and carrier, and compare the data with threshold data so as to judge whether to control
Unit sends signal.
Further, computing unit capacity-threshold distance and the vehicle periphery object distance of reception will enter needed for opening car door
Row contrast, judge whether to send and open car door signal.Control unit can decode acquisition data signal, so as to control machinery door lock
Device is opened, and control unit controls vehicle safety to open by receiving the signal of computing unit, so as to realize unmanned vapour
Occupant of the car Safe getting-off function.
Preferably, communicated between each module using the CAN in automobile.
Compared to the prior art the parking of the pilotless automobile based on the laser radar safety monitoring system of the present invention, has
Following beneficial effect：
Unmanned technology is fast-developing and gradually realizes civil nature, in continuous improvement automatic driving vehicle driving safety and surely
Under the premise of qualitatively, the present invention avoids when vehicle is left after passenger is stopped as far as possible there is danger.
After the present invention is applied to Unmanned Systems, user's safety concerns can be increased, Consumer's Experience is lifted, so as to carry
The competitiveness of high product.
Brief description of the drawings
Fig. 1 is the Organization Chart of computing unit in the present invention；
Fig. 2 is pilotless automobile parking safety monitoring system Organization Chart of the present invention based on laser radar.
Embodiment
With reference to specific embodiment, the invention will be further described.
Pilotless automobile parking safety monitoring system based on laser radar, including it is related to mobile lidar, it is based on
The Point Cloud Processing module in point cloud storehouse, laser ranging module and controlling switch module.The system is swept in real time using laser radar
The road condition data of du vehicule is retouched, the data transfer of scanning is into computing unit, the Point Cloud Processing program in computing unit
The cloud data that obtains will be scanned split, cluster, rebuild and identify, then laser ranging module calculate the distance of each object with
Speed, judges whether it endangers passenger getting off car, and controls opening/closing door of vehicle by control unit, realizes that passenger safety is got off.
After vehicle automatic navigation traveling terminates, laser radar keeps the road conditions of working condition scanning vehicle periphery,
Obtain cloud data.
Point Cloud Processing program in computing unit is based on PCL（Point cloud storehouse）, point cloud key point and feature are extracted first
Vector, then data are split by a cloud algorithm, clustered, be registering, are rebuild, identification.
Described laser radar is connected by USB2.0 interfaces with the data processing module based on PCL in computing unit, number
Radar cloud data is received according to processing module and carries out three-dimensional reconstruction and target identification, and the target data of identification is sent to sharp
Ligh-ranging module.Because the rate of data acquisition of laser radar is quickly, USB2.0 interfaces are selected to pass cloud data herein
It is defeated to arrive computing unit.
Laser ranging module calculates the distance of object and vehicle, is in dynamic by contrasting two frame cloud data judgment objects
State or static state simultaneously calculate the speed of dynamic motion object.Laser ranging module can be according to the return laser beam information measurement of reception
The relative distance and speed of target and carrier, and compare the data and believe with threshold data so as to judge whether to send to control unit
Number.
Computing unit will be opened capacity-threshold distance and the vehicle periphery object distance of reception needed for car door and be contrasted, and sentence
Disconnected whether send opens car door signal.Control unit can decode acquisition data signal, so as to which control machinery door lock assembly is opened,
Control unit controls vehicle safety to open by receiving the signal of computing unit, and so as to realize, passenger pacifies in pilotless automobile
Full function of getting off.
Communicated between each module using the CAN in automobile.
By embodiment above, the those skilled in the art can readily realize the present invention.But should
Work as understanding, the present invention is not limited to above-mentioned embodiment.On the basis of disclosed embodiment, the technical field
Technical staff can be combined different technical characteristics, so as to realize different technical schemes.
It is the known technology of those skilled in the art in addition to the technical characteristic described in specification.
Claims (7)
1. the pilotless automobile parking safety monitoring system based on laser radar, it is characterised in that swept in real time using laser radar
The road condition data of du vehicule is retouched, the data transfer of scanning is into computing unit, the Point Cloud Processing program in computing unit
The cloud data that obtains will be scanned split, cluster, rebuild and identify, then laser ranging module calculate the distance of each object with
Speed, judges whether it endangers passenger getting off car, and controls opening/closing door of vehicle by control unit, realizes that passenger safety is got off.
2. the pilotless automobile parking safety monitoring system according to claim 1 based on laser radar, its feature exist
In after vehicle automatic navigation traveling terminates, laser radar keeps the road conditions of working condition scanning vehicle periphery, obtains point
Cloud data.
3. the pilotless automobile parking safety monitoring system according to claim 1 based on laser radar, its feature exist
Point Cloud Processing program in computing unit is based on PCL, first extraction point cloud key point and characteristic vector, then passes through a little
Cloud algorithm is split to data, clustered, be registering, being rebuild, identification.
4. the parking safety monitoring system of the pilotless automobile based on laser radar according to claim 1 or 2 or 3, its
It is characterised by that described laser radar is connected by USB2.0 interfaces with the data processing module based on PCL in computing unit, number
Radar cloud data is received according to processing module and carries out three-dimensional reconstruction and target identification, and the target data of identification is sent to sharp
Ligh-ranging module.
5. the pilotless automobile parking safety monitoring system according to claim 1 based on laser radar, its feature exist
Calculate the distance of object and vehicle in laser ranging module, by contrast two frame cloud data judgment objects be in dynamic or
Static state simultaneously calculates the speed of dynamic motion object.
6. the pilotless automobile parking safety monitoring system based on laser radar according to claim 1 or 5, its feature
It is that computing unit will be opened capacity-threshold distance and the vehicle periphery object distance of reception needed for car door and be contrasted, judgement is
No send opens car door signal.
7. the pilotless automobile parking safety monitoring system according to claim 1 based on laser radar, its feature exist
Communicated between each module using the CAN in automobile.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710958945.8A CN107728162A (en) | 2017-10-16 | 2017-10-16 | Pilotless automobile parking safety monitoring system based on laser radar |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710958945.8A CN107728162A (en) | 2017-10-16 | 2017-10-16 | Pilotless automobile parking safety monitoring system based on laser radar |
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| Publication Number | Publication Date |
|---|---|
| CN107728162A true CN107728162A (en) | 2018-02-23 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710958945.8A Pending CN107728162A (en) | 2017-10-16 | 2017-10-16 | Pilotless automobile parking safety monitoring system based on laser radar |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108437957A (en) * | 2018-04-11 | 2018-08-24 | 济南浪潮高新科技投资发展有限公司 | A kind of detection of driving vision blind area and auxiliary braking method and system |
| CN108919842A (en) * | 2018-05-21 | 2018-11-30 | 武汉理工大学 | A kind of automatic driving vehicle radar site control device and method |
| CN109334599A (en) * | 2018-08-31 | 2019-02-15 | 惠州华阳通用电子有限公司 | A kind of retractable component collision-proof method of vehicle based on radar range finding mould group |
| CN109559541A (en) * | 2018-11-20 | 2019-04-02 | 华东交通大学 | A kind of unmanned vehicle route management system |
| CN109633685A (en) * | 2018-11-22 | 2019-04-16 | 浙江中车电车有限公司 | A kind of method and system based on laser radar obstruction detection state |
| CN110874944A (en) * | 2018-08-31 | 2020-03-10 | 北京图森未来科技有限公司 | Parking control method, parking server, vehicle controller and vehicle |
| CN111047901A (en) * | 2019-11-05 | 2020-04-21 | 珠海格力电器股份有限公司 | Parking management method, parking management device, storage medium and computer equipment |
| CN111045025A (en) * | 2018-10-15 | 2020-04-21 | 图森有限公司 | Vehicle tracking method and system based on light detection and distance measurement |
| CN111369780A (en) * | 2018-12-26 | 2020-07-03 | 北京图森智途科技有限公司 | Accurate parking method, equipment and system for truck in shore crane area |
| CN111368604A (en) * | 2018-12-26 | 2020-07-03 | 北京图森智途科技有限公司 | Parking control method, equipment and system |
| CN111564039A (en) * | 2020-05-28 | 2020-08-21 | 新石器慧通（北京）科技有限公司 | Sightseeing unmanned vehicle and control method thereof |
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2017
- 2017-10-16 CN CN201710958945.8A patent/CN107728162A/en active Pending
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108437957A (en) * | 2018-04-11 | 2018-08-24 | 济南浪潮高新科技投资发展有限公司 | A kind of detection of driving vision blind area and auxiliary braking method and system |
| CN108919842A (en) * | 2018-05-21 | 2018-11-30 | 武汉理工大学 | A kind of automatic driving vehicle radar site control device and method |
| CN109334599B (en) * | 2018-08-31 | 2020-08-11 | 惠州华阳通用电子有限公司 | Anti-collision method for vehicle openable and closable component based on radar ranging module |
| CN109334599A (en) * | 2018-08-31 | 2019-02-15 | 惠州华阳通用电子有限公司 | A kind of retractable component collision-proof method of vehicle based on radar range finding mould group |
| CN110874944A (en) * | 2018-08-31 | 2020-03-10 | 北京图森未来科技有限公司 | Parking control method, parking server, vehicle controller and vehicle |
| CN110874944B (en) * | 2018-08-31 | 2021-04-02 | 北京图森智途科技有限公司 | Parking control method, parking server, vehicle controller and vehicle |
| CN111045025A (en) * | 2018-10-15 | 2020-04-21 | 图森有限公司 | Vehicle tracking method and system based on light detection and distance measurement |
| CN109559541A (en) * | 2018-11-20 | 2019-04-02 | 华东交通大学 | A kind of unmanned vehicle route management system |
| CN109559541B (en) * | 2018-11-20 | 2021-06-22 | 华东交通大学 | Unmanned vehicle route management system |
| CN109633685A (en) * | 2018-11-22 | 2019-04-16 | 浙江中车电车有限公司 | A kind of method and system based on laser radar obstruction detection state |
| CN111368604A (en) * | 2018-12-26 | 2020-07-03 | 北京图森智途科技有限公司 | Parking control method, equipment and system |
| CN111369780A (en) * | 2018-12-26 | 2020-07-03 | 北京图森智途科技有限公司 | Accurate parking method, equipment and system for truck in shore crane area |
| CN111369780B (en) * | 2018-12-26 | 2021-09-03 | 北京图森智途科技有限公司 | Accurate parking method, equipment and system for truck in shore crane area |
| US20210394747A1 (en) * | 2018-12-26 | 2021-12-23 | Beijing Tusen Zhitu Technology Co., Ltd. | Precise truck parking method, device, and system in quayside container crane area |
| EP3905215A4 (en) * | 2018-12-26 | 2022-09-14 | Beijing Tusen Zhitu Technology Co., Ltd. | Precise truck parking method, device, and system in quayside container crane area |
| CN111368604B (en) * | 2018-12-26 | 2023-07-18 | 北京图森智途科技有限公司 | Parking control method, device and system |
| CN111047901A (en) * | 2019-11-05 | 2020-04-21 | 珠海格力电器股份有限公司 | Parking management method, parking management device, storage medium and computer equipment |
| CN111564039A (en) * | 2020-05-28 | 2020-08-21 | 新石器慧通（北京）科技有限公司 | Sightseeing unmanned vehicle and control method thereof |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20180223 |
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| WD01 | Invention patent application deemed withdrawn after publication |