Unmanned system based on single-line laser radar and millimeter wave radarTechnical Field
The invention relates to the field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle system based on a single-line laser radar and a millimeter wave radar.
Background
In recent years, automobiles such as spring bamboo shoots after rain, which are equipped with an auxiliary driving function, are generally emerging, wherein different factories adopt different schemes for realizing an adaptive cruise control function. The method is realized by vision, millimeter wave radar and multi-line laser radar, wherein the scheme by vision and millimeter wave radar is a common scheme at present. The method has the advantages of being relatively high in cost, being difficult to identify the front static objects, being incapable of identifying the stationary special-shaped vehicles such as special-shaped trucks, and being low in judging reliability, and being mainly characterized in that the millimeter wave radar can remove Doppler static objects from data in order to reduce the data volume, and being incapable of judging the vision of the special-shaped trucks. However, the scheme of adopting the multi-line laser radar has the highest reliability, but has high cost, so that the scheme is difficult to push into the market.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide an unmanned system based on a single-line laser radar and a millimeter wave radar, which can improve the judgment reliability of a front stationary object, particularly a stationary special-shaped truck, and has low cost.
In order to achieve the above purpose, the present invention provides the following technical solutions: the utility model provides an unmanned system based on single line laser radar and millimeter wave radar, includes camera module, millimeter wave radar, control module and the driving module of setting on the vehicle, its characterized in that: the wireless driving system also comprises a single-line laser radar;
the camera module is used for shooting the front of the vehicle, generating camera data and sending the camera data to the control module in real time;
The millimeter wave radar is used for detecting the front of the vehicle and generating millimeter wave data, and generating filtering data after Doppler static elimination of the millimeter wave data and sending the filtering data to the control module;
the single-line laser radar is used for detecting the front of the vehicle, generating single-line laser data and sending the single-line laser data to the control module;
The control module is connected with the driving module, processes single-line laser data and judges whether a stationary object or a stationary special-shaped vehicle exists in front of the vehicle, and when the stationary object or the stationary special-shaped vehicle does not exist in front of the vehicle, the control terminal processes the image pickup data, the filtering data and the single-line laser data to obtain first road information, wherein the first road information comprises running conditions of the running vehicle in front of the vehicle; when a stationary object or a stationary special-shaped vehicle is arranged in front of the vehicle, the control terminal is used for calling the millimeter wave data, processing the millimeter wave data according to the image pickup data, the millimeter wave data and the single-line laser data to obtain second road information, the second road information comprises the running condition of the vehicle in front of the vehicle and the position of the stationary object or the stationary special-shaped vehicle in front of the vehicle relative to the vehicle, and the control module is used for controlling the driving module to carry out running operation according to the first road information and the second road information, wherein the running operation comprises speed reduction running, acceleration running, constant-speed running and parking.
As a further improvement of the invention, the unmanned system also comprises a cloud communication module and a positioning module which are arranged on the vehicle, wherein the positioning module determines the current position of the vehicle in real time, and the cloud communication module is connected with the positioning module and the control module;
the cloud communication module is configured with an information sending strategy, the information sending strategy comprises that when a stationary or stationary special-shaped vehicle is arranged in front of a vehicle of the vehicle, the cloud communication module obtains warning information according to the current position of the vehicle and second road information, the warning information comprises the current position of the stationary or stationary special-shaped vehicle, and the cloud communication module broadcasts the warning information in a preset first range taking the vehicle of the vehicle as a center through wireless communication signals;
The cloud communication module is further configured with an information receiving strategy, the information receiving strategy comprises that when the cloud communication module receives the warning information, warning adjustment information is determined according to the warning information and the current position of the vehicle and sent to the control module, and the warning adjustment information comprises the position of a static object or a stationary special-shaped vehicle relative to the vehicle of the vehicle;
And the control module controls the driving module to carry out driving operation according to the first road information, the second road information and the warning adjustment information.
As a further improvement of the present invention, the unmanned system further includes a road side unit located at both sides of the road, the road side unit transmitting the warning information to all the road side units located within a preset second range centered on a current position of a stationary or stationary profiled vehicle after receiving the warning information, and transmitting the warning information to all the cloud communication modules located within a surrounding preset third range, wherein a coverage area of the third range is smaller than a coverage area of the second range.
As a further improvement of the present invention, the cloud communication module is further connected with the driving module and obtains a running speed of the current vehicle, when the obtained running speed of the current vehicle is zero, the cloud communication module obtains a current position of the vehicle and generates warning information as a static object or a current position of a stationary special-shaped vehicle, the cloud communication module broadcasts the generated warning information in a preset first range with the vehicle of the vehicle as a center through a wireless signal at preset intervals, and when the obtained running speed of the current vehicle is not zero, the cloud communication module stops sending the generated warning information.
As a further improvement of the invention, the wireless driving system also comprises a voice prompt module, wherein the voice prompt module is connected with the control module, and when the control module judges that a stationary object or a stationary special-shaped vehicle exists in front of the vehicle, the voice prompt module sends prompt voice.
As a further improvement of the invention, the cloud communication modules and the road side units and the cloud communication modules are communicated through a V2V communication technology.
As a further improvement of the invention, the camera module is a vehicle-mounted monocular camera.
The invention has the beneficial effects that: the millimeter wave data is subjected to Doppler static elimination to generate filtering data, and the filtering data is sent to the control terminal, so that the data processing amount can be reduced to a limited extent, the data processing efficiency is improved, but static cannot be identified. Through the setting of single line laser radar, control module can directly judge whether there is still or special-shaped vehicle in the place ahead of the vehicle through single line laser data to control driving module through judgement result and the data that obtain and carry out the operation of traveling. Therefore, the combination of the single-line laser radar and the millimeter wave radar can identify a stationary object or a special-shaped vehicle in front of the vehicle, and meanwhile, the cost is low.
When no stationary object or stationary special-shaped vehicle is in front of the vehicle, the control module acquires the filtered data, so that the data processing amount is reduced. When a stationary object or a stationary special-shaped vehicle is arranged in front of the vehicle, millimeter wave data are acquired by the control module, so that the position of the stationary object or the stationary special-shaped vehicle relative to the vehicle is processed and obtained more accurately, and the subsequent driving operation is safer.
Drawings
FIG. 1 is a schematic diagram of a frame of the present invention;
Reference numerals: 1. a camera module; 2. millimeter wave radar; 3. a control module; 4. a driving module; 5. single line laser radar; 6. a cloud communication module; 7. a positioning module; 8. a road side unit; 9. and a voice prompt module.
Detailed Description
The invention will now be described in further detail with reference to the drawings and examples. Wherein like parts are designated by like reference numerals.
Referring to fig. 1, the unmanned system based on the single-line laser radar and the millimeter wave radar of the embodiment comprises a camera module 1, a millimeter wave radar 2, a control module 3, a driving module 4, a single-line laser radar 5, a cloud communication module 6, a positioning module 7, a road side unit 8 and a voice prompt module 9 which are arranged on a vehicle;
The image pickup module 1 is used for picking up an image of the front of a vehicle and generating image pickup data, and sending the image pickup data to the control module 3 in real time. The camera module 1 is directed directly in front of the vehicle. The camera module 1 is a vehicle-mounted monocular camera, the monocular camera is low in cost, but poor in ranging effect, and ranging is realized by the millimeter wave radar 2 and the single-line laser radar 5. The camera module 1 and the control module 3 are directly provided with a deserializer module, and the deserializer module is used for analyzing received camera data into mipi data and transmitting the mipi data to the control module 3.
The millimeter wave radar 2 is used for detecting the front of the vehicle and generating millimeter wave data, and generating filtering data after Doppler static elimination of the millimeter wave data and sending the filtering data to the control module 3. Two sides of the front end of the vehicle are respectively provided with a millimeter wave radar 2. Both millimeter wave radars 2 are used to detect road conditions ahead of the vehicle. Doppler static elimination can reduce data volume and reduce data transmission burden and data processing burden.
The single-wire laser radar 5 is configured to detect the front of the vehicle and generate single-wire laser data, and transmit the single-wire laser data to the control module 3. The single-line lidar 5 is directed directly in front of the vehicle.
The control module 3 is connected with the driving module 4, the control module 3 processes the single-line laser data and judges whether a stationary object or a stationary special-shaped vehicle exists in front of the vehicle, and when the stationary object or the stationary special-shaped vehicle does not exist in front of the vehicle, the control terminal processes the camera data, the filter data and the single-line laser data to obtain first road information, wherein the first road information comprises the running condition of the running vehicle in front of the vehicle; when a stationary or stationary special-shaped vehicle is arranged in front of the vehicle, the control terminal retrieves millimeter wave data, and processes the millimeter wave data according to the image pickup data, the millimeter wave data and the single line laser data to obtain second road information, wherein the second road information comprises the running condition of the vehicle in front of the vehicle and the position of the stationary or stationary special-shaped vehicle in front of the vehicle relative to the vehicle, and the control module 3 controls the driving module 4 to carry out running operation according to the first road information and the second road information, wherein the running operation comprises speed reduction running, acceleration running, constant speed running and parking.
Specifically, the running condition of the running vehicle ahead of the host vehicle includes the speed, acceleration, and distance from the host vehicle of the running vehicle. When the existing radar with only the camera and the millimeter wave radar 2 enters the automatic cruising mode, if a stationary vehicle is encountered, the millimeter wave radar 2 can remove Doppler static objects on the data during data processing, so that the stationary vehicle cannot be identified, and the camera can identify the vehicle, but the perception of the distance is weak, and safety accidents can be caused. If a stationary special-shaped vehicle is encountered, not only the millimeter wave radar 2 cannot identify the stationary special-shaped vehicle, but also the perception of the camera to the image cannot include the special-shaped vehicle, so that a safety accident is more easily caused. In the invention, the control module 3 can directly judge whether a stationary object or a stationary special-shaped vehicle exists in front of the vehicle through single-line laser data, so that the safety accidents are avoided. And when the judging result is that the special-shaped vehicle is free of static objects or static. The control terminal processes the image pickup data, the filtering data and the single-line laser data, and controls the vehicle to run according to the first road information obtained by processing. The filtering data is processed at this time, so that the data processing amount can be reduced. When the judging result is that the stationary or stationary special-shaped vehicle exists, the control terminal processes the image pickup data, the millimeter wave data and the single-line laser data, and controls the vehicle to run according to the second road information obtained through processing, and the millimeter wave data is processed at the moment, so that more accurate information such as the position of the stationary or stationary special-shaped vehicle relative to the vehicle can be obtained.
The positioning module 7 determines the current position of the vehicle in real time, and the cloud communication module 6 is connected with the positioning module 7 and the control module 3;
The cloud communication module 6 is configured with an information transmission policy including that when there is a stationary or stationary special-shaped vehicle in front of the host vehicle, the cloud communication module 6 obtains warning information according to the current position of the host vehicle and the second road information, the warning information comprises the current position of a stationary object or a stationary special-shaped vehicle, and the cloud communication module 6 broadcasts the warning information in a preset first range centering on the vehicle of the vehicle through wireless communication signals. The cloud communication module 6 is further configured with an information receiving policy, where the information receiving policy includes determining, when the cloud communication module 6 receives the warning information, warning adjustment information according to the warning information and a current position of the host vehicle, and sending the warning adjustment information to the control module 3, where the warning adjustment information includes a position of a stationary object or a stationary special-shaped vehicle relative to the host vehicle. The control module 3 controls the driving module 4 to perform driving operation according to the first road information, the second road information and the warning adjustment information.
The preset first range is a range with the radius of 20 meters by taking the vehicle of the vehicle as the center. When the vehicle detects that a stationary object or a stationary special-shaped vehicle exists in front of the vehicle, the current position of the stationary object or the prohibited special-shaped vehicle is determined, and warning information is broadcasted. And the vehicle receiving the warning information determines the position of the stationary object or the stationary special-shaped vehicle relative to the vehicle of the vehicle through the warning information, so that the position of the stationary object or the stationary special-shaped vehicle is predicted in advance, and the running safety is further ensured.
The unmanned system further comprises road side units 8 positioned on two sides of a road, after the road side units 8 receive warning information from the cloud communication modules 6, the warning information is sent to all road side units 8 positioned in a preset second range centering on the current position of a stationary object or a stationary special-shaped vehicle, after the road side units 8 receive the warning information, the warning information is sent to all cloud communication modules 6 positioned in a surrounding preset third range, and the coverage area of the third range is smaller than that of the second range. Communication is performed between the cloud communication module 6 and the roadside unit 8 and between the cloud communication modules 6 through a V2V communication technology. The road side units 8 are arranged at intervals along the length direction of the road at two sides of the road, the preset second range is a range with a radius of 1 km, and the preset third range is a range with a radius of 50 m. The arrangement of the road side unit 8 can effectively improve the broadcasting distance of the warning information, thereby being beneficial to making preparation for static objects or stationary special-shaped vehicles earlier and further improving driving safety.
The cloud communication module 6 is further connected with the driving module 4 and obtains the running speed of the current vehicle, when the obtained running speed of the current vehicle is zero, the cloud communication module 6 obtains the current position of the vehicle and generates warning information as the current position of a stationary object or a stationary special-shaped vehicle, the cloud communication module broadcasts the generated warning information in a preset first range with the vehicle as the center through wireless signals at preset interval time, and when the obtained running speed of the current vehicle is not zero, the cloud communication module stops sending the generated warning information.
When the vehicle of the vehicle stops, the vehicle of the vehicle is a stationary vehicle in view of other vehicles, in order to facilitate the detection of the vehicle by the other vehicles, the vehicle of the vehicle sends out the warning information by oneself through the cloud communication module 6, so that other vehicles receiving the warning information can determine the position of the vehicle, and safety accidents are avoided.
The wireless driving system further comprises a voice prompt module 9, wherein the voice prompt module 9 is connected with the control module 3, and when the control module 3 judges that a static object or a stationary special-shaped vehicle exists in front of the vehicle, the voice prompt module 9 sends prompt voice. The voice prompt sent by the voice prompt module 9 is used for showing that a special-shaped vehicle with a static object or a static state exists in front of the driver and reminding the driver to take over the vehicle for manual driving.
The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above examples, and all technical solutions belonging to the concept of the present invention belong to the protection scope of the present invention. It should be noted that modifications and adaptations to the present invention may occur to one skilled in the art without departing from the principles of the present invention and are intended to be within the scope of the present invention.