技术领域technical field
本发明涉及一种激光雷达系统，尤其涉及一种汽车变道防撞激光雷达系统及其工作方法。The invention relates to a laser radar system, in particular to a vehicle lane change collision avoidance laser radar system and a working method thereof.
背景技术Background technique
近年来汽车普及度越来越高，公路等级越来越高，同一时间在同一公路段行驶的汽车数量越来越多同时行驶速度也越来越快。随之而来的是行车事故数量的急剧上升，其中很大一部分发生在车辆变道时。激光雷达通过发射激光脉冲并接收目标反射回波信号得到目标距离，依靠激光高精度指向性能，可以获取周围精确的三维位置信息。传统激光雷达主要应用测绘和工业安防领域，近几年来越来越多出现在生活的方方面面。In recent years, the popularity of cars has become higher and higher, and the road grades have become higher and higher. The number of cars driving on the same road section at the same time is increasing and the speed is also getting faster and faster. What followed was a sharp rise in the number of road accidents, a large proportion of which occurred when vehicles changed lanes. LiDAR obtains the target distance by emitting laser pulses and receiving target reflected echo signals. Relying on the high-precision pointing performance of the laser, it can obtain accurate three-dimensional position information around it. Traditional lidar is mainly used in surveying and mapping and industrial security fields, and it has appeared more and more in all aspects of life in recent years.
目前市面上用来在车辆变道过程中进行相邻车道监测的设备主要通过摄像头、超声波雷达以及准毫米波雷达实现。车辆在行驶过程中，检查临近车道是否有车辆靠近或正行驶于变道危险区域。基于摄像头的目标检测系统一般安装于车辆后视镜下方，基于微波和超声波的目标检测系统常安装于车辆后方靠近两侧的位置。在车辆上使用摄像头做车道监测时，严重依赖外界光条件，在夜间等光线不好的环境中效果较差；超声波雷达做危险区域监测，其作用距离只能有两米作用，无法有效检测足够大范围的车周区域；采用微波雷达的监测雷达系统，相比于超声波雷达，可以大幅增加作用距离，提高车辆变道安全系数。但微波雷达由于其发射的微波波束较宽，目标方位识别不够精确。Currently on the market, the equipment used to monitor adjacent lanes during vehicle lane changes is mainly realized through cameras, ultrasonic radars, and quasi-millimeter wave radars. When the vehicle is running, check whether there is a vehicle approaching or driving in the lane-changing danger zone in the adjacent lane. The camera-based target detection system is generally installed under the rearview mirror of the vehicle, and the target detection system based on microwave and ultrasonic waves is often installed at the rear of the vehicle near the sides. When using a camera on a vehicle for lane monitoring, it relies heavily on external light conditions, and the effect is poor in environments with poor light such as at night; ultrasonic radar is used for dangerous area monitoring, and its working distance can only be two meters, which cannot effectively detect enough Large area around the vehicle; the monitoring radar system using microwave radar, compared with ultrasonic radar, can greatly increase the operating distance and improve the safety factor of vehicle lane change. However, due to the wide microwave beam emitted by microwave radar, the target azimuth recognition is not accurate enough.
发明内容Contents of the invention
为解决现有技术存在的上述问题，本发明提供了一种汽车变道防撞激光雷达系统及其工作方法，可以精准的检测周围车道车况，更加有效避免变道引起的各种事故，保障人身财产安全。In order to solve the above-mentioned problems existing in the prior art, the present invention provides a vehicle lane-changing anti-collision lidar system and its working method, which can accurately detect the vehicle conditions of the surrounding lanes, more effectively avoid various accidents caused by lane-changing, and protect personal safety. Property security.
为实现上述目的，本发明所采用的技术方案是：一种汽车变道防撞激光雷达系统，包括主控电路、驱动电路、激光管、分光器件、处理电路、探测器、接收光路和显示装置；所述的激光管分别与驱动电路和分光器件相连，所述的探测器分别与处理电路和接收光路相连，所述的驱动电路、处理电路、显示装置与主控电路相连。In order to achieve the above object, the technical solution adopted in the present invention is: a laser radar system for vehicle lane change avoidance, including a main control circuit, a drive circuit, a laser tube, a light splitting device, a processing circuit, a detector, a receiving optical path and a display device The laser tubes are respectively connected to the driving circuit and the light splitting device, the detectors are respectively connected to the processing circuit and the receiving optical path, and the driving circuit, processing circuit and display device are connected to the main control circuit.
一种汽车变道防撞激光雷达系统的工作方法，具体步骤如下：A working method of a vehicle lane-changing anti-collision laser radar system, the specific steps are as follows:
S1：驱动电路在主控电路的触发控制下驱动激光管发射出激光光束，该激光光束经前置分光器件分束成数条排成一排细分光束，光束间夹角为0.2-2度；S1: The driving circuit drives the laser tube to emit a laser beam under the trigger control of the main control circuit. The laser beam is split into several subdivided beams arranged in a row by the pre-split device, and the angle between the beams is 0.2-2 degrees. ;
S2：激光光束以固定频率发射，当其照射区域有车辆目标时，部分激光信号将反射回系统，反射回波信号经接收光路接收后汇聚到对应探测器，通过探测器排布和发射激光列将车辆变道危险区域分割成多个监测区进行分别监测；S2: The laser beam is emitted at a fixed frequency. When there is a vehicle target in the irradiated area, part of the laser signal will be reflected back to the system, and the reflected echo signal will be received by the receiving optical path and converged to the corresponding detector, and the laser array will be arranged and emitted through the detector. Divide the dangerous area of vehicle lane change into multiple monitoring areas for separate monitoring;
S3：当某个区域有目标存在时，对应探测器接收到回波信号后,对回波信号进行光电转换，得到的电信号经处理电路测量得出激光从发射到接收的时间差，从而得到对应的目标距离；S3: When there is a target in a certain area, after the corresponding detector receives the echo signal, it performs photoelectric conversion on the echo signal, and the obtained electrical signal is measured by the processing circuit to obtain the time difference from emission to reception of the laser, so as to obtain the corresponding target distance;
S4：结合所得到的距离和已知的指向角信息，确定出目标所在方位。S4: Combining the obtained distance and the known pointing angle information to determine the azimuth of the target.
进一步的，显示装置为一排安装于车辆后视镜旁边的LED，主控电路根据不同区域内不同目标距离，计算出变道环境的危险等级，LED排列从内到外分别警示不同的危险等级，给驾驶员提供更精确的预警信息。Furthermore, the display device is a row of LEDs installed next to the rearview mirror of the vehicle. The main control circuit calculates the danger level of the lane-changing environment according to the different target distances in different areas, and the LEDs are arranged to warn of different danger levels from the inside to the outside. , to provide drivers with more accurate warning information.
本发明专利由于采用以上技术方案，能够取得如下的技术效果：相对于现有技术中的基于摄像头的防撞系统，激光雷达是一种主动探测系统，通过自身发出激光并接收目标回波，不依赖于外界光源，在白天夜间均可有效工作；激光雷达系统利用激光束高精度指向的特点，发射能量更加集中，相比于超声波雷达可以测量更远的距离。Due to the adoption of the above technical solutions, the patent of the present invention can achieve the following technical effects: Compared with the camera-based anti-collision system in the prior art, the laser radar is an active detection system, which emits laser light and receives target echoes by itself, without Relying on external light sources, it can work effectively during the day and at night; the laser radar system uses the characteristics of high-precision pointing of the laser beam, and the emitted energy is more concentrated, which can measure a longer distance than ultrasonic radar.
相比于微波雷达的大波束角，激光雷达的指向优势可更准确监测临近车道状况并可更精细的测量目标特征，为驾驶员车辆变道动作提供更准确的提示；多发多收型激光雷达系统省略了传统激光雷达的光机扫描机构，可以减小系统体积，同时可以监测多个区域，给驾驶者提供更精确的道路信息，没有运动部件使系统具有更高的运行可靠性。Compared with the large beam angle of microwave radar, the pointing advantage of lidar can more accurately monitor the condition of adjacent lanes and measure the characteristics of targets more precisely, providing more accurate prompts for drivers and vehicles to change lanes; The system omits the optical-mechanical scanning mechanism of the traditional laser radar, which can reduce the size of the system, and can monitor multiple areas at the same time, providing drivers with more accurate road information. The absence of moving parts makes the system more reliable in operation.
附图说明Description of drawings
本发明共有附图1幅：The present invention has 1 accompanying drawing:
图1是本系统的结构示意图。Figure 1 is a schematic diagram of the structure of the system.
具体实施方式Detailed ways
下面通过具体实施例，并结合附图，对本发明的技术方案作进一步的解释说明。The technical solutions of the present invention will be further explained below through specific embodiments in conjunction with the accompanying drawings.
如图1所示，本发明提供的是：一种汽车变道防撞激光雷达系统，包括主控电路、驱动电路、激光管、分光器件、处理电路、探测器、接收光路和显示装置；所述的激光管分别与驱动电路和分光器件相连，所述的探测器分别与处理电路和接收光路相连，所述的驱动电路、处理电路、显示装置与主控电路相连。As shown in Figure 1, the present invention provides: a laser radar system for vehicle lane change avoidance, including a main control circuit, a drive circuit, a laser tube, a light splitting device, a processing circuit, a detector, a receiving optical path and a display device; The laser tube described above is connected with the driving circuit and the light splitting device respectively, the detector is connected with the processing circuit and the receiving optical path respectively, and the driving circuit, processing circuit and display device are connected with the main control circuit.
一种汽车变道防撞激光雷达系统的工作方法，具体步骤如下：A working method of a vehicle lane-changing anti-collision laser radar system, the specific steps are as follows:
S1：驱动电路在主控电路的触发控制下驱动激光二极管发射出波长在近红外波段的激光光束，激光光束经前置分光器件分束成数条排成一排细分光束，光束间夹角为0.2-2度；S1: The driving circuit drives the laser diode to emit a laser beam with a wavelength in the near-infrared band under the trigger control of the main control circuit. 0.2-2 degrees;
S2：激光光束以固定频率发射，当其照射区域有车辆等目标时，部分激光信号将反射回系统，反射回波信号经接收光路接收后汇聚到对应探测器，通过探测器排布和发射激光列将车辆变道危险区域分割成多个监测区进行分别监测；S2: The laser beam is emitted at a fixed frequency. When there are targets such as vehicles in the irradiation area, part of the laser signal will be reflected back to the system, and the reflected echo signal will be received by the receiving optical path and converged to the corresponding detector. The detector is arranged and emitted laser The column divides the dangerous area of vehicle lane change into multiple monitoring areas for separate monitoring;
S3：当某个区域有目标存在时，对应探测器接收到回波信号后,对回波信号进行光电转换，得到的电信号经处理电路测量得出激光从发射到接收的时间差，从而得到对应的目标距离；S3: When there is a target in a certain area, after the corresponding detector receives the echo signal, it performs photoelectric conversion on the echo signal, and the obtained electrical signal is measured by the processing circuit to obtain the time difference from emission to reception of the laser, so as to obtain the corresponding target distance;
S4：结合所得到的距离和已知的指向角信息，确定出目标所在方位。S4: Combining the obtained distance and the known pointing angle information to determine the azimuth of the target.
显示装置为一排安装于车辆后视镜旁边的LED，主控电路根据不同区域内不同目标距离，计算出变道环境的危险等级，LED排列从内到外分别警示不同的危险等级，给驾驶员提供更精确的预警信息。The display device is a row of LEDs installed next to the rearview mirror of the vehicle. The main control circuit calculates the danger level of the lane-changing environment according to different target distances in different areas. The LED arrays warn different danger levels from the inside to the outside, giving the driver provide more accurate early warning information.
多发多收型激光雷达系统省略了传统激光雷达的光机扫描机构，可以减小系统体积，同时可以监测多个区域，给驾驶者提供更精确的道路信息，没有运动部件使系统具有更高的运行可靠性。The multi-transmission and multi-reception lidar system omits the optical-mechanical scanning mechanism of the traditional lidar, which can reduce the size of the system, and can monitor multiple areas at the same time, providing drivers with more accurate road information. There are no moving parts to make the system have a higher operational reliability.
以上所述，仅为本发明较佳的具体实施方式，但本发明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发明披露的技术范围内，根据本发明的技术方案及其发明构思加以等同替换或改变，都应涵盖在本发明的保护范围之内。The above is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Anyone familiar with the technical field within the technical scope disclosed in the present invention, according to the technical solution of the present invention Any equivalent replacement or change of the inventive concepts thereof shall fall within the protection scope of the present invention.
| Application Number | Priority Date | Filing Date | Title |
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| CN201510633517.9ACN105353383B (en) | 2015-09-29 | 2015-09-29 | A kind of vehicle lane change anti-collision lidar system and its working method |
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| CN201510633517.9ACN105353383B (en) | 2015-09-29 | 2015-09-29 | A kind of vehicle lane change anti-collision lidar system and its working method |
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| CN201510633517.9AActiveCN105353383B (en) | 2015-09-29 | 2015-09-29 | A kind of vehicle lane change anti-collision lidar system and its working method |
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