CN115871602A - Vehicle-mounted forward laser radar control system and method - Google Patents
Vehicle-mounted forward laser radar control system and method Download PDFInfo
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- CN115871602A CN115871602A CN202211535310.4A CN202211535310A CN115871602A CN 115871602 A CN115871602 A CN 115871602A CN 202211535310 A CN202211535310 A CN 202211535310A CN 115871602 A CN115871602 A CN 115871602A
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Abstract
The invention discloses a vehicle-mounted forward laser radar control system and a method, wherein a laser radar is arranged on the inner side of a front windshield, the number of current point clouds is detected in real time, whether the front windshield is shielded or not is judged according to the number of the current point clouds, and if the front windshield is shielded, the temperature difference between the inside and the outside of a vehicle is detected; and determining to control the wiper to clean the front windshield or control the defogging function to start to defogg the front windshield according to the temperature difference between the inside and the outside of the vehicle. According to the invention, the laser radar is arranged at a certain position above the instrument desk on the inner side of the front windshield of the vehicle, so that dust adhesion and rain and snow shielding of the emission and reception of laser rays can be prevented; when raining or shielding on the detection windshield, the windscreen wiper or the air conditioner can be controlled to operate in time to remove the shielding, so that a good visual field environment is provided for the laser radar, and the using effect of the laser radar is effectively improved.
Description
Technical Field
The invention belongs to the technical field of automobiles, and particularly relates to a vehicle-mounted forward laser radar control system and method.
Background
At present, the arrangement mode of the vehicle-mounted front laser radar is generally that the vehicle-mounted front laser radar is arranged at a front bumper and a vehicle door rearview mirror outside a vehicle through a support, for example, patent CN 103448627B-a mounting support and a mounting method for the vehicle radar, the mounting support comprises a fixing plate for fixing the support on the bumper and a sleeve arranged on the fixing plate for fixing the radar, the fixing plate is provided with a through hole corresponding to the sleeve, the through hole has the same diameter as the sleeve, wherein, a folding edge for supporting the edge of the bumper is arranged on the top edge of the fixing plate, and a guide ring for guiding a punching drill is arranged along the inner wall of the sleeve.
Above-mentioned patent is promptly to arrange the radar on the bumper outside the car, and no matter arrange in front bumper department or door mirror department, and laser radar all is in the car outside, and the dust is glued easily on the laser radar surface, and has sleet under the sleet weather and hang on laser radar projecting pole outward appearance glass cover, shelters from the radial transmission of laser radar and receives, influences laser radar's result of use, produces easily and lou to examine the target object, and then influences driving safety.
Disclosure of Invention
The invention aims to solve the defects in the prior art, and provides a vehicle-mounted forward laser radar control system and a vehicle-mounted forward laser radar control method, which can avoid the problems of reduced effect and safety of a laser radar caused by the fact that the laser radar is shielded from sight.
The technical scheme adopted by the invention is as follows: a vehicle-mounted forward laser radar control system comprises a laser radar, a driving controller and a front windshield, wherein the laser radar is mounted on the inner side of the front windshield and used for assisting driving and detecting the quantity of current point clouds in real time;
the driving controller is used for judging the temperature difference between the inside and the outside of the vehicle after receiving the shielding signal, and determining and sending a cleaning signal or a demisting signal to the vehicle body controller according to the temperature difference between the inside and the outside of the vehicle
The vehicle body controller is used for sending a wiper cleaning signal to the wiper motor after receiving the cleaning signal and sending an air supply signal to the air conditioning system after receiving the demisting signal;
the wiper motor is used for controlling the wiper to clean the front windshield after receiving the wiper cleaning signal;
and the air conditioning system is used for controlling the defogging function to be started to perform defogging work on the front windshield after receiving the air supply signal.
The rainfall sensor is used for detecting rainfall in real time and sending a rainfall signal to the rainfall controller; the rainfall controller is used for judging whether the vehicle rains according to the rainfall signal, and if the vehicle rains, sending a wiper request signal to the vehicle body controller;
the vehicle body controller is used for sending a wiper executing signal to the wiper motor after receiving the wiper request signal; the wiper motor is used for controlling the wiper to carry out the action of hanging the brush after receiving the wiper carrying signal.
Further, the laser radar judges whether the current point cloud number is smaller than a set threshold value or not, and judges whether the front windshield is shielded or not.
Furthermore, the driving controller collects the temperature in the driving cab through a vehicle body sensor to serve as indoor temperature, collects the temperature when the engine is started through an engine water temperature sensor to serve as outdoor temperature, and takes the absolute value of the difference value between the indoor temperature and the outdoor temperature as the temperature difference between the inside and the outside of the vehicle.
Furthermore, the driving controller sends a cleaning signal to the vehicle body controller if the temperature difference between the inside and the outside of the vehicle is smaller than the set temperature value, and sends a defogging signal to the vehicle body controller if the temperature difference between the inside and the outside of the vehicle is larger than or equal to the set temperature value.
A vehicle-mounted forward laser radar control method comprises the steps of installing a laser radar on the inner side of a front windshield, detecting the number of current point clouds in real time, judging whether the front windshield is shielded or not according to the number of the current point clouds, and detecting the temperature difference between the inside and the outside of a vehicle if the front windshield is shielded; and determining to control the wiper to clean the front windshield or control the defogging function to start to defogge the front windshield according to the temperature difference between the inside and the outside of the vehicle.
And furthermore, the device is also used for detecting a rainfall signal in real time, and when rain is judged according to the rainfall signal, the windscreen wiper is controlled to carry out a brush hanging action.
Further, if the number of the current point clouds is smaller than a set threshold value, judging that the front windshield is shielded, and otherwise, judging that the front windshield is not shielded.
Furthermore, the temperature in the cab acquired by a vehicle body sensor is used as the indoor temperature, the temperature when the engine is started acquired by an engine water temperature sensor is used as the outdoor temperature, and the absolute value of the difference value between the indoor temperature and the outdoor temperature is used as the temperature difference between the inside and the outside of the vehicle.
Furthermore, if the temperature difference between the inside and the outside of the vehicle is less than the set temperature value, the windscreen wiper is controlled to clean the front windshield, and if the temperature difference between the inside and the outside of the vehicle is greater than or equal to the set temperature value, the defogging function is controlled to be started to perform defogging operation on the front windshield.
The invention has the beneficial effects that: according to the invention, the laser radar is arranged at a certain position above the instrument desk on the inner side of the front windshield of the vehicle, so that dust adhesion and rain and snow shielding of the emission and reception of laser rays can be prevented; when raining or shielding is detected on the windshield, the windscreen wiper or the air conditioner can be controlled to operate in time to remove the shielding, a good visual field environment is provided for the laser radar, and therefore the using effect of the laser radar is effectively improved.
Drawings
FIG. 1 is a schematic diagram of a control system of the present invention.
FIG. 2 is a control flow chart of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made with reference to the accompanying drawings. It should be noted that the description of the embodiments is provided to help understanding of the present invention, but the present invention is not limited thereto. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
As shown in FIG. 1, the invention provides a vehicle-mounted forward lidar control system, which comprises
The laser radar is arranged on the inner side of the front windshield and used for assisting driving and detecting the number of current point clouds in real time when a vehicle is started, judging whether the front windshield is shielded or not according to the number of the current point clouds, and if yes, sending a shielding signal to the driving controller;
the driving controller is used for judging the temperature difference between the inside and the outside of the vehicle after receiving the shielding signal, and determining and sending a cleaning signal or a demisting signal to the vehicle body controller according to the temperature difference between the inside and the outside of the vehicle
The vehicle body controller is used for sending a wiper cleaning signal to the wiper motor after receiving the cleaning signal and sending an air supply signal to the air conditioning system after receiving the demisting signal;
the wiper motor is used for controlling the wiper to clean the front windshield after receiving the wiper cleaning signal;
and the air conditioning system is used for controlling the defogging function to be started to perform defogging work on the front windshield after receiving the air supply signal.
The rainfall sensor is used for detecting rainfall in real time and sending rainfall signals to the rainfall controller; the rainfall controller is used for judging whether the vehicle rains according to the rainfall signal, and if the vehicle rains, sending a wiper request signal to the vehicle body controller;
the vehicle body controller is used for sending a wiper execution signal to the wiper motor after receiving the wiper request signal; the wiper motor is used for controlling the wiper to carry out the action of hanging the brush after receiving the wiper carrying signal.
In the scheme, after the laser radar transmits and receives rays, the number of point clouds in unit time is judged according to received data, if the current number of the point clouds is smaller than a set threshold value, the fact that the front windshield is shielded is judged, and if the current number of the point clouds is not smaller than the set threshold value, the fact that the front windshield is not shielded is judged.
In the above scheme, the driving controller collects the temperature in the driving cab as the indoor temperature through the vehicle body sensor, collects the temperature when the engine is started as the outdoor temperature through the engine water temperature sensor, uses the absolute value of the difference value between the indoor temperature and the outdoor temperature as the temperature difference between the inside and the outside of the vehicle, sends a cleaning signal to the vehicle body controller if the temperature difference between the inside and the outside of the vehicle is less than a set temperature value, and sends a defogging signal to the vehicle body controller if the temperature difference between the inside and the outside of the vehicle is more than or equal to the set temperature value.
Based on the vehicle-mounted forward laser radar control, the invention also provides a vehicle-mounted forward laser radar control method, as shown in fig. 2, the laser radar is arranged on the inner side of the front windshield, the number of current point clouds is detected in real time, whether the front windshield is shielded or not is judged according to the number of the current point clouds, and if the front windshield is shielded, the temperature difference between the inside and the outside of the vehicle is detected; and determining to control the wiper to clean the front windshield for a period of time or control the defogging function to start defogging for the front windshield for a period of time according to the temperature difference between the inside and the outside of the vehicle, so as to provide a clear view field for the laser radar. The cleaning work or defogging work time is preferably 5-10S, after the work is finished, the detection is continued to detect whether the shielding exists, and when the cleaning work or the defogging work is continuously carried out for more than three periods and the shielding still exists, the fault of the laser radar is reported.
In the scheme, the rainfall signal is detected in real time after the vehicle is started, when the rain is judged according to the rainfall signal, the wiper is controlled to carry out the brush hanging action, and if the rain is not rained, the shielding judgment is carried out.
In the scheme, if the number of the current point clouds is smaller than a set threshold value, the fact that the front windshield is shielded is judged, and otherwise, the fact that the front windshield is not shielded is judged.
In the scheme, the temperature in the cab acquired by the vehicle body sensor is used as the indoor temperature, the temperature of the engine acquired by the engine water temperature sensor when the engine is started is used as the outdoor temperature, and the absolute value of the difference value between the indoor temperature and the outdoor temperature is used as the temperature difference between the inside and the outside of the vehicle. If the temperature difference between the inside and the outside of the vehicle is less than the set temperature value, the windscreen wiper is controlled to clean the front windscreen, and if the temperature difference between the inside and the outside of the vehicle is greater than or equal to the set temperature value, the defogging function is controlled to be started to perform defogging work on the front windscreen.
Example (b):
the laser radar is arranged at the middle position above the instrument desk in the front windshield and is fixedly adhered to the windshield.
When raining, the rainfall sensor sends the rainfall signal to the rainfall controller, the rainfall controller sends the rainfall signal to the driving controller, the driving controller judges that the vehicle is raining according to the rainfall signal, the vehicle controller sends a wiper request signal to the vehicle body controller, and the vehicle body controller controls a wiper motor to remove rainwater on the front windshield.
When more dust or fog exists on the surface of the windshield, the normal work of the laser radar is influenced, at the moment, the laser radar can identify whether shielding exists at present through a point cloud algorithm, and if the point cloud number of the laser radar is smaller than a certain set threshold value, the front windshield is considered to have shielding objects at present; meanwhile, the driving controller can receive an indoor temperature signal sent by a vehicle body sensor, an engine water temperature sensor signal is collected as an outdoor temperature signal when the engine starts, and if the difference value of the two temperatures is higher than a certain temperature threshold value, the fact that fog exists in the front windshield of the vehicle at present is judged; otherwise, the front windshield is considered to have more dust.
When the front windshield has fog, the driving controller can request the vehicle body controller to control the air conditioning system to carry out defogging work on the front windshield, and the defogging process is returned to judge whether the front windshield has the fog again after 5S. When the front windshield has more dust, the driving controller can request the vehicle body controller to control the windscreen wiper to clean the front windshield, and after 5 seconds of cleaning, the vehicle body controller returns to judge whether the front windshield is shielded again.
It should be understood that the specific order or hierarchy of steps in the processes disclosed is an example of exemplary approaches. Based upon design preferences, it is understood that the specific order or hierarchy of steps in the processes may be rearranged without departing from the scope of the present disclosure. The accompanying method claims present elements of the various steps in a sample order, and are not intended to be limited to the specific order or hierarchy presented.
The foregoing description of the embodiments and specific examples of the invention have been presented for purposes of illustration and description; it is not intended to be the only form in which the embodiments of the invention may be practiced or utilized. The embodiments are intended to cover the features of the various embodiments as well as the method steps and sequences for constructing and operating the embodiments. However, other embodiments may be utilized to achieve the same or equivalent functions and step sequences.
In the foregoing detailed description, various features are grouped together in a single embodiment for the purpose of streamlining the disclosure. This method of disclosure is not to be interpreted as reflecting an intention that the claimed embodiments of the subject matter require more features than are expressly recited in each claim. Rather, as the following claims reflect, invention lies in less than all features of a single disclosed embodiment. Thus, the following claims are hereby expressly incorporated into the detailed description, with each claim standing on its own as a separate preferred embodiment of the invention.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. To those skilled in the art; various modifications to these embodiments will be readily apparent, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the disclosure. Thus, the present disclosure is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
What has been described above includes examples of one or more embodiments. It is, of course, not possible to describe every conceivable combination of components or methodologies for purposes of describing the aforementioned embodiments, but one of ordinary skill in the art may recognize that many further combinations and permutations of various embodiments are possible. Accordingly, the embodiments described herein are intended to embrace all such alterations, modifications and variations that fall within the scope of the appended claims. Furthermore, to the extent that the term "includes" is used in either the detailed description or the claims, such term is intended to be inclusive in a manner similar to the term "comprising" as "comprising" is interpreted when employed as a transitional word in a claim. Furthermore, any use of the term "or" in the specification of the claims is intended to mean a "non-exclusive or".
The foregoing is considered as illustrative of the preferred embodiments of the invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious modifications, rearrangements, combinations and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
The above description is only an embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Those not described in detail in this specification are within the skill of the art.
Claims (10)
1. The utility model provides a on-vehicle preceding laser radar control system which characterized in that: comprises that
The laser radar is arranged on the inner side of the front windshield and used for assisting driving and detecting the number of current point clouds in real time, judging whether the front windshield is shielded or not according to the number of the current point clouds, and if yes, sending a shielding signal to the driving controller;
the driving controller is used for judging the temperature difference between the inside and the outside of the vehicle after receiving the shielding signal, and determining and sending a cleaning signal or a demisting signal to the vehicle body controller according to the temperature difference between the inside and the outside of the vehicle
The vehicle body controller is used for sending a wiper cleaning signal to the wiper motor after receiving the cleaning signal and sending an air supply signal to the air conditioning system after receiving the demisting signal;
the wiper motor is used for controlling the wiper to clean the front windshield after receiving the wiper cleaning signal;
and the air conditioning system is used for controlling the defogging function to be started to perform defogging work on the front windshield after receiving the air supply signal.
2. The vehicle-mounted forward lidar control system and method of claim 1, wherein: the rainfall sensor is used for detecting rainfall in real time and sending rainfall signals to the rainfall controller; the rainfall controller is used for judging whether the vehicle rains according to the rainfall signal, and if the vehicle rains, sending a wiper request signal to the vehicle body controller;
the vehicle body controller is used for sending a wiper execution signal to the wiper motor after receiving the wiper request signal; the wiper motor is used for controlling the wiper to carry out the action of hanging the brush after receiving the wiper carrying signal.
3. The vehicle-mounted forward lidar control system of claim 1, wherein: and judging whether the front windshield is shielded or not by the laser radar if the current point cloud number is smaller than a set threshold value, otherwise, judging whether the front windshield is not shielded.
4. The vehicle-mounted forward lidar control system of claim 1, wherein: the driving controller collects the temperature in the driving cab through the vehicle body sensor to be used as indoor temperature, collects the temperature when the engine is started through the engine water temperature sensor to be used as outdoor temperature, and takes the absolute value of the difference value between the indoor temperature and the outdoor temperature as the temperature difference between the inside and the outside of the vehicle.
5. The vehicle-mounted forward lidar control system of claim 1, wherein: and the driving controller judges whether the temperature difference between the inside and the outside of the vehicle is less than a set temperature value or not, and sends a cleaning signal to the vehicle body controller, and if the temperature difference between the inside and the outside of the vehicle is more than or equal to the set temperature value, sends a demisting signal to the vehicle body controller.
6. A vehicle-mounted forward laser radar control method is characterized by comprising the following steps: installing a laser radar on the inner side of a front windshield, detecting the number of current point clouds in real time, judging whether the front windshield is shielded or not according to the number of the current point clouds, and detecting the temperature difference between the inside and the outside of the vehicle if the front windshield is shielded; and determining to control the wiper to clean the front windshield or control the defogging function to start to defogge the front windshield according to the temperature difference between the inside and the outside of the vehicle.
7. The vehicle-mounted forward lidar control method according to claim 6, wherein: and the rain sensor is also used for detecting a rainfall signal in real time, and controlling the wiper to execute a brush hanging action when the rain is judged according to the rainfall signal.
8. The vehicle-mounted forward lidar control method of claim 6, wherein: if the current point cloud number is smaller than a set threshold value, judging that the front windshield is shielded, otherwise, judging that the front windshield is not shielded.
9. The vehicle-mounted forward lidar control method of claim 6, wherein: the temperature in a cab acquired by a vehicle body sensor is used as indoor temperature, the temperature of an engine during starting acquired by an engine water temperature sensor is used as outdoor temperature, and the absolute value of the difference value between the indoor temperature and the outdoor temperature is used as the temperature difference between the inside and the outside of the vehicle.
10. The vehicle-mounted forward lidar control method according to claim 6, wherein: if the temperature difference between the inside and the outside of the vehicle is less than the set temperature value, the windscreen wiper is controlled to clean the front windscreen, and if the temperature difference between the inside and the outside of the vehicle is greater than or equal to the set temperature value, the defogging function is controlled to be started to perform defogging work on the front windscreen.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211535310.4A CN115871602A (en) | 2022-11-30 | 2022-11-30 | Vehicle-mounted forward laser radar control system and method |
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| CN202211535310.4A CN115871602A (en) | 2022-11-30 | 2022-11-30 | Vehicle-mounted forward laser radar control system and method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117471443A (en) * | 2023-12-26 | 2024-01-30 | 深圳市汇北川电子技术有限公司 | Anti-fog sensor and system based on microwave radar |
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2022
- 2022-11-30 CN CN202211535310.4A patent/CN115871602A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117471443A (en) * | 2023-12-26 | 2024-01-30 | 深圳市汇北川电子技术有限公司 | Anti-fog sensor and system based on microwave radar |
| CN117471443B (en) * | 2023-12-26 | 2024-03-26 | 深圳市汇北川电子技术有限公司 | Anti-fog sensor and system based on microwave radar |
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