WO2023279395A1

WO2023279395A1 - Radar system

Info

Publication number: WO2023279395A1
Application number: PCT/CN2021/105592
Authority: WO
Inventors: 黄海晖; 何启盛; 张建军
Original assignee: 华为技术有限公司
Priority date: 2021-07-09
Filing date: 2021-07-09
Publication date: 2023-01-12
Also published as: CN117377890A

Abstract

A radar system, comprising a first guide rail (201), a radar (202), a first mobile apparatus (203) and a movement controller, wherein the radar (202) is fixed on the first mobile apparatus (203); the movement controller is used for controlling the first mobile apparatus (203) to move on the first guide rail (201); and the first guide rail (201) is fixed on a mobile device (204). In the radar system, the movement of the first mobile apparatus (203) on the first guide rail (201) is controlled by the movement controller to realize the movement of the radar (202) to different positions of the mobile device (204), such that the cost is reduced while external information in different ranges is obtained by using one radar (202); and furthermore, the radar (202) is mounted on the first guide rail (201) instead of being directly mounted on the mobile device (204), such that coupling between the radar (202) and different mobile devices (204) is reduced, thereby facilitating standardization of the mounting of the radar (202) on the mobile device (204).

Description

一种雷达***a radar system

技术领域technical field

本申请涉及智能驾驶技术领域，并且，更具体地，涉及一种雷达***。The present application relates to the technical field of intelligent driving, and, more specifically, relates to a radar system.

背景技术Background technique

随着科学技术的快速发展，智能驾驶技术受到了越来越多的关注，进而产生了多种智能驾驶设备，这些智能驾驶设备例如可以包括自动驾驶车、无人机等。With the rapid development of science and technology, more and more attention has been paid to intelligent driving technology, and various intelligent driving devices have been produced. These intelligent driving devices may include, for example, autonomous vehicles and unmanned aerial vehicles.

一辆智能驾驶设备必须具备的重要功能是对外界环境的感知，以防止与其他物体或者人碰撞。随着智能驾驶技术的发展，对环境进行感知和对自身进行精确定位，已经成为提高智能驾驶***运行安全性和可靠性的核心技术和重要手段。雷达作为智能驾驶设备获取自身相对环境的位姿及环境信息最重要的传感器之一，多数情况下，其固连在智能驾驶设备上。当使用一个雷达获取外界信息时，由于总是会受到智能驾驶设备的遮挡，导致获取不到全方位的外界环境信息，因此，目前通常是通过将多个雷达安装在智能驾驶设备的不同位置，从而获得全方位的外界环境信息。An important function that an intelligent driving device must have is the perception of the external environment to prevent collisions with other objects or people. With the development of intelligent driving technology, perception of the environment and precise positioning of itself have become the core technology and important means to improve the safety and reliability of intelligent driving systems. Radar is one of the most important sensors for intelligent driving equipment to obtain its own relative environment position and environmental information. In most cases, it is fixedly connected to intelligent driving equipment. When using a radar to obtain external information, it will always be blocked by the intelligent driving device, resulting in the inability to obtain a full range of external environmental information. In order to obtain a full range of external environmental information.

然而，在将多个雷达安装在智能驾驶设备的不同位置来获得全方位的外界环境信息时，会导致成本的上升。因此，如何在通过雷达获得全方位的外界环境信息的同时还能够降低使用雷达的成本成为亟待解决的技术问题。However, when multiple radars are installed in different positions of the smart driving device to obtain comprehensive external environment information, the cost will increase. Therefore, how to reduce the cost of using radar while obtaining all-round external environment information through radar has become an urgent technical problem to be solved.

发明内容Contents of the invention

本申请提供一种雷达***，可以在通过雷达获得全方位的外界环境信息的同时还能够降低使用雷达的成本。The present application provides a radar system, which can reduce the cost of using the radar while obtaining all-round external environment information through the radar.

第一方面，本申请实施例提供一种雷达***，该雷达***包括第一导轨、雷达、第一移动装置和移动控制器；雷达固定在第一移动装置上，移动控制器用于控制第一移动装置在第一导轨上移动，第一导轨固定设置在移动设备上。In the first aspect, an embodiment of the present application provides a radar system, the radar system includes a first guide rail, a radar, a first mobile device, and a mobile controller; the radar is fixed on the first mobile device, and the mobile controller is used to control the first mobile device The device moves on the first guide rail, and the first guide rail is fixedly arranged on the mobile device.

该实施例提供的雷达***，可以通过移动控制器控制第一移动装置在第一导轨上的移动来实现雷达移动到移动设备的不同位置，从而可以使用一个雷达获得不同范围的外界信息。相比现有技术，本申请不需要在移动设备上的不同位置安装雷达，只需要一个雷达通过移动的方式就可以获得不同范围的外界信息，还减少了雷达的数量，从而降低了成本。The radar system provided by this embodiment can move the radar to different positions of the mobile device by controlling the movement of the first mobile device on the first rail by the mobile controller, so that one radar can be used to obtain external information in different ranges. Compared with the prior art, this application does not need to install radars at different positions on the mobile device, and only needs one radar to obtain external information in different ranges by moving, and also reduces the number of radars, thereby reducing the cost.

进一步地，由于雷达是安装在第一导轨上，而不是直接安装在移动设备上，因此减少了雷达与不同移动设备之间的耦合，有利于雷达在移动设备上安装的标准化。Further, since the radar is installed on the first guide rail instead of being directly installed on the mobile device, the coupling between the radar and different mobile devices is reduced, which is beneficial to the standardization of the installation of the radar on the mobile device.

结合第一方面，在一种可能的实现方式中，第一移动装置包括转动轮，所述移动控制器用于控制转动轮转动。With reference to the first aspect, in a possible implementation manner, the first moving device includes a turning wheel, and the movement controller is configured to control the turning of the turning wheel.

该实施例中，移动控制器可以通过控制转动轮的转动，来实现雷达移动到移动设备的不同位置。In this embodiment, the mobile controller can move the radar to different positions of the mobile device by controlling the rotation of the rotating wheel.

结合第一方面，在一种可能的实现方式中，所述雷达***还包括第一固定装置，第一固定装置用于将雷达固定在目标位置。With reference to the first aspect, in a possible implementation manner, the radar system further includes a first fixing device, where the first fixing device is used to fix the radar at a target position.

该实施例中，第一固定装置通过将雷达固定在目标位置，从而可以让雷达不随移动设备的移动而造成相对于移动设备的位移，可以使得雷达在目标位置时的外参不发生变化，进一步提升后续信息融合的准确性。In this embodiment, the first fixing device fixes the radar at the target position, so that the radar does not cause displacement relative to the mobile device as the mobile device moves, and the external parameters of the radar at the target position do not change, further Improve the accuracy of subsequent information fusion.

结合第一方面，在一种可能的实现方式中，第一导轨上包括螺孔，第一固定装置包括第一电机和螺丝，螺丝的一端与雷达连接，第一电机用于控制螺丝运动至螺孔内。With reference to the first aspect, in a possible implementation manner, the first guide rail includes a screw hole, the first fixing device includes a first motor and a screw, one end of the screw is connected to the radar, and the first motor is used to control the movement of the screw to the screw hole. inside the hole.

该实现方式中，第一电机可以通过控制螺丝运动至第导轨上的螺孔内，从而让雷达固定于第一导轨上。In this implementation manner, the first motor can move into the screw hole on the second guide rail by controlling the screw, so that the radar is fixed on the first guide rail.

结合第一方面，在一种可能的实现方式中，雷达***还包括第二固定装置，第二固定装置用于将第一移动装置的移动轨迹固定在第一导轨上。With reference to the first aspect, in a possible implementation manner, the radar system further includes a second fixing device, and the second fixing device is configured to fix a moving track of the first moving device on the first guide rail.

该实现方式中，第二固定装置可以使得第一移动装置在移动的过程中，能够不脱离第一导轨。In this implementation manner, the second fixing device can prevent the first moving device from deviating from the first guide rail during the moving process.

结合第一方面，在一种可能的实现方式中，第二固定装置包括位于雷达表面上的凹槽，所述凹槽用于嵌入第一导轨的上臂。With reference to the first aspect, in a possible implementation manner, the second fixing device includes a groove on the radar surface, and the groove is used to embed the upper arm of the first guide rail.

结合第一方面，在一种可能的实现方式中，所述移动控制器用于：基于移动设备的行驶信息控制第一移动装置的移动方向和/或移动距离。With reference to the first aspect, in a possible implementation manner, the mobile controller is configured to: control a moving direction and/or a moving distance of the first mobile device based on driving information of the mobile device.

该实现方式中，移动控制器可以根据移动设备的行驶信息，确定第一移动装置的移动方向或者移动距离。In this implementation manner, the mobile controller may determine the moving direction or moving distance of the first mobile device according to the driving information of the mobile device.

结合第一方面，在一种可能的实现方式中，行驶信息包括移动设备的移动方向，移动控制器用于控制第一移动装置的移动方向与移动设备的移动方向相同。With reference to the first aspect, in a possible implementation manner, the driving information includes a moving direction of the mobile device, and the mobile controller is configured to control the moving direction of the first mobile device to be the same as the moving direction of the mobile device.

该实现方式中，移动控制器可以控制第一移动装置的移动方向与移动设备的移动方向一致。例如，当车辆向前行驶时，可以认为移动设备前方的环境信息相对比较重要，此时移动控制器可以控制第一移动装置向前运动，从而获取前方的外界信息。又例如，当车辆后退时，可以认为移动设备后侧的环境信息相对比较重要，此时移动控制器就可以控制第一移动装置向后运动，从而获取后侧的外界信息。In this implementation manner, the mobile controller may control the moving direction of the first mobile device to be consistent with the moving direction of the mobile device. For example, when the vehicle is moving forward, it can be considered that the environmental information in front of the mobile device is relatively important. At this time, the mobile controller can control the first mobile device to move forward, so as to obtain the external environment information in front. For another example, when the vehicle is moving backwards, it can be considered that the environmental information on the rear side of the mobile device is relatively important. At this time, the mobile controller can control the first mobile device to move backward, so as to obtain the external environment information on the rear side.

结合第一方面，在一种可能的实现方式中，导轨包括线槽，线槽用于放置移动控制器与第一移动装置之间的连接线、雷达和移动设备之间的连接线，或移动控制器与移动设备之间的连接线。With reference to the first aspect, in a possible implementation manner, the guide rail includes a wire slot, and the wire slot is used to place the connecting wire between the mobile controller and the first mobile device, the connecting wire between the radar and the mobile device, or the mobile The connection cable between the controller and the mobile device.

结合第一方面，在一种可能的实现方式中，雷达***还包括微控制单元，所述微控制单元用于控制雷达的发射频率和/或视场角FOV。With reference to the first aspect, in a possible implementation manner, the radar system further includes a micro control unit, where the micro control unit is configured to control a transmission frequency and/or a field of view FOV of the radar.

该实现方式中，微控制单元可以控制雷达的发射频率和/或视场角，从而让雷达在不同的场景下，有不同的发射频率和/或FOV。例如，当移动设备向前运动，并且移动的速度大于一个预设的阈值时，可以认为此刻的外界环境变化很快，此时微控制单元就可以提升激光的发射频率。又例如，雷达在移动设备的前侧和后侧时，移动设备的遮挡区域时不同的，因此微控制单元可以在不同的位置处改变FOV。In this implementation, the micro control unit can control the transmission frequency and/or field of view of the radar, so that the radar has different transmission frequencies and/or FOVs in different scenarios. For example, when the mobile device moves forward and the moving speed is greater than a preset threshold, it can be considered that the external environment changes rapidly at this moment, and at this time, the micro control unit can increase the emission frequency of the laser. For another example, when the radar is on the front side and the back side of the mobile device, the occlusion area of the mobile device is different, so the micro control unit can change the FOV at different positions.

结合第一方面，在一种可能的实现方式中，雷达***还包括第二导轨和第二移动装置，第二导轨与第一导轨相交，雷达固定在第二移动装置上，移动控制器用于控制第二移动装置在第二导轨上移动，第二导轨用于固定在移动设备上。With reference to the first aspect, in a possible implementation manner, the radar system further includes a second guide rail and a second mobile device, the second guide rail intersects the first guide rail, the radar is fixed on the second mobile device, and the mobile controller is used to control The second moving device moves on the second guide rail, and the second guide rail is used to be fixed on the mobile device.

结合第一方面，在一种可能的实现方式中，雷达***还包括第一升降装置和第二升降装置，第一升降装置用于在第二移动装置在第二导轨上移动时控制第一移动装置离开第二导轨的轨面，第二升降装置用于在第一移动装置在第一导轨上移动时控制第二移动装置离开第一导轨的轨面。With reference to the first aspect, in a possible implementation manner, the radar system further includes a first elevating device and a second elevating device, the first elevating device is used to control the first moving device when the second moving device moves on the second guide rail The device leaves the rail surface of the second guide rail, and the second lifting device is used for controlling the second moving device to leave the rail surface of the first guide rail when the first moving device moves on the first guide rail.

该实施例中，可以通过第一升降装置与第二升降装置的上升或者下降来实现雷达在第一导轨或者第二导轨上的移动。可以理解的是，相比只有第一导轨的雷达***，包括第一导轨和第二导轨的雷达***可以进一步降低雷达的个数，从而进一步降低成本。In this embodiment, the movement of the radar on the first guide rail or the second guide rail can be realized by raising or lowering the first lifting device and the second lifting device. It can be understood that, compared with the radar system with only the first guide rail, the radar system including the first guide rail and the second guide rail can further reduce the number of radars, thereby further reducing the cost.

结合第一方面，在一种可能的实现方式中，第一导轨的一端安装第一测距仪，第二导轨的一端安装第二测距仪，第一测距仪用于测量雷达距离第一测距仪的距离，第二测距仪用于测量雷达距离第二测距仪的距离。With reference to the first aspect, in a possible implementation manner, a first range finder is installed at one end of the first guide rail, and a second range finder is installed at one end of the second guide rail, and the first range finder is used to measure the radar distance from the first The distance of the range finder, the second range finder is used to measure the distance from the radar to the second range finder.

该实现方式中，雷达***可以通过第一测距仪或第二测距仪获得当前雷达所在的位置。In this implementation manner, the radar system can obtain the current position of the radar through the first range finder or the second range finder.

结合第一方面，在一种可能的实现方式中，若雷达为单激光雷达，当雷达移动到位置j，并且

时，雷达在位置j处的旋转矩阵为

平移矩阵为

其中，R ₂表示雷达在第一导轨前侧时的旋转矩阵，t ₂表示雷达在第一导轨前侧时的平移矩阵，R ₄表示雷达在第一导轨后侧时的旋转矩阵，t ₄表示雷达在第一导轨后侧时平移矩阵；l _h表示雷达在所述位置j处与第二测距仪的距离，l _v表示雷达在位置j处与第一测距仪的距离，

表示雷达在第二导轨左侧时与第二测距仪的距离，

表示雷达在所述第一导轨前侧时与所述第一测距仪的距离，

表示雷达在第一导轨后侧时与第一测距仪距离的距离，θ ₂₄表示雷达从第一导轨前侧到第一导轨后侧的旋转角轴向量，|θ ₂₄|表示雷达从第一导轨前侧到第一导轨后侧的旋转角角度大小，E(a,b)表示从一个向量b作为转轴，a作为转角对应的旋转矩阵。 In combination with the first aspect, in a possible implementation, if the radar is a single lidar, when the radar moves to position j, and

When , the rotation matrix of the radar at position j is

The translation matrix is

Among them, R ₂ represents the rotation matrix when the radar is at the front side of the first guide rail, t ₂ represents the translation matrix when the radar is at the front side of the first guide rail, R ₄ represents the rotation matrix when the radar is at the rear side of the first guide rail, and t ₄ represents The translation matrix when the radar is on the rear side of the first guide rail; l _h represents the distance between the radar at the position _j and the second range finder, and lv represents the distance between the radar at the position j and the first range finder,

Indicates the distance from the second rangefinder when the radar is on the left side of the second guide rail,

Indicates the distance between the radar and the first rangefinder when the radar is on the front side of the first guide rail,

Indicates the distance between the radar and the first range finder when it is at the rear side of the first guide rail, θ ₂₄ indicates the rotation angle axis vector of the radar from the front side of the first guide rail to the rear side of the first guide rail, |θ ₂₄ | The size of the rotation angle from the front side of a guide rail to the rear side of the first guide rail, E(a, b) represents a rotation matrix corresponding to a vector b as the rotation axis and a as the rotation angle.

该实施例中，当雷达是单激光雷达时，可以计算出雷达移动在第一导轨的位置j时的外参值，进一步提升后续信息融合的准确性。In this embodiment, when the radar is a single laser radar, the external parameter value when the radar moves at the position j of the first guide rail can be calculated, so as to further improve the accuracy of subsequent information fusion.

时，雷达在位置j处的旋转矩阵为

平移矩阵为

其中，R ₁表示雷达在第二导轨左侧时的旋转矩阵，t ₁表示雷达在第二导轨左侧时的旋转矩阵平移矩阵，R ₃表示雷达在所述第二导轨右侧时的旋转矩阵，t ₃表示雷达在第二导轨右侧时的平移矩阵；l _v表示雷达在位置j处与第一测距仪的距离，l _h表示雷达在位置j处与第二测距仪的距离，

表示雷达在第一导轨前侧时与第一测距仪的距离，

表示雷达在第二导轨左侧时与第二测距仪距离的距离，

表示雷达在第二导轨右侧时与第二测距仪距离的距离，θ ₁₃表示雷达从第二导轨左侧到第二导轨右侧的旋转角轴向量，|θ ₁₃|表示雷达从第二导轨左侧到第二导轨右侧的旋转角角度大小。 In combination with the first aspect, in a possible implementation, if the radar is a single lidar, when the radar moves to position j, and

When , the rotation matrix of the radar at position j is

The translation matrix is

Among them, R ₁ represents the rotation matrix when the radar is on the left side of the second guide rail, t ₁ represents the rotation matrix translation matrix when the radar is on the left side of the second guide rail, and R ₃ represents the rotation matrix when the radar is on the right side of the second guide rail , t ₃ represents the translation matrix when the radar is on the right side of the second guide rail; l _v represents the distance between the radar at position j and the first range finder, l _h represents the distance between the radar at position j and the second range finder,

Indicates the distance between the radar and the first range finder when the radar is at the front side of the first guide rail,

Indicates the distance between the radar and the second rangefinder when the radar is on the right side of the second guide rail, θ ₁₃ indicates the rotation angle axis vector of the radar from the left side of the second guide rail to the right side of the second guide rail, |θ ₁₃ | The rotation angle from the left side of the second guide rail to the right side of the second guide rail.

该实施例中，当雷达是单激光雷达时，可以计算出雷达移动在第二导轨的位置j时的外参值，进一步提升后续信息融合的准确性。In this embodiment, when the radar is a single laser radar, the external parameter value when the radar moves at the position j of the second guide rail can be calculated to further improve the accuracy of subsequent information fusion.

结合第一方面，在一种可能的实现方式中，移动设备包括以下任意一种：自动驾驶出租车、地图采集车。With reference to the first aspect, in a possible implementation manner, the mobile device includes any one of the following: a self-driving taxi and a map collection vehicle.

附图说明Description of drawings

图1为本申请一个实施例提供的智能驾驶***的结构性示意图；FIG. 1 is a structural schematic diagram of an intelligent driving system provided by an embodiment of the present application;

图2为本申请一个实施例提供的雷达***的结构性示意图；FIG. 2 is a schematic structural diagram of a radar system provided by an embodiment of the present application;

图3为本申请一个实施例提供的现有技术中的雷达安装的结构性示意图；FIG. 3 is a structural schematic diagram of radar installation in the prior art provided by an embodiment of the present application;

图4为本申请另一个实施例提供的雷达***的结构性示意图；FIG. 4 is a schematic structural diagram of a radar system provided by another embodiment of the present application;

图5为本申请一个实施例提供的雷达移动方向的结构性示意图；FIG. 5 is a structural schematic diagram of a radar moving direction provided by an embodiment of the present application;

图6为本申请一个实施例提供的雷达在车辆后部的有效数据和无效数据的示意图；Fig. 6 is a schematic diagram of valid data and invalid data of the radar at the rear of the vehicle provided by an embodiment of the present application;

图7为本申请另一个实施例提供的雷达***的结构性示意图；FIG. 7 is a schematic structural diagram of a radar system provided by another embodiment of the present application;

图8为本申请一个实施例提供的雷达装配装置的一种机械结构示意图；FIG. 8 is a schematic diagram of a mechanical structure of a radar assembly device provided by an embodiment of the present application;

图9为本申请一个实施例提供的一种测距仪的安装示意图。Fig. 9 is a schematic diagram of installation of a range finder provided by an embodiment of the present application.

具体实施方式detailed description

图1为本申请一个实施例提供的智能驾驶***的结构性示意图。如图1所示，该***包括雷达101和移动设备102(图中以车辆为例示出)。通常，雷达101放置于移动设备102上，移动设备102通过雷达101获取外界环境信息以及自身相对于环境的位姿，以防止移动设备102与其他物体或者人碰撞。FIG. 1 is a schematic structural diagram of an intelligent driving system provided by an embodiment of the present application. As shown in FIG. 1 , the system includes a radar 101 and a mobile device 102 (a vehicle is taken as an example in the figure). Usually, the radar 101 is placed on the mobile device 102, and the mobile device 102 obtains external environment information and its own position relative to the environment through the radar 101, so as to prevent the mobile device 102 from colliding with other objects or people.

目前，通常需要将多个雷达101(如图中示出了5个雷达)放置于移动设备102上，以覆盖不同范围的视角，从而获得不同范围的外界环境信息。Currently, it is usually necessary to place multiple radars 101 (five radars are shown in the figure) on the mobile device 102 to cover different ranges of viewing angles, so as to obtain different ranges of external environment information.

然而，当采用多个雷达获取不同范围的外界信息时，会导致成本的增加。However, when multiple radars are used to obtain external information in different ranges, the cost will increase.

例如，若使用激光雷达(light detection and ranging，Lidar)获取外界信息，由于激光雷达的价格比较昂贵，当采用多个激光雷达时，成本会急剧上升。For example, if you use Lidar (light detection and ranging, Lidar) to obtain external information, since the price of Lidar is relatively expensive, when multiple Lidars are used, the cost will rise sharply.

鉴于此，本申请提供一种雷达***，能够保证在获取不同范围的外界环境信息的情况下，还能够降低成本；此外，本申请的雷达***，可以控制雷达的发射频率和/或视场角，从而让雷达在不同的场景下，有不同的发射频率和/或FOV，从而减小无效数据的获取。In view of this, the present application provides a radar system, which can ensure that the cost can be reduced while obtaining different ranges of external environment information; in addition, the radar system of the present application can control the transmission frequency and/or field of view of the radar , so that the radar has different transmission frequencies and/or FOVs in different scenarios, thereby reducing the acquisition of invalid data.

图2为本申请一个实施例提供的雷达***的俯视图结构。如图2所示，本申请实施例提供的雷达***包括第一导轨201、雷达202、第一移动装置203、移动控制器(图中未示出)和移动设备204。Fig. 2 is a top view structure of a radar system provided by an embodiment of the present application. As shown in FIG. 2 , the radar system provided by the embodiment of the present application includes a first guide rail 201 , a radar 202 , a first mobile device 203 , a mobile controller (not shown in the figure) and a mobile device 204 .

该实施例提供的雷达***中，第一导轨201用于固定在部署雷达***的移动设备204上。In the radar system provided in this embodiment, the first guide rail 201 is used to be fixed on a mobile device 204 where the radar system is deployed.

其中，图2所示的移动设备204为车辆仅是一种示例，并不构成对本申请的限制。例如，还可以是无人机等等。The fact that the mobile device 204 shown in FIG. 2 is a vehicle is only an example, and does not constitute a limitation to the present application. For example, it can also be a drone or the like.

雷达202固定在第一移动装置203上，移动控制器通过控制第一移动装置203在第一导轨201上移动，以达到控制雷达在第一导轨201上的移动。The radar 202 is fixed on the first mobile device 203 , and the mobile controller controls the movement of the radar on the first guide rail 201 by controlling the first mobile device 203 to move on the first guide rail 201 .

可以理解的是，由于雷达202是固定在第一移动装置203上的，因此，只要第一移动装置203有移动，就会伴随着雷达202的移动。并且，雷达202移动的方向和位移与第一移动装置203移动的方向和位移相同。It can be understood that since the radar 202 is fixed on the first mobile device 203 , as long as the first mobile device 203 moves, it will be accompanied by the movement of the radar 202 . Moreover, the moving direction and displacement of the radar 202 are the same as the moving direction and displacement of the first mobile device 203 .

该实施例提供的雷达***，可以通过移动控制器控制第一移动装置在第一导轨上的移动来控制雷达在第一导轨上的移动，使得雷达能够移动到移动设备的不同位置上，以达到使用一个雷达也能够获得不同范围的外界信息。相比现有技术，本申请不需要在移动设备的第一导轨方向上的不同位置安装雷达，只需要一个雷达通过移动的方式就可以到达第一导轨上的不同位置，从而获得不同范围的外界信息，减少了雷达的数量，从而降低了成本。The radar system provided by this embodiment can control the movement of the radar on the first guide rail by controlling the movement of the first mobile device on the first guide rail through the mobile controller, so that the radar can move to different positions of the mobile device to achieve Different ranges of external information can also be obtained using one radar. Compared with the prior art, this application does not need to install radars at different positions in the direction of the first guide rail of the mobile device, and only needs one radar to reach different positions on the first guide rail by moving, thereby obtaining different ranges of the outside world information, reducing the number of radars and thus reducing costs.

进一步地，由于是雷达是安装在第一导轨上，而不是直接安装在移动设备上，因此减少了雷达与不同移动设备之间的耦合，有利于雷达在移动设备上安装的标准化。Further, since the radar is installed on the first guide rail instead of directly on the mobile device, the coupling between the radar and different mobile devices is reduced, which is conducive to the standardization of radar installation on the mobile device.

示例性地，以雷达是激光雷达、移动设备204是车辆为例，为了获得不同的外界信息，车辆204的车身上通常需要安装多个激光雷达。在该示例中，将第一导轨的方向称为垂直方向，在现有技术中，假设在垂直方向上，认为如图3所示的3个位置上的外界信息比较重要，因此一般在该3个位置上安装3个激光雷达(如图3所示)，而在本实施例中，只需要在该垂直方向上安装一个第一导轨，然后通过移动控制器控制激光雷达在该第一导轨上移动，就可以使得一个激光雷到达不同的位置。Exemplarily, taking the radar as a laser radar and the mobile device 204 as a vehicle as an example, in order to obtain different external information, a body of the vehicle 204 usually needs to install multiple laser radars. In this example, the direction of the first guide rail is called the vertical direction. In the prior art, it is assumed that in the vertical direction, the external information at the three positions shown in FIG. 3 laser radars (as shown in Figure 3) are installed on each position, and in the present embodiment, only need install a first guide rail on this vertical direction, then control laser radar on this first guide rail by mobile controller By moving, you can make a laser mine go to a different location.

作为一个可选的实施例，在图2所示的雷达***中，第一移动装置包括转动轮，移动控制器用于控制转动轮转动。As an optional embodiment, in the radar system shown in FIG. 2 , the first moving device includes a turning wheel, and the movement controller is used to control the turning of the turning wheel.

该实施例中，移动控制器可以通过控制转动轮的转动来控制雷达在第一导轨上的移动，使得雷达能够移动到移动设备的不同位置上，来实现雷达移动到移动设备的不同位置。In this embodiment, the mobile controller can control the movement of the radar on the first guide rail by controlling the rotation of the rotating wheel, so that the radar can move to different positions of the mobile device, thereby realizing the movement of the radar to different positions of the mobile device.

在此说明的是，该实施例对第一转动轮包括的个数不做限制，例如可以是使用2个转动轮来完成可以移动的功能，也可以是使用4个转动轮来完成可以移动的功能。并且，本申请实施例对转动轮的位置也不做限定，例如可以是两个转动轮固定在雷达的左侧，两个转动轮固定在雷达的右侧，可以根据不同的需求来确定。What is explained here is that this embodiment does not limit the number of the first rotating wheels. For example, two rotating wheels can be used to complete the movable function, or four rotating wheels can be used to complete the movable function. Features. Moreover, the embodiment of the present application does not limit the position of the rotating wheels. For example, two rotating wheels may be fixed on the left side of the radar, and two rotating wheels may be fixed on the right side of the radar, which may be determined according to different requirements.

作为一个可选的实施例，雷达***还可以包括第一固定装置，该第一固定装置用于将雷达固定在目标位置。As an optional embodiment, the radar system may further include a first fixing device, where the first fixing device is used to fix the radar at the target position.

可以理解的是，移动设备可能一直处于移动的状态，此时，当雷达从一个位置移动到另一个位置后，可能会由于移动设备的移动而造成雷达相对于移动设备的位移。It can be understood that the mobile device may always be in a moving state. At this time, when the radar moves from one position to another, the movement of the mobile device may cause the radar to move relative to the mobile device.

在此说明的是，在智能驾驶领域中，为了能够获得更全面的外界信息数据，通常除了使用雷达传感器外，还会使用其他类型的传感器，例如是超声波传感器、毫米波传感器等等。此时，在获得各个传感器获取的外界信息数据后，便可以对这些数据进行融合，从而获得一个融合后的更加精确的数据。而在信息融合时，一个非常关键的因素就是各个传感器的外参。如果外参不准确，最后融合的结果也就不准确，从而影响信息融合的准确率。It is explained here that in the field of intelligent driving, in order to obtain more comprehensive external information data, in addition to using radar sensors, other types of sensors are usually used, such as ultrasonic sensors, millimeter wave sensors, and so on. At this time, after obtaining the external information data obtained by each sensor, these data can be fused, so as to obtain more accurate fused data. In information fusion, a very critical factor is the external parameters of each sensor. If the external parameters are inaccurate, the final fusion result will be inaccurate, which will affect the accuracy of information fusion.

其中，有关外参的概念和详细描述可以参考相关技术中的描述，此处不再赘述。Wherein, for the concept and detailed description of the external parameters, reference may be made to the descriptions in related technologies, which will not be repeated here.

还在此说明的是，雷达在不同的位置处的外参是不一样的。因此，如果雷达移动到某一个位置后，如果由于移动设备的移动而造成雷达相对于移动设备的位移，就会导致雷达的外参发生变化。进一步地，会降低后续信息融合的准确率。It is also explained here that the external parameters of the radar at different positions are different. Therefore, if the radar moves to a certain position, if the displacement of the radar relative to the mobile device is caused by the movement of the mobile device, the external parameters of the radar will change. Further, the accuracy rate of subsequent information fusion will be reduced.

鉴于此，在该实施例中，通过第一固定装置将雷达固定在目标位置，从而可以让雷达不随移动设备的移动而造成相对于移动设备的位移，可以使得雷达在目标位置时的外参不发生变化，进一步提升后续信息融合的准确性。In view of this, in this embodiment, the radar is fixed at the target position by the first fixing device, so that the radar does not cause displacement relative to the mobile device as the mobile device moves, and the external parameters of the radar at the target position are not changed. Changes will further improve the accuracy of subsequent information fusion.

其中，本申请实施例对固定装置的具体形式不做限定。例如可以是通过螺丝打入螺孔的方式固定，也可以是通过通电磁块的方式固定。Wherein, the embodiment of the present application does not limit the specific form of the fixing device. For example, it may be fixed by driving screws into screw holes, or by passing through an electromagnetic block.

示例性地，图4所示为本申请另一个实施例提供的雷达***的结构性示意图。如图4所示，第一导轨上还包括螺孔205，第一固定装置包括第一电机(图中未示出)和螺丝206，螺丝206的一端与雷达202连接，第一电机用于控制螺丝206运动至螺孔205内。Exemplarily, FIG. 4 is a schematic structural diagram of a radar system provided by another embodiment of the present application. As shown in Figure 4, the first guide rail also includes a screw hole 205, the first fixing device includes a first motor (not shown) and a screw 206, one end of the screw 206 is connected with the radar 202, and the first motor is used to control The screw 206 moves into the screw hole 205 .

在此说明的是，上述实施例仅是示例性地给出了使用一个螺丝与螺孔固定雷达的实现方式，也可以通过多个螺丝和多个螺孔来将雷达固定在目标位置，本申请实施例对此不做限定。It should be noted here that the above-mentioned embodiment is only an example of how to fix the radar with one screw and a screw hole, and the radar can also be fixed at the target position through multiple screws and multiple screw holes. The embodiment does not limit this.

该雷达***中，可以通过第一电机控制螺丝运动至第一导轨上的螺孔内，从而让雷达固定于第一导轨上，可以在雷达到达目标位置时，保持外参不发生变化，进一步降低后续信息融合的准确率。In this radar system, the first motor can control the screw to move into the screw hole on the first guide rail, so that the radar can be fixed on the first guide rail, and the external parameters can be kept unchanged when the radar reaches the target position, further reducing the The accuracy of subsequent information fusion.

作为一个可选的实施例，雷达***还可以包括第二固定装置，第二固定装置用于将第一移动装置的移动轨迹固定在第一导轨上。As an optional embodiment, the radar system may further include a second fixing device, and the second fixing device is used to fix the moving track of the first moving device on the first guide rail.

可以理解的是，雷达***通过移动控制器控制第一移动装置来实现雷达移动到移动设备上的不同位置时，有可能会出现第一移动装置脱离第一导轨的情况，因此，该实施例中，为了增加雷达***的鲁棒性，还增加第二固定装置，以使得第一移动装置的移动轨迹能够不脱离第一导轨。It can be understood that when the radar system moves the radar to different positions on the mobile device by controlling the first mobile device through the mobile controller, the first mobile device may break away from the first guide rail. Therefore, in this embodiment , in order to increase the robustness of the radar system, a second fixing device is also added, so that the moving track of the first mobile device can not deviate from the first guide rail.

在一种可能的实现方式中，第二固定装置包括位于雷达表面上的凹槽，所述凹槽用于嵌入第一导轨的上臂。In a possible implementation manner, the second fixing device includes a groove on the radar surface, and the groove is used to embed the upper arm of the first guide rail.

该实现方式中，可以通过将雷达表面上的凹槽嵌入于第一导轨的上臂，从而实现将雷达的移动轨迹固定在第一导轨上，进一步地，由于雷达固定在第一移动装置上，从而也使得第一移动装置的移动轨迹固定在了第一导轨上，从而可以避免第一移动装置的移动轨迹脱离第一导轨。In this implementation, the radar track can be fixed on the first guide rail by embedding the groove on the surface of the radar into the upper arm of the first guide rail. Further, since the radar is fixed on the first mobile device, the It also makes the moving track of the first mobile device fixed on the first guide rail, so that the moving track of the first moving device can be prevented from detaching from the first guide rail.

作为一个可选的实施例，移动控制器还可以用于：基于移动设备的行驶信息控制第一移动装置的移动方向和/或移动距离。As an optional embodiment, the mobile controller may also be configured to: control the moving direction and/or the moving distance of the first mobile device based on the driving information of the mobile device.

其中，行驶信息例如可以是移动设备的移动方向、移动设备的移动速度等等，本实施例对此不做限定。The driving information may be, for example, the moving direction of the mobile device, the moving speed of the mobile device, etc., which are not limited in this embodiment.

该实施例中，移动控制器还可以根据移动设备的行驶信息，确定第一移动装置的移动方向或者移动距离。In this embodiment, the mobile controller may also determine the moving direction or moving distance of the first mobile device according to the driving information of the mobile device.

在一种可能的实现方式中，例如行驶信息包括移动设备的移动方向，移动控制器可以用于控制第一移动装置的移动方向与移动设备的移动方向相同。In a possible implementation manner, for example, the driving information includes the moving direction of the mobile device, and the mobile controller may be used to control the moving direction of the first mobile device to be the same as the moving direction of the mobile device.

该实现方式中，移动控制器可以控制第一移动装置的移动方向与移动设备的移动方向一致。例如，当车辆向前行驶时，可以认为移动设备前方的环境信息相对比较重要，此时移动控制器可以控制第一移动装置向前运动(如图5(a)所示)，从而获取前方的外界信息；当车辆后退时，可以认为移动设备后侧的环境信息相对比较重要，此时移动控制器就可以控制第一移动装置向后运动(如图5(b)所示)，从而获取后侧的外界信息；当车辆左转时，可以认为移动设备左侧方的环境信息相对比较重要，此时移动控制器可以控制第一移动装置向左运动(如图5(c)所示)，从而获取左侧方的外界信息；当车辆右转时，可以认为移动设备右侧方的环境信息相对比较重要，此时移动控制器可以控制第一移动装置向右运动(如图5(d)所示)，从而获取右侧方的外界信息。In this implementation manner, the mobile controller may control the moving direction of the first mobile device to be consistent with the moving direction of the mobile device. For example, when the vehicle is moving forward, it can be considered that the environmental information in front of the mobile device is relatively important. At this time, the mobile controller can control the first mobile device to move forward (as shown in Figure 5(a)), so as to obtain the front environment information External information; when the vehicle moves backwards, it can be considered that the environmental information on the rear side of the mobile device is relatively important, and at this time the mobile controller can control the first mobile device to move backward (as shown in Figure 5(b)), thereby obtaining the rear side external information; when the vehicle turns left, it can be considered that the environmental information on the left side of the mobile device is relatively important, and at this time the mobile controller can control the first mobile device to move to the left (as shown in Figure 5(c)), In order to obtain the external information on the left side; when the vehicle turns right, it can be considered that the environmental information on the right side of the mobile device is relatively important, and at this time the mobile controller can control the first mobile device to move to the right (as shown in Figure 5(d) shown), so as to obtain the external information on the right side.

可选地，导轨包括线槽，线槽用于放置移动控制器与第一移动装置之间的连接线、雷达和移动设备之间的连接线，或移动控制器与移动设备之间的连接线。Optionally, the guide rail includes a wire slot, and the wire slot is used to place a connecting wire between the mobile controller and the first mobile device, a connecting wire between the radar and the mobile device, or a connecting wire between the mobile controller and the mobile device .

作为一个可选的实施例，本申请的雷达***还可以包括微控制单元，所述微控制单元用于控制雷达的发射频率和/或视场角FOV。As an optional embodiment, the radar system of the present application may further include a micro control unit, and the micro control unit is used to control the transmission frequency and/or the field of view FOV of the radar.

应理解，移动设备在行驶时，其行驶的速度有可能是比较高的速度，又或者是比较慢的速度(例如是比较拥堵的环境)。对于高速的情况而言，移动设备就需要实时获取到外界环境的信息的变化(可以认为移动设备对外界环境的变化比较敏感)，以能够实时做出决策，因此，如果该移动设备通过雷达获取外界环境的信息的变化时，雷达就应该有较高的发射频率，从而更快的更新用于描述周围环境的点云数据。而对于低速的情况，移动设备可能对外界环境的信息的变化并不敏感，例如在拥堵的情况下，移动设备可能一直处于某一个位置，并且其周围环境在此时可能未有变化，此时，雷达就不需要高的发射频率。例如如果在高速情况下，激光雷达的发射频率是100毫秒(ms)更新一次，那么在低速情况下，激光雷达的发射频率可以是一秒钟更新一次。It should be understood that when the mobile device is driving, its driving speed may be relatively high or relatively slow (for example, in a relatively congested environment). For high-speed situations, mobile devices need to obtain information changes in the external environment in real time (it can be considered that mobile devices are more sensitive to changes in the external environment) in order to be able to make real-time decisions. Therefore, if the mobile device acquires information through radar When the information of the external environment changes, the radar should have a higher transmission frequency, so as to update the point cloud data used to describe the surrounding environment faster. For low-speed situations, the mobile device may not be sensitive to changes in the information of the external environment. , the radar does not need a high transmission frequency. For example, if the emission frequency of the lidar is updated every 100 milliseconds (ms) at high speed, then the emission frequency of the lidar can be updated every second at low speed.

对于雷达而言，在获取外界环境信息时，雷达都会有一个视场角。由于移动设备自身区域的遮挡，会导致雷达在使用该视场角获取外界环境信息时，获得的点云数据中有些是移动设备自身的，而这些关于移动设备自身的点云数据对于移动设备来说是不需要的，因此，本申请实施例中，也将该遮挡区域称为无效区域。For radar, when acquiring external environmental information, the radar will have a field of view. Due to the occlusion of the mobile device's own area, when the radar uses this field of view to obtain external environment information, some of the point cloud data obtained are from the mobile device itself, and these point cloud data about the mobile device itself are of great importance to the mobile device. It is unnecessary to say that, therefore, in the embodiment of the present application, the occluded area is also referred to as an invalid area.

可以理解的是，当雷达处于移动设备上的不同位置时，移动设备对雷达的遮挡区域是有变化的，即无效区域是变化的，因此，当雷达处于不同的位置时，其视场角应该是有变化的。鉴于此，该实施例中，当雷达处于不同的位置时，通过微控制器控制雷达在不同的位置有不同的视场角。It can be understood that when the radar is in different positions on the mobile device, the mobile device's occlusion area for the radar changes, that is, the invalid area changes. Therefore, when the radar is in different positions, its field of view should be There are changes. In view of this, in this embodiment, when the radar is at different positions, the microcontroller controls the radar to have different field of view angles at different positions.

例如，雷达在移动设备的前侧和后侧时，移动设备的遮挡区域是不同的，因此微控制单元可以在不同的位置处改变FOV。如图6所示，当雷达处于移动设备的后部时，前方俯仰角负值的区域存在大量无效数据，该数据就不进行转发，从而减小中央处理器的无效消耗。For example, when the radar is on the front side and the back side of the mobile device, the occlusion area of the mobile device is different, so the MCU can change the FOV at different positions. As shown in Figure 6, when the radar is at the rear of the mobile device, there is a large amount of invalid data in the area with a negative pitch angle in front, and the data will not be forwarded, thereby reducing the invalid consumption of the central processing unit.

作为一个可选的实施例，雷达***还可以包括第二导轨和第二移动装置，第二导轨与第一导轨相交，雷达固定在第二移动装置上，移动控制器用于控制第二移动装置在第二导轨上移动，第二导轨用于固定在移动设备上。As an optional embodiment, the radar system may further include a second guide rail and a second mobile device, the second guide rail intersects the first guide rail, the radar is fixed on the second mobile device, and the mobile controller is used to control the second mobile device to Move on the second guide rail, and the second guide rail is used to fix on the mobile device.

其中，第二导轨例如可以是与第一导轨垂直的导轨，又或者是可以与第一导轨的夹角等于某一个设定值的导轨，本申请实施例对此不做限定。Wherein, the second guide rail may be, for example, a guide rail perpendicular to the first guide rail, or a guide rail whose included angle with the first guide rail is equal to a certain set value, which is not limited in this embodiment of the present application.

在此说明的是，第二导轨和第二移动装置以及移动控制器用于控制第二移动装置在第二导轨上移动的具体实现方式可以类比于第一导轨、第一移动装置以及移动控制器用于控制第一移动装置在第一导轨上移动，此处不再赘述。It is explained here that the specific implementation of the second guide rail, the second mobile device and the mobile controller for controlling the second mobile device to move on the second guide rail can be compared to the first guide rail, the first mobile device and the mobile controller for Controlling the first moving device to move on the first guide rail will not be repeated here.

当雷达***包括第一导轨和第二导轨时，雷达***还可以包括第一升降装置和第二升降装置，第一升降装置用于在第二移动装置在第二导轨上移动时控制第一移动装置离开第二导轨的轨面，第二升降装置用于第一移动装置在第一导轨上移动时控制第二移动装置离开第一导轨的轨面。When the radar system includes a first guide rail and a second guide rail, the radar system may further include a first elevating device and a second elevating device, the first elevating device is used to control the first movement when the second mobile device moves on the second guide rail The device leaves the rail surface of the second guide rail, and the second lifting device is used to control the second mobile device to leave the rail surface of the first guide rail when the first mobile device moves on the first guide rail.

示例性地，图7为本申请另一个实施例提供的雷达***的结构性示意图。该实施例中，雷达***包括第一导轨1和第二导轨2和雷达装配装置3。并且，该实施例中，第一导轨1和第二导轨2上存在螺孔，用于固定雷达装配装置3。Exemplarily, FIG. 7 is a schematic structural diagram of a radar system provided in another embodiment of the present application. In this embodiment, the radar system includes a first guide rail 1 and a second guide rail 2 and a radar assembly device 3 . Moreover, in this embodiment, there are screw holes on the first guide rail 1 and the second guide rail 2 for fixing the radar assembly device 3 .

本实施例中，将第一导轨1的方向称为垂直方向，第二导轨2的方向称为水平方向。将雷达在第一导轨1上的移动称为前后移动，将雷达在第二导轨2上的移动称为左右移动。In this embodiment, the direction of the first guide rail 1 is called the vertical direction, and the direction of the second guide rail 2 is called the horizontal direction. The movement of the radar on the first guide rail 1 is called forward and backward movement, and the movement of the radar on the second guide rail 2 is called left and right movement.

其中，图8所示为雷达装配装置3的一种机械结构示意图。图8(a)示出了雷达装配装置的正视图，图8(b)示出了雷达装配装置的侧视图，图8(c)示出了雷达装配装置的俯视图。Wherein, FIG. 8 is a schematic diagram of a mechanical structure of the radar assembly device 3 . Fig. 8(a) shows a front view of the radar assembly device, Fig. 8(b) shows a side view of the radar assembly device, and Fig. 8(c) shows a top view of the radar assembly device.

本实施例中的雷达装配装置3中包括雷达3-1，螺丝3-2，用于在第一导轨1上移动的第一移动装置3-3(该实施例中以第一移动装置包括4个转向轮，将2个转向轮为一组放置于雷达的左右两侧)，用于在第二导轨2上移动的第二移动装置3-4(该实施例中第二移动装置包括4个转向轮，将2个转向轮为一组放置于雷达的前后两侧)，并且，每个转向轮上都包括升降装置3-5，该升降装置3-5可以控制转向轮的升降。此外，可选地，还可以包括雷达的支撑支架3-6。Include radar 3-1 in the radar assembly device 3 in the present embodiment, screw 3-2, be used for moving on the first guide rail 1 first moving device 3-3 (comprise 4 with the first moving device in this embodiment two steering wheels, 2 steering wheels are placed as a group on the left and right sides of the radar), and the second mobile device 3-4 for moving on the second guide rail 2 (the second mobile device includes 4 in this embodiment) Steering wheel, 2 steering wheels are placed as a group on the front and rear sides of the radar), and each steering wheel includes a lifting device 3-5, and this lifting device 3-5 can control the lifting of the steering wheel. In addition, optionally, a support bracket 3-6 for the radar may also be included.

其中，螺丝3-2可以通过打入第一导轨1或者第二导轨2上的螺孔使得雷达装配装置固定在目标位置上。Wherein, the screws 3-2 can be driven into the screw holes on the first guide rail 1 or the second guide rail 2 to fix the radar assembly device at the target position.

第一移动装置用于雷达前后移动，第二移动装置用于雷达左右移动。该实施例中，移动控制器可以通过控制不同的第一移动装置和第二移动装置的升降，来实现雷达在第一导轨1上的前后移动或者第二导轨2上的左右移动。The first moving device is used for moving the radar back and forth, and the second moving device is used for moving the radar left and right. In this embodiment, the mobile controller can realize the forward and backward movement of the radar on the first guide rail 1 or the left and right movement on the second guide rail 2 by controlling the elevation of different first and second mobile devices.

例如，当雷达需要前后移动时，即雷达在第一导轨1上移动时，移动前，雷达底部的螺丝固件旋转上升，第一移动装置下降，第二移动装置上升。因此雷达能够前后移动。一旦雷达移动到指定位置后，第二移动装置就可以下放，同时螺丝固件固定往下放置到第一导轨中的螺孔内。For example, when the radar needs to move back and forth, that is, when the radar moves on the first guide rail 1, before moving, the screw firmware at the bottom of the radar rotates up, the first mobile device descends, and the second mobile device rises. So the radar is able to move back and forth. Once the radar is moved to the designated position, the second mobile device can be lowered, and at the same time, the screw fixture is fixed down and placed in the screw hole in the first guide rail.

又例如，当雷达需要前后移动时，即雷达在第二导轨2上移动时，移动前，雷达底部的螺丝固件旋转上升，第二移动装置下降，第一移动装置上升。因此，雷达能够左右移动。一旦雷达移动到指定位置后，第一移动装置就可以下放，同时螺丝固件固定往下放置到第一导轨中的螺孔内。For another example, when the radar needs to move back and forth, that is, when the radar moves on the second guide rail 2, before moving, the screw firmware at the bottom of the radar rotates up, the second mobile device descends, and the first mobile device rises. Therefore, the radar is able to move left and right. Once the radar is moved to the designated position, the first mobile device can be lowered, and at the same time, the screw firmware is fixed down and placed in the screw holes in the first guide rail.

本申请实施例提供的雷达***，可以通过第一升降装置与第二升降装置的上升或者下降来实现雷达在第一导轨或者第二导轨上的移动。可以理解的是，相比只有第一导轨的雷达***，包括第一导轨和第二导轨的雷达***可以进一步降低雷达的个数，从而进一步降低成本。The radar system provided in the embodiment of the present application can realize the movement of the radar on the first guide rail or the second guide rail by raising or lowering the first lifting device and the second lifting device. It can be understood that, compared with the radar system with only the first guide rail, the radar system including the first guide rail and the second guide rail can further reduce the number of radars, thereby further reducing the cost.

作为一个可选的实施例，图7所示的雷达***中，还可以在第一导轨的一端安装第一测距仪，在第二导轨的一端安装第二测距仪，第一测距仪用于测量雷达距离第一测距仪的距离，第二测距仪用于测量雷达距离第二测距仪的距离。As an optional embodiment, in the radar system shown in Figure 7, a first range finder can also be installed at one end of the first guide rail, a second range finder can be installed at one end of the second guide rail, and the first range finder It is used to measure the distance from the radar to the first range finder, and the second range finder is used to measure the distance from the radar to the second range finder.

示例性地，图9所示为该实施例提供的一种测距仪的安装示意图。如图9所示，在第一导轨的下方安装第一测距仪，在第二导轨的右侧安装第二测距仪。可以理解的是，当雷达位于第一导轨时，可以通过第一测距仪测出该雷达在第一导轨上的位置；当雷达位于第二导轨时，可以第二测距仪可以测出该雷达在第二导轨上的位置。Exemplarily, FIG. 9 is a schematic diagram of installation of a range finder provided in this embodiment. As shown in FIG. 9 , a first range finder is installed under the first guide rail, and a second range finder is installed on the right side of the second guide rail. It can be understood that when the radar is located on the first guide rail, the position of the radar on the first guide rail can be measured by the first range finder; when the radar is located on the second guide rail, the second range finder can measure the position of the radar. The position of the radar on the second rail.

在此说明的是，图9所示实施例仅是示例性地给出一种测距仪的安装示意图。也可以在第一导轨的上方安装第一测距仪和在第二导轨的左侧安装第二测距仪，又或者可以在第一导轨的上方安装第一测距仪和在第二导轨的右侧安装第二测距仪等，本申请实施例对此不做限定。It should be noted here that the embodiment shown in FIG. 9 is only an exemplary installation schematic view of a range finder. It is also possible to install the first range finder above the first guide rail and the second range finder on the left side of the second guide rail, or to install the first range finder above the first guide rail and the second range finder on the left side of the second guide rail. The second range finder and the like are installed on the right side, which is not limited in this embodiment of the present application.

在图9所示的包括第一测距仪和第二测距仪的情况下，可选地，当雷达为单激光雷达时，本申请实施例的雷达***还可以计算出雷达在不同位置处的外参值。In the case of including the first range finder and the second range finder shown in Figure 9, optionally, when the radar is a single lidar, the radar system in the embodiment of the present application can also calculate the radar at different positions The external parameter value.

在一种可实现方式中，由于只存在第一导轨和第二导轨两个自由度的变化，因此可以通过两个单点测距实时解算出雷达在目标位置的外参值。In an achievable manner, since there are only two degrees of freedom changes of the first guide rail and the second guide rail, the extrinsic value of the radar at the target position can be calculated in real time through two single-point ranging.

在一种可实施方案中，可以通过事先标定好最边界的前后左右四个位置值的外参值，通过插值拟合，实时解算出雷达在目标位置的外参。In a possible implementation, the extrinsic parameters of the radar at the target position can be calculated in real time by pre-calibrating the extrinsic parameters of the front, rear, left, and right positions of the most boundary, and through interpolation fitting.

例如，以图9所示为例，首先在移动设备出厂前，对雷达在位置1、位置2、位置3和位置处4这四个位置处标定好雷达对应的相对于移动设备的外参值，以及测距仪测量出的距离。For example, take the example shown in Figure 9. First, before the mobile device leaves the factory, the radar is calibrated at the four positions of position 1, position 2, position 3, and position 4. The external parameter values corresponding to the radar relative to the mobile device , and the distance measured by the rangefinder.

假设在位置1处时，雷达的外参值为{R ₁，t ₁}，在位置3处时，雷达的外参值为{R ₃，t ₃}，其中，R ₁表示雷达在位置1的旋转矩阵，t ₁表示雷达在位置1的旋转矩阵平移矩阵，R ₃表示雷达在位置3时的旋转矩阵，t ₃表示雷达在位置3时的平移矩阵。 Assume that at position 1, the external parameter value of the radar is {R ₁ , t ₁ }, at position 3, the external parameter value of the radar is {R ₃ , t ₃ }, where R ₁ means that the radar is at position 1 The rotation matrix of , t ₁ represents the rotation matrix translation matrix of the radar at position 1, R ₃ represents the rotation matrix of the radar at position 3, and t ₃ represents the translation matrix of the radar at position 3.

假设在位置2时，雷达的外参值为{R ₂，t ₂}，在位置4处时，雷达外参值为{R ₄，t ₄}。其中，R ₂表示雷达在位置2的旋转矩阵，t ₂表示雷达在位置2的平移矩阵，R ₄表示雷达在位置4的旋转矩阵，t ₄表示雷达在位置4平移矩阵。 Assume that at position 2, the external parameter value of the radar is {R ₂ , t ₂ }, and at position 4, the external parameter value of the radar is {R ₄ , t ₄ }. Among them, R2 represents the rotation matrix of the radar at position ₂ , _t2 represents the translation matrix of the radar at position 2, R4 represents the rotation matrix of the radar at position ₄ , and t4 represents the translation matrix of the radar at position ₄ .

此外，假设雷达在位置1时与第二测距仪距离的距离为

雷达在位置3时与第二测距仪距离的距离为

雷达从位置1到位置3的旋转角轴向量为θ ₁₃，雷达从位置1到位置3的旋转角角度大小为|θ ₁₃|；雷达在位置2时与第一测距仪距离的距离为

雷达在位置4时与第一测距仪距离的距离为

雷达从位置2到位置4的旋转角轴向量为θ ₂₄，雷达从位置2到位置4的旋转角角度大小为|θ ₂₄|。 In addition, assume that the distance between the radar and the second range finder at position 1 is

The distance between the radar and the second range finder at position 3 is

The axis vector of the rotation angle of the radar from position 1 to position 3 is θ ₁₃ , and the rotation angle of the radar from position 1 to position 3 is |θ ₁₃ |; the distance between the radar and the first range finder at position 2 is

The distance between the radar and the first range finder at position 4 is

The axial vector of the rotation angle of the radar from position 2 to position 4 is θ ₂₄ , and the magnitude of the rotation angle of the radar from position 2 to position 4 is |θ ₂₄ |.

假设雷达在移动后，所在的目标位置为位置j，此时为了求解出在位置j处的旋转矩阵和平移矩阵，可以通过第一测距仪测量出雷达在位置j处时与第一测距仪的距离l _v，通过第二测距仪测量出雷达在位置j处时与第二测距仪的距离l _h。 Assuming that after the radar moves, the target position is position j. At this time, in order to solve the rotation matrix and translation matrix at position j, the first rangefinder can be used to measure the distance between the radar at position j and the first rangefinder The distance l _v of the radar is measured by the second range finder, and the distance l _h between the radar and the second range finder is measured at position j.

可以理解的是，当单激光雷达在发射激光时，其发射的激光的方向是朝着一个方向的，因此，如果单激光雷达的位置j在第一导轨时，第二测距仪测量出的l _h大于

如果激光雷达的位置j在第二导轨(如图中的位置j所示)时，则第一测距仪测量出的l _v大于

It can be understood that when the single laser radar emits laser light, the direction of the emitted laser light is towards one direction. Therefore, if the position j of the single laser radar is on the first guide rail, the second rangefinder measures l _h greater than

If the position j of the lidar is on the second guide rail (as shown by the position _j in the figure), the lv measured by the first rangefinder is greater than

该实施例中，一种通过位置1、位置2、位置3和位置4插值拟合的方法是：In this embodiment, a method of interpolation fitting through position 1, position 2, position 3 and position 4 is:

当

时，雷达在位置j处的旋转矩阵为

平移矩阵为

当

时，雷达在位置j处的旋转矩阵为

平移矩阵为

when

When , the rotation matrix of the radar at position j is

The translation matrix is

when

When , the rotation matrix of the radar at position j is

The translation matrix is

其中，E(a,b)表示从一个向量b作为转轴，a作为转角对应的旋转矩阵。Among them, E(a,b) represents a rotation matrix corresponding to a vector b as the rotation axis and a as the rotation angle.

该实施例提供的雷达***，可以在根据预先标定好的外参标定值快速拟合出雷达的外参，从而可以确保在雷达移动的过程中，感知、定位和融合的准确性。The radar system provided by this embodiment can quickly fit the external parameters of the radar according to the pre-calibrated external parameter calibration values, so as to ensure the accuracy of perception, positioning and fusion during the movement of the radar.

可以理解的是，对于本申请实施例提供的雷达***，若单个雷达的成本越高，例如激光雷达，该申请实施例能够降低的成本就越多。It can be understood that, for the radar system provided in the embodiment of the present application, if the cost of a single radar is higher, such as a laser radar, the cost of the embodiment of the application can be reduced more.

在此说明的是，本申请提供的雷达***可以应用在不同的移动设备上，例如该移动设备可以是自动驾驶出租车(Robotaxi)或者地图采集车。It is noted here that the radar system provided by the present application can be applied to different mobile devices, for example, the mobile device can be a robotaxi or a map collection vehicle.

作为一种示例，当本申请提供的雷达***安装在地图采集车上时，该地图采集车可以通过雷达***获得全方位的外界环境信息，然后再将该雷达***获得的外界环境信息与其他传感器获得的外界环境信息通过一定的算法进行计算，获得生产地图所需要的信息。其中，地图采集车的概念和具体实现可以参考相关技术中的描述，此处不再赘述。As an example, when the radar system provided by the application is installed on a map collection vehicle, the map collection vehicle can obtain a full range of external environment information through the radar system, and then combine the external environment information obtained by the radar system with other sensors The obtained external environment information is calculated by a certain algorithm to obtain the information required for the production map. Wherein, for the concept and specific implementation of the map collection vehicle, reference may be made to the description in related technologies, which will not be repeated here.

作为另一种示例，当本申请提供的雷达***安装在自动驾驶出租车时，该自动驾驶出租车可以通过雷达***获得全方位的外界环境信息，然后再将该雷达***获得的外界环境信息与其他传感器获得的外界环境信使用一定的算法进行融合，以便于根据融合的结果判断周围的路况，以进行下一步操作等。其中，自动驾驶出租车的概念和具体的实现可以参考相关技术中的描述，此处不再赘述。As another example, when the radar system provided by this application is installed in a self-driving taxi, the self-driving taxi can obtain a full range of external environment information through the radar system, and then combine the external environment information obtained by the radar system with the The external environment information obtained by other sensors is fused with a certain algorithm, so that the surrounding road conditions can be judged according to the fusion results, and the next step can be performed. Wherein, the concept and specific implementation of the self-driving taxi can refer to the description in related technologies, which will not be repeated here.

应理解，本文中术语“和/或”，仅仅是一种描述关联对象的关联关系，表示可以存在三种关系，例如，A和/或B，可以表示：单独存在A，同时存在A和B，单独存在B这三种情况，其中A,B可以是单数或者复数。另外，本文中字符“/”，一般表示前后关联对象是一种“或”的关系，但也可能表示的是一种“和/或”的关系，具体可参考前后文进行理解。It should be understood that the term "and/or" in this article is only an association relationship describing associated objects, which means that there may be three relationships, for example, A and/or B may mean: A exists alone, and A and B exist at the same time , there are three cases of B alone, where A and B can be singular or plural. In addition, the character "/" in this article generally indicates that the related objects are an "or" relationship, but it may also indicate an "and/or" relationship, which can be understood by referring to the context.

本申请中，“至少一个”是指一个或者多个，“多个”是指两个或两个以上。“以下至少一项(个)”或其类似表达，是指的这些项中的任意组合，包括单项(个)或复数项(个)的任意组合。例如，a,b,或c中的至少一项(个)，可以表示：a,b,c,a-b,a-c,b-c,或a-b-c，其中a,b,c可以是单个，也可以是多个。In this application, "at least one" means one or more, and "multiple" means two or more. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one item (piece) of a, b, or c can represent: a, b, c, a-b, a-c, b-c, or a-b-c, where a, b, c can be single or multiple .

应理解，在本申请的各种实施例中，上述各过程的序号的大小并不意味着执行顺序的先后，各过程的执行顺序应以其功能和内在逻辑确定，而不应对本申请实施例的实施过程构成任何限定。It should be understood that, in various embodiments of the present application, the sequence numbers of the above-mentioned processes do not mean the order of execution, and the execution order of the processes should be determined by their functions and internal logic, and should not be used in the embodiments of the present application. The implementation process constitutes any limitation.

以上所述，仅为本申请的具体实施方式，但本申请的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本申请揭露的技术范围内，可轻易想到变化或替换，都应涵盖在本申请的保护范围之内。因此，本申请的保护范围应以所述权利要求的保护范围为准。The above is only a specific implementation of the application, but the scope of protection of the application is not limited thereto. Anyone familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the application. Should be covered within the protection scope of this application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

一种雷达***，其特征在于，所述雷达***包括第一导轨、雷达、第一移动装置和移动控制器；A radar system, characterized in that the radar system includes a first guide rail, a radar, a first mobile device, and a mobile controller;

所述雷达固定在所述第一移动装置上，所述移动控制器用于控制所述第一移动装置在所述第一导轨上移动，所述第一导轨固定设置在所述移动设备上。The radar is fixed on the first mobile device, the movement controller is used to control the first mobile device to move on the first guide rail, and the first guide rail is fixedly arranged on the mobile device.
根据权利要求1所述的雷达***，其特征在于，所述第一移动装置包括转动轮，所述移动控制器用于控制所述转动轮转动。The radar system according to claim 1, wherein the first moving device comprises a turning wheel, and the movement controller is used to control the turning of the turning wheel.
根据权利要求1或2所述的雷达***，其特征在于，所述雷达***还包括第一固定装置，所述第一固定装置用于将所述雷达固定在目标位置。The radar system according to claim 1 or 2, characterized in that the radar system further comprises a first fixing device, the first fixing device is used to fix the radar at the target position.
根据权利要求3所述的雷达***，其特征在于，所述第一导轨上包括螺孔，所述第一固定装置包括第一电机和螺丝，所述螺丝的一端与所述雷达连接，所述第一电机用于控制所述螺丝运动至所述螺孔内。The radar system according to claim 3, wherein the first guide rail includes a screw hole, the first fixing device includes a first motor and a screw, one end of the screw is connected to the radar, and the The first motor is used to control the movement of the screw into the screw hole.
根据权利要求1至4中任一项所述的雷达***，其特征在于，所述雷达***还包括第二固定装置，所述第二固定装置用于将所述第一移动装置的移动轨迹固定在所述第一导轨上。The radar system according to any one of claims 1 to 4, characterized in that the radar system further comprises a second fixing device, the second fixing device is used to fix the moving track of the first moving device on the first rail.
根据权利要求5所述的雷达***，其特征在于，所述第二固定装置包括位于所述雷达表面上的凹槽，所述凹槽用于嵌入所述第一导轨的上臂。The radar system according to claim 5, characterized in that said second fixing means comprises a groove on said radar surface, said groove being adapted to engage an upper arm of said first rail.
根据权利要求1至6中任一项所述的雷达***，其特征在于，所述移动控制器用于：基于所述移动设备的行驶信息控制所述第一移动装置的移动方向和/或移动距离。The radar system according to any one of claims 1 to 6, wherein the mobile controller is configured to: control the moving direction and/or moving distance of the first mobile device based on the driving information of the mobile device .
根据权利要求7所述的雷达***，其特征在于，所述行驶信息包括所述移动设备的移动方向，所述移动控制器用于控制所述第一移动装置的移动方向与所述移动设备的移动方向相同。The radar system according to claim 7, wherein the driving information includes the moving direction of the mobile device, and the moving controller is used to control the moving direction of the first mobile device and the moving of the mobile device same direction.
根据权利要求1至8中任一项所述的雷达***，其特征在于，所述导轨包括线槽，所述线槽用于放置所述移动控制器与所述第一移动装置之间的连接线、所述雷达和所述移动设备之间的连接线，或所述移动控制器与所述移动设备之间的连接线。The radar system according to any one of claims 1 to 8, wherein the guide rail includes a wire slot for placing a connection between the mobile controller and the first mobile device line, the connecting line between the radar and the mobile device, or the connecting line between the mobile controller and the mobile device.
根据权利要求1至9中任一项所述的雷达***，其特征在于，所述雷达***还包括微控制单元，所述微控制单元用于控制所述雷达的发射频率和/或视场角FOV。The radar system according to any one of claims 1 to 9, characterized in that, the radar system further comprises a micro control unit, the micro control unit is used to control the transmission frequency and/or field of view of the radar FOV.
根据权利要求1至10中任一项所述的雷达***，其特征在于，所述雷达***还包括第二导轨和第二移动装置，所述第二导轨与所述第一导轨相交，所述雷达固定在所述第二移动装置上，所述移动控制器用于控制所述第二移动装置在所述第二导轨上移动，所述第二导轨用于固定在所述移动设备上。The radar system according to any one of claims 1 to 10, wherein the radar system further comprises a second guide rail and a second moving device, the second guide rail intersects the first guide rail, the The radar is fixed on the second mobile device, the mobile controller is used to control the second mobile device to move on the second guide rail, and the second guide rail is used to be fixed on the mobile device.
根据权利要求11所述的雷达***，其特征在于，所述雷达***还包括第一升降装置和第二升降装置，所述第一升降装置用于所述第二移动装置在所述第二导轨上移动时控制所述第一移动装置离开所述第二导轨的轨面，所述第二升降装置用于在所述第一移动装置在所述第一导轨上移动时控制所述第二移动装置离开所述第一导轨的轨面。The radar system according to claim 11, wherein the radar system further comprises a first lifting device and a second lifting device, the first lifting device is used for the second moving device to move on the second guide rail. control the first moving device to leave the rail surface of the second guide rail when moving upward, and the second lifting device is used to control the second movement when the first moving device moves on the first guide rail The device leaves the rail surface of the first guide rail.
根据权利要求11或12所述的雷达***，其特征在于，所述第一导轨的一端安装第一测距仪，所述第二导轨的一端安装第二测距仪，所述第一测距仪用于测量所述雷达距离所述第一测距仪的距离，所述第二测距仪用于测量所述雷达距离所述第二测距仪的距离。The radar system according to claim 11 or 12, wherein a first range finder is installed at one end of the first guide rail, a second range finder is installed at one end of the second guide rail, and the first range finder The meter is used to measure the distance between the radar and the first range finder, and the second range finder is used to measure the distance between the radar and the second range finder.
根据权利要求13所述的雷达***，其特征在于，若所述雷达为单激光雷达，当所述雷达移动到位置j，并且
时，所述雷达在位置j处的旋转矩阵为
平移矩阵为
The radar system according to claim 13, wherein if the radar is a single laser radar, when the radar moves to position j, and
When , the rotation matrix of the radar at position j is
The translation matrix is

其中，R ₂表示所述雷达在所述第一导轨前侧时的旋转矩阵，t ₂表示所述雷达在所述第一导轨前侧时的平移矩阵，R ₄表示所述雷达在所述第一导轨后侧时的旋转矩阵，t ₄表示所述雷达在所述第一导轨后侧时平移矩阵； Wherein, R ₂ represents the rotation matrix when the radar is at the front side of the first guide rail, t ₂ represents the translation matrix when the radar is at the front side of the first guide rail, and R ₄ represents the radar at the front side of the first guide rail. A rotation matrix when the rear side of the guide rail, t ₄ represents the translation matrix when the radar is on the rear side of the first guide rail;

l _h表示所述雷达在所述位置j处与所述第二测距仪的距离，l _v表示所述雷达在所述位置j处与所述第一测距仪的距离，
表示所述雷达在所述第二导轨左侧时与所述第二测距仪的距离，
表示所述雷达在所述第一导轨前侧时与所述第一测距仪的距离，
表示所述雷达在所述第一导轨后侧时与所述第一测距仪距离的距离，θ ₂₄表示所述雷达从所述第一导轨前侧到所述第一导轨后侧的旋转角轴向量，|θ ₂₄|表示所述雷达从所述第一导轨前侧到所述第一导轨后侧的旋转角角度大小，E(a,b)表示从一个向量b作为转轴，a作为转角对应的旋转矩阵。 l _h represents the distance between the radar at the position _j and the second range finder, and lv represents the distance between the radar at the position j and the first range finder,
Indicates the distance between the radar and the second range finder when the radar is on the left side of the second guide rail,
Indicates the distance between the radar and the first rangefinder when it is on the front side of the first guide rail,
Indicates the distance between the radar and the first range finder when it is at the rear side of the first guide rail, and _θ24 represents the rotation angle of the radar from the front side of the first guide rail to the rear side of the first guide rail Axial vector, |θ ₂₄ | represents the rotation angle of the radar from the front side of the first guide rail to the rear side of the first guide rail, E(a,b) represents a vector b as the rotation axis, and a as The rotation matrix corresponding to the corner.
根据权利要求13或14所述的雷达***，其特征在于，若所述雷达为单激光雷达，当所述雷达移动到位置j，并且
时，所述雷达在位置j处的旋转矩阵为
平移矩阵为
The radar system according to claim 13 or 14, wherein if the radar is a single lidar, when the radar moves to position j, and
When , the rotation matrix of the radar at position j is
The translation matrix is

其中，R ₁表示所述雷达在所述第二导轨左侧时的旋转矩阵，t ₁表示所述雷达在所述第二导轨左侧时的旋转矩阵平移矩阵，R ₃表示所述雷达在所述第二导轨右侧时的旋转矩阵，t ₃表示所述雷达在所述第二导轨右侧时的平移矩阵； Wherein, R ₁ represents the rotation matrix when the radar is on the left side of the second guide rail, t ₁ represents the rotation matrix translation matrix when the radar is on the left side of the second guide rail, and R ₃ represents the rotation matrix when the radar is on the left side of the second guide rail. The rotation matrix when the right side of the second guide rail is described, and _t3 represents the translation matrix when the radar is on the right side of the second guide rail;

l _v表示所述雷达在所述位置j处与所述第一测距仪的距离，l _h表示所述雷达在所述位置j处与所述第二测距仪的距离，
表示所述雷达在所述第一导轨前侧时与所述第一测距仪的距离，
表示所述雷达在所述第二导轨左侧时与所述第二测距仪距离的距离，
表示所述雷达在所述第二导轨右侧时与所述第二测距仪距离的距离，θ ₁₃表示所述雷达从所述第二导轨左侧到所述第二导轨右侧的旋转角轴向量，|θ ₁₃|表示所述雷达从所述第二导轨左侧到所述第二导轨右侧的旋转角角度大小。 lv represents the distance between the radar at the position _j and the first range finder, l _h represents the distance between the radar at the position j and the second range finder,
Indicates the distance between the radar and the first rangefinder when it is on the front side of the first guide rail,
Indicates the distance between the radar and the second rangefinder when it is on the left side of the second guide rail,
Indicates the distance between the radar and the second rangefinder when it is on the right side of the second guide rail, and _θ13 represents the rotation angle of the radar from the left side of the second guide rail to the right side of the second guide rail An axial vector, |θ ₁₃ | represents the rotation angle of the radar from the left side of the second guide rail to the right side of the second guide rail.
根据权利要求1至15中任一项所述的雷达***，其特征在于，所述移动设备包括以下任意一种：自动驾驶出租车、地图采集车。The radar system according to any one of claims 1 to 15, wherein the mobile device includes any one of the following: a self-driving taxi, a map collection vehicle.