CN114488188A - Control method for improving measuring efficiency of one-dimensional laser radar - Google Patents
Control method for improving measuring efficiency of one-dimensional laser radar Download PDFInfo
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- CN114488188A CN114488188A CN202210193628.2A CN202210193628A CN114488188A CN 114488188 A CN114488188 A CN 114488188A CN 202210193628 A CN202210193628 A CN 202210193628A CN 114488188 A CN114488188 A CN 114488188A
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- 238000000034 method Methods 0.000 title claims abstract description 15
- 238000005259 measurement Methods 0.000 claims abstract description 13
- 238000013178 mathematical model Methods 0.000 claims description 8
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/483—Details of pulse systems
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- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
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Abstract
The invention discloses a control method for improving the measurement efficiency of a one-dimensional laser radar, which comprises the following steps: s1, determining the control quantity of a laser radar; the control quantity is used for controlling the angular speed of the laser radar; s2, judging whether the scanning angle of the laser radar is within the target angle range, if so, controlling the laser radar through the control quantity to enable the angular speed of the laser radar to be the set angular speed omegaL(ii) a If not, controlling the laser radar through the control quantity to enable the angular speed of the laser radar to be the set angular speed omegaH. The invention can realize high-density acquisition of scene information in a specific angle range and fully exert the measurement efficiency of the laser radar.
Description
Technical Field
The invention relates to the field of laser radar application, in particular to a control method for improving the measurement efficiency of a one-dimensional laser radar.
Background
At present, most of one-dimensional laser radars run at a constant speed and uniformly acquire obstacle information within a 360-degree range. However, in practical application, only the obstacle information in a certain angle range is needed to be paid attention to, the radar resource is inevitably wasted in an area which does not need to be paid attention to by the uniform acquisition mode, and meanwhile, the problem that data acquisition is not rich enough may exist in the area which should be paid attention to, and then the performance of the laser radar is difficult to be fully exerted.
Disclosure of Invention
In view of this, the present invention is to overcome the defects in the prior art, and provide a control method for improving the measurement efficiency of a one-dimensional laser radar, which can realize high-density acquisition of scene information within a specific angle range, and fully exert the measurement efficiency of the laser radar.
The control method for improving the measurement efficiency of the one-dimensional laser radar comprises the following steps:
s1, determining the control quantity of a laser radar; the control quantity is used for controlling the angular speed of the laser radar;
s2, judging whether the scanning angle of the laser radar is within the target angle range, if so, controlling the laser radar through the control quantity to enable the angular speed of the laser radar to be the set angular speed omegaL(ii) a If not, controlling the laser radar through the control quantity to enable the angular speed of the laser radar to be the set angular speed omegaH。
Further, the control quantity of the laser radar is determined according to the following formula:
u(t)＝[ωr(t+1)+a1ω(t)+a2ω(t-1)-b2u(t-1)]/b1；
where u (t) is the control quantity at time t, ωr(t +1) is a set angular velocity at time t +1, ω (t) is an angular velocity of the laser radar at time t, ω (t-1) is an angular velocity of the laser radar at time t-1, u (t-1) is a control amount at time t-1, a1、a2、b1And b2Are all control parameters.
Further, according to the followingStep of determining a control parameter a1、a2、b1And b2：
S11, randomly generating a group of control sequences U ═ U1,u2,...,ui,...,un](ii) a Wherein u isiIs the ith control quantity;
s12, controlling the angular speed of the laser radar by using each control quantity in the control sequence U to obtain an angular speed sequence W [ [ omega ] ]1,ω2,...,ωi,...,ωn](ii) a Wherein the angular velocity ωiAnd a control quantity uiAre parameters at the same time;
s13, determining a mathematical model of laser radar motion:
ωk+a1ωk-1+a2ωk-2＝b1uk-1+b2uk-2；
and according to the mathematical model of the laser radar, defining the following formula:
x＝[-a1-a2 b1 b2]； (2)
combining equations (1), (2), and (3), the following equation can be obtained:
s14, for the equation
Solving to obtain
Further obtain the control parameter a1、a2、b1And b2。
Further, the scanning angle θ of the laser radar is determined according to the following formula:
θ＝θ(t)+ω(t)·Δt；
where θ (t) is an angle of the lidar at time t, ω (t) is an angular velocity of the lidar at time t, and Δ t is a time interval.
The invention has the beneficial effects that: the invention discloses a control method for improving the measurement efficiency of a one-dimensional laser radar, which is based on system identification and a least square method, obtains a mathematical model of laser radar motion, dynamically calculates a control quantity according to angle information of a target area which is focused, combines the mathematical model of the laser radar, controls the laser radar to rapidly operate in a non-target area by using the control quantity, and operates at a lower speed in the focused target area, thereby realizing high-density acquisition of scene information in the target area and improving the measurement efficiency of the laser radar.
Drawings
The invention is further described below with reference to the following figures and examples:
FIG. 1 is a schematic flow chart of the method of the present invention.
Detailed Description
The invention is further described with reference to the accompanying drawings, in which:
the control method for improving the measurement efficiency of the one-dimensional laser radar comprises the following steps:
s1, determining the control quantity of a laser radar; the control quantity is used for controlling the angular speed of the laser radar;
s2, judging whether the scanning angle of the laser radar is within the target angle range, if so, controlling the laser radar through the control quantity to enable the angular speed of the laser radar to be the set angular speed omegaL(ii) a If not, controlling the laser radar through the control quantity to enable the angular speed of the laser radar to be the set angular speed omegaH. Wherein the target angular range, angular velocity ωLAndangular velocity omegaHAll can be set according to actual working conditions, for example, the set target angle range is [ theta ]1,θ2]。
In this embodiment, the control amount of the laser radar is determined according to the following formula:
u(t)＝[ωr(t+1)+a1ω(t)+a2ω(t-1)-b2u(t-1)]/b1；
where u (t) is the control quantity at time t, ωr(t +1) is a set angular velocity at the time of t + 1; ω (t) is the angular velocity of the laser radar at time t, ω (t-1) is the angular velocity of the laser radar at time t-1, u (t-1) is the control quantity at time t-1, a1、a2、b1And b2Are all control parameters.
When judging whether the scanning angle of the laser radar is within the target angle range, firstly, the scanning angle of the laser radar at the next moment needs to be calculated, and the scanning angle theta (t +1) of the laser radar at the moment t +1 is determined according to the following formula: θ (t +1) ═ θ (t) + ω (t);
where θ (t) is an angle of the lidar at time t, and ω (t) is an angular velocity of the lidar at time t. The angle theta (t) and the angular velocity omega (t) of the laser radar at the time t can be obtained through a direct acquisition mode, so that at the time t +1, the scanning angle theta (t +1) of the laser radar at the time t +1 can be calculated through the above formula. When θ (t +1) is within the target angle range, ωrThe value of (t +1) is omegaLWhen θ (t +1) is not within the target angle range, ωrThe value of (t +1) is omegaH；
When t is 0, u (0) and ω (0) both take the value 0; according to a calculation formula of the control quantity, the control quantity at the time t can be deduced by acquiring or calculating the control quantity and the angular velocity at the time t-1 and utilizing the angular velocities at the time t and the time t + 1; and the control quantity u (t) is used for controlling the laser radar after the time t, so that the angular speed of the laser radar achieves the expected effect.
In the present embodiment, the control parameter a is determined according to the following steps1、a2、b1And b2：
S11, a controller of the laser radar randomly generates a group of control sequences U ═ U composed of 0 and 11,u2,...,ui,...,un](ii) a Wherein u isiIs the ith control quantity;
s12, starting the laser radar, sequentially applying the generated control quantity to a control end of the laser radar, and synchronously acquiring angular velocity information of the laser radar, namely, respectively controlling the angular velocity of the laser radar by using each control quantity in a control sequence U to obtain an angular velocity sequence W [ [ omega ] ]1,ω2,...,ωi,...,ωn](ii) a Wherein the angular velocity ωiAnd a control quantity uiAre parameters at the same time;
s13, according to the motion characteristics of the one-dimensional laser radar, a mathematical model of the motion of the laser radar can be assumed as follows:
ωk+a1ωk-1+a2ωk-2＝b1uk-1+b2uk-2；
and according to the mathematical model of the laser radar, defining the following formula:
x＝[-a1-a2 b1 b2]； (2)
combining equations (1), (2), and (3), the following equations can be obtained:
s14, aiming the equation according to the least square principle
Solving to obtain
Since x [ -a ]1-a2 b1 b2]If x is found, the control parameter a can be obtained1、a2、b1And b2。
In this embodiment, when determining whether the scanning angle of the laser radar is within the target angle range, the scanning angle of the laser radar needs to be calculated first, and the scanning angle θ of the laser radar is determined according to the following formula:
θ＝θ(t)+ω(t)·Δt； (4)
where θ (t) is an angle of the lidar at time t, ω (t) is an angular velocity of the lidar at time t, and Δ t is a time interval. The angle theta (t) and the angular speed omega (t) of the laser radar at the time t can be obtained through a direct acquisition mode, so that the scanning angle of the laser radar at the time t + delta t can be calculated through an equation (4) at the time t + delta t. By the formula (4), the scanning angle theta of the laser radar at the current moment can be calculated according to the time interval between the current moment and the collection moment only by collecting the angle and the angular speed of the laser radar once, so that the collection times are saved, the collection consumption is saved, and the accuracy of calculating the scanning angle of the laser radar is also ensured.
Finally, the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all of them should be covered in the claims of the present invention.
Claims (4)
1. A control method for improving the measurement efficiency of a one-dimensional laser radar is characterized by comprising the following steps: the method comprises the following steps:
s1, determining the control quantity of a laser radar; the control quantity is used for controlling the angular speed of the laser radar;
s2, judging whether the scanning angle of the laser radar is within the target angle range, if so, controlling the laser radar through the control quantity to enable the angular speed of the laser radar to be the set angular speed omegaL(ii) a If not, controlling the laser radar through the control quantity to enable the angular speed of the laser radar to be the set angular speed omegaH。
2. The control method for improving the measurement efficiency of the one-dimensional laser radar according to claim 1, wherein: determining the control quantity of the laser radar according to the following formula:
u(t)＝[ωr(t+1)+a1ω(t)+a2ω(t-1)-b2u(t-1)]/b1；
where u (t) is the control quantity at time t, ωr(t +1) is a set angular velocity at time t +1, ω (t) is an angular velocity of the laser radar at time t, ω (t-1) is an angular velocity of the laser radar at time t-1, u (t-1) is a control amount at time t-1, a1、a2、b1And b2Are all control parameters.
3. The control method for improving the measurement efficiency of the one-dimensional laser radar according to claim 2, wherein: determining a control parameter a according to1、a2、b1And b2：
S11, randomly generating a group of control sequences U ═ U1,u2,...,ui,...,un](ii) a Wherein u isiIs the ith control quantity;
s12, respectively controlling the angular speed of the laser radar by using each control quantity in the control sequence U to obtain an angular speed sequence W ═ omega1,ω2,...,ωi,...,ωn](ii) a Wherein the angular velocity ωiAnd a control quantity uiAre parameters at the same time;
s13, determining a mathematical model of laser radar motion:
ωk+a1ωk-1+a2ωk-2＝b1uk-1+b2uk-2；
and according to the mathematical model of the laser radar, defining the following formula:
x＝[-a1 -a2 b1 b2]； (2)
combining equations (1), (2), and (3), the following equation can be obtained:
s14, for the equation
Solving to obtain
Further obtain the control parameter a1、a2、b1And b2。
4. The control method for improving the measurement efficiency of the one-dimensional laser radar according to claim 1, wherein: the scanning angle theta of the laser radar is determined according to the following formula:
θ＝θ(t)+ω(t)·Δt；
where θ (t) is an angle of the lidar at time t, ω (t) is an angular velocity of the lidar at time t, and Δ t is a time interval.
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109444855A (en) * | 2018-12-29 | 2019-03-08 | 森思泰克河北科技有限公司 | Laser radar and its scan method |
| CN110646775A (en) * | 2019-09-29 | 2020-01-03 | 凯迈（洛阳）测控有限公司 | Control method for quickly switching photoelectric radar from rotary scanning to staring mode |
| CN111781579A (en) * | 2020-06-30 | 2020-10-16 | 昂纳信息技术（深圳）有限公司 | Control method of laser radar scanning device |
| WO2021168849A1 (en) * | 2020-02-29 | 2021-09-02 | 深圳市速腾聚创科技有限公司 | Laser radar and method for scanning by using laser radar |
| US20220018961A1 (en) * | 2016-05-18 | 2022-01-20 | James Thomas O'Keeffe | Lidar with adaptive laser point density |
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- 2022-02-28 CN CN202210193628.2A patent/CN114488188A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20220018961A1 (en) * | 2016-05-18 | 2022-01-20 | James Thomas O'Keeffe | Lidar with adaptive laser point density |
| CN109444855A (en) * | 2018-12-29 | 2019-03-08 | 森思泰克河北科技有限公司 | Laser radar and its scan method |
| CN110646775A (en) * | 2019-09-29 | 2020-01-03 | 凯迈（洛阳）测控有限公司 | Control method for quickly switching photoelectric radar from rotary scanning to staring mode |
| WO2021168849A1 (en) * | 2020-02-29 | 2021-09-02 | 深圳市速腾聚创科技有限公司 | Laser radar and method for scanning by using laser radar |
| CN111781579A (en) * | 2020-06-30 | 2020-10-16 | 昂纳信息技术（深圳）有限公司 | Control method of laser radar scanning device |
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