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WO2022206321A1 - 一种车载采集设备 - Google Patents

一种车载采集设备 Download PDF

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Publication number
WO2022206321A1
WO2022206321A1 PCT/CN2022/079914 CN2022079914W WO2022206321A1 WO 2022206321 A1 WO2022206321 A1 WO 2022206321A1 CN 2022079914 W CN2022079914 W CN 2022079914W WO 2022206321 A1 WO2022206321 A1 WO 2022206321A1
Authority
WO
WIPO (PCT)
Prior art keywords
view camera
lidar
view
vehicle
synchronization signal
Prior art date
Application number
PCT/CN2022/079914
Other languages
English (en)
French (fr)
Inventor
谢可峰
Original Assignee
华为技术有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 华为技术有限公司 filed Critical 华为技术有限公司
Publication of WO2022206321A1 publication Critical patent/WO2022206321A1/zh
Priority to US18/473,486 priority Critical patent/US20240013549A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
    • B60R11/04—Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • 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
    • G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/20—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/22—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle
    • B60R1/23—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view
    • B60R1/27—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view providing all-round vision, e.g. using omnidirectional cameras
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
    • 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
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • 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
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • 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
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/14—Receivers specially adapted for specific applications
    • 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
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • 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
    • G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
    • G01S7/4813—Housing arrangements
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/90—Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
    • B60R2011/0001—Arrangements for holding or mounting articles, not otherwise provided for characterised by position
    • B60R2011/004—Arrangements for holding or mounting articles, not otherwise provided for characterised by position outside the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/10—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used
    • B60R2300/105—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using multiple cameras

Definitions

  • the present application relates to the field of electronic technology, and in particular, to a vehicle-mounted collection device.
  • the vehicle-mounted acquisition device is usually provided with four cameras, front, rear, left, right, and one or two lidars. From the camera's point of view, setting up two cameras in the front view direction can make the overall coverage reach 180 degrees, but the coverage areas of the two cameras overlap greatly, and the same is true in the rear view direction. There is a large area of overlap between images captured by different cameras, which will increase the burden of post-image processing. For example, if you want to make a three-dimensional map based on the images collected by the camera, you need to cut and stitch the images collected by multiple cameras, and then stitch them into a complete image. However, the overlapping coverage of the cameras will cause the above image switching and stitching. etc. steps become complicated.
  • the vehicle-mounted acquisition device in the prior art has the problems of complex structure, large number of sensors and redundant configuration.
  • the vehicle-mounted acquisition device in the embodiment of the present application is used to improve the acquisition accuracy of the device and avoid the problem of redundant configuration of sensors in the device.
  • an embodiment of the present application provides a vehicle-mounted acquisition device, the device includes: a front-view camera, a rear-view camera, a lidar, and an industrial computer;
  • the front-view camera is used for capturing images in a forward-looking direction data and send it to the industrial computer;
  • the rear-view camera is used to collect image data in the rear-view direction and send it to the industrial computer;
  • the lidar is used to collect point cloud data in the rear-view direction and send it to the industrial computer;
  • the front-view camera, the rear-view camera and the lidar are located on the midline extending in the front-rear direction of the bottom plate of the device; the front-view camera is arranged at the front end of the midline, facing the front of the device; the rear-view camera and the lidar are arranged at the rear end of the center line, facing the rear of the equipment, and the lidar is located above the rear-view camera; the field of view of the forward-looking camera is determined according to the field of view coverage requirements in the forward-looking direction and the maximum vehicle speed supported by the equipment.
  • the rear-view camera is set at a first down-tilt angle
  • the lidar is set at a second down-tilt angle
  • the first down-tilt angle is determined according to the field of view coverage requirement in the rear-view direction and the maximum vehicle speed supported by the device
  • the second down-tilt angle is determined according to The field of vision coverage requirements in the rear view direction and the maximum vehicle speed supported by the device are determined.
  • the front-view camera, the rear-view camera and the lidar are respectively arranged at the front and rear ends of the midline in the front-rear direction of the bottom plate of the device, and the front-view camera, the rear-view camera and the lidar are selected according to the field coverage requirement.
  • the parameters such as field angle, downtilt angle, and horizontal scanning resolution can help reduce the number of sensors (such as cameras and lidars) required in the vehicle acquisition equipment, and effectively avoid the configuration redundancy of various sensors in the vehicle acquisition equipment.
  • the field of vision coverage requirements in the front-view direction include horizontal field-of-view coverage requirements and vertical field-of-view coverage requirements; the field of view coverage requirements in the rear-view direction include the horizontal field of view coverage requirements and the road in the captured image. vertical proportion.
  • the device further includes a synchronization signal board; the synchronization signal board is used to send a synchronization signal to the industrial computer and the lidar, and the synchronization signal is used to realize the front-view camera, the rear-view camera and the lidar the acquisition synchronization; the industrial computer is used for sending shooting instructions to the front-view camera and the rear-view camera according to the synchronization signal; the front-view camera and the rear-view camera are used to collect image data according to the shooting instructions; the laser Radar is used to collect point cloud data based on synchronization signals.
  • the synchronization signal board is used to provide the synchronization signal
  • the front-view camera, the rear-view camera and the lidar can be coordinated to realize the acquisition and synchronization of image data and point cloud data, which can effectively reduce the burden of post-image processing and improve the mapping efficiency. accuracy.
  • the synchronization signal board is also used to receive the wheel speedometer signal, and send the wheel speedometer signal to the industrial computer and the lidar, and the wheel speedometer signal is used to indicate the speed of the vehicle, so
  • the vehicle-mounted acquisition device is installed on the vehicle;
  • the industrial computer is further configured to send an adjustment instruction to the forward-looking camera and the rear-view camera according to the vehicle speed, and the adjustment instruction is used to instruct the front-view camera and the rear-view camera to adjust the acquisition parameters;
  • the aforementioned lidar is also used to adjust the acquisition parameters according to the vehicle speed.
  • the acquisition parameters of the front-view camera include frame rate or exposure time; the acquisition parameters of the rear-view camera include frame rate or exposure time; the acquisition parameters of the lidar include frame rate or level Scan resolution.
  • the wheel speedometer signal is provided through the synchronous signal board, so that the device can dynamically adjust the acquisition parameters of the front-view camera, the rear-view camera and the lidar according to the real-time vehicle speed of the currently installed vehicle, thereby ensuring that in different Both cameras and lidars can collect high-quality, high-definition images and point clouds at vehicle speeds, improving the accuracy of mapping and meeting the needs of the mapping platform.
  • the device further includes a GPS antenna, a GNSS board, and a power divider; wherein the GPS antenna is used to receive positioning data from satellites; the power divider is used to divide the signal from the GPS antenna.
  • the positioning data is sent to the GNSS board; the GNSS board is used to locate the device according to the received positioning data, and send the obtained position signal to the industrial computer; the industrial computer is used to, according to the synchronization signal and the position signal, Send shooting instructions to the forward-looking camera and the rear-view camera, and send a position signal to the lidar; the lidar is used to collect point cloud data according to the synchronization signal and the position signal.
  • the position signal is provided by the GNSS board, so that the front-view camera, the rear-view camera, and the lidar can collect images or point clouds based on the synchronization signal from the synchronization signal board and the position signal from the GNSS board.
  • each frame of image collected by the front-view camera, rear-view camera and lidar can correspond to an accurate piece of position information, thereby effectively improving the mapping accuracy and meeting the needs of the mapping platform.
  • the device further includes an IMU; the power divider is further configured to send the positioning data from the GPS antenna to the IMU; the IMU is configured to determine the attitude parameter of the device according to the positioning data, and send To the synchronization signal board; the synchronization signal board is used to generate the synchronization signal according to the attitude parameters.
  • a heat dissipation structure is provided on the bottom plate of the device, and the heat dissipation structure is used for ventilation and heat dissipation of the device.
  • the heat dissipation structure includes an air inlet and an air outlet, wherein the air inlet is arranged at the front of the bottom plate of the device and opens to the front, and the air outlet is arranged at the rear of the device and opens to the rear .
  • connection structure is provided on the bottom plate of the device, and the connection structure is used to realize a rigid connection between the bottom plate of the device and the bracket of the vehicle, and the connection structure has a shock absorption function.
  • the connecting structure includes a profiled member, a wire damping spring and a leveling block, wherein the leveling block is used to achieve the leveling of the bottom plate of the device.
  • the device by disposing a heat dissipation structure and a connection structure in the bottom plate of the device, the device can meet various engineering requirements such as ventilation, heat dissipation, waterproofing, and shock absorption when installed on the roof, thereby meeting the requirements of field collection. needed, it will help to popularize and apply the device on a large scale.
  • an embodiment of the present application provides a collection system, the system includes a vehicle-mounted collection device and a vehicle, and the vehicle-mounted collection device is installed on the roof of the vehicle.
  • FIG. 1 is a schematic diagram of a hardware composition and a signal orientation of a vehicle-mounted acquisition device provided by an embodiment of the present application;
  • FIG. 2 is a schematic diagram of a hardware layout of a vehicle-mounted acquisition device provided by an embodiment of the present application
  • FIG. 3 is a schematic diagram of a horizontal coverage of a front-view camera provided by an embodiment of the present application.
  • FIG. 4 is a schematic diagram of a vertical coverage of a front-view camera provided by an embodiment of the present application.
  • FIG. 5 is a schematic diagram of a parameter influencing relationship of a front-view camera provided by an embodiment of the present application.
  • 6a and 6b are schematic diagrams of a front-view camera and an installation structure thereof provided by an embodiment of the present application;
  • FIG. 7 is a schematic diagram of a first down-tilt angle and a vertical coverage of a rear-view camera provided by an embodiment of the present application;
  • FIG. 8 is a schematic diagram of a horizontal coverage of a rear-view camera provided by an embodiment of the present application.
  • FIG. 9 is a schematic diagram of a parameter influencing relationship of a rear-view camera provided by an embodiment of the present application.
  • FIGS. 10a and 10b are schematic diagrams of a rear-view camera and an installation structure thereof provided by an embodiment of the present application;
  • FIG. 11 is a schematic diagram of a second downtilt angle and a vertical coverage of a lidar provided by an embodiment of the present application;
  • FIG. 12 is a schematic diagram of the inter-frame coverage requirements of a rear-view camera and a lidar in an embodiment of the present application
  • FIG. 13 is a schematic diagram of a parameter influence relationship of a lidar according to an embodiment of the present application.
  • 14a and 14b are schematic diagrams of a lidar and an installation structure thereof provided by an embodiment of the application;
  • FIG. 15 is a schematic diagram of a heat dissipation structure of a vehicle-mounted collection device provided by an embodiment of the application.
  • FIG. 16 is a schematic diagram of a shock absorption structure of a vehicle-mounted collection device provided by an embodiment of the present application.
  • the vehicle-mounted collection device provided by the embodiment of the present application is used for collection of geographic images, and mainly includes capturing images of road lane lines, indicators above the road, signage, and edges on both sides of the road.
  • the captured images can be processed into a common three-dimensional map through post-processing software.
  • FIG. 1 is a schematic diagram of the hardware composition and signal orientation of the vehicle-mounted acquisition device provided by the embodiment of the application
  • FIG. 2 is a schematic diagram of the hardware layout of the vehicle-mounted acquisition device provided by the embodiment of the application.
  • the vehicle-mounted acquisition device includes a front-view camera, a rear-view camera, a lidar, an industrial computer and a synchronization signal board. Further, the vehicle-mounted acquisition device may further include a global positioning system (global positioning system, GPS) antenna, a global navigation satellite system (GNSS) board, an inertial navigation unit (inertial navigation unit, IMU) and a power divider device, etc.
  • a global positioning system global positioning system, GPS
  • GNSS global navigation satellite system
  • IMU inertial navigation unit
  • power divider device etc.
  • the front-view camera, the rear-view camera and the lidar are located on the center line extending in the front-rear direction of the bottom plate of the device.
  • the front-view camera is arranged at the front end of the center line, facing the front of the device, and is used to collect image data in the front-view direction of the device and send it to the industrial computer.
  • the rear-view camera is arranged at the rear end of the center line, facing the rear of the device, and is used to collect image data in the rear-view direction of the device and send it to the industrial computer.
  • the lidar is set at the rear end of the center line, facing the rear of the device, but above the rear-view camera, and is used to collect point cloud data in the rear-view direction and send it to the industrial computer.
  • the field of view of the forward-looking camera is determined according to the field of view coverage requirement in the forward-looking direction and the maximum vehicle speed supported by the vehicle-mounted collection device, so as to ensure that the forward-looking camera is within the vehicle speed range supported by the vehicle-mounted collection device.
  • the front view within the set range can be photographed accurately, so as to meet the mapping requirements.
  • the maximum vehicle speed supported by the vehicle-mounted collection device may be 80 km/h.
  • the field of vision coverage requirements in the forward-looking direction can be further divided into horizontal field of view coverage requirements and vertical field of view coverage requirements.
  • the requirements for field coverage in the front-view direction include: in the horizontal direction, the front-view camera is required to be able to capture the road width of L fh within the range of the front L front , and the L fh covers no less than three lanes, and the width of each lane is It is about 3.5; in the vertical direction, the front-view camera is required to be able to capture the field of view within the range of the front L front and important signs such as signs and signal lights above the road. The maximum height of these important signs is about 4.5m.
  • the L front refers to the minimum following distance, the L front is directly related to the current vehicle speed, and the larger the vehicle speed, the larger the L front . Based on the above field of view coverage requirements, the horizontal coverage range and vertical coverage range captured by the front-view camera may be shown in FIG. 3 and FIG. 4 , respectively.
  • Figure 5 is a schematic diagram of the relationship between the parameters of the front-view camera. As shown in Figure 5, the shooting quality of the front-view camera is affected by the field coverage requirement in the front-view direction, vehicle speed, frame rate and exposure time.
  • FIGS. 6a and 6b are schematic diagrams of the front-view camera and its installation structure in the vehicle-mounted acquisition device.
  • the front-view camera is set towards the front of the device, its main optical axis is located in the horizontal plane, and the direction is consistent with the driving direction of the vehicle on which the vehicle-mounted capture device is installed, and there is no left-right tilt.
  • the front-view camera is fixed on the bracket in front of the device, and scans the front view through the high-transparency glass fixed on the front of the device cover.
  • a sealing cover is installed on the outside of the front-view camera, and a rubber pad and a glass cover are used to nest and seal the front of the lens to achieve a sealing effect and reduce the impact of humid air on the front-view camera.
  • the above-mentioned installation structure can effectively improve the stability of the front-view camera and enhance the protection capability of the front-view camera.
  • the field of view of the rear-view camera can be determined according to the field of view coverage requirements in the rear-view direction and the maximum vehicle speed supported by the vehicle-mounted acquisition device to ensure that the rear-view camera can shoot within the set range within the vehicle speed range supported by the vehicle-mounted acquisition device. rear field of view, so as to meet the drawing requirements.
  • the rear-view camera focuses on the road behind, and it is necessary to ensure that the lane lines on the road are clear. Therefore, the rear-view camera is set at a first down-tilt angle, and the first down-tilt angle refers to the angle between the main optical axis of the rear-view camera and the horizontal plane, denoted as ⁇ camera .
  • FIG. 7 is a schematic diagram of a first down-tilt angle and vertical coverage of a rear-view camera.
  • the first down-tilt angle is determined according to the field coverage requirement in the rear view direction and the maximum vehicle speed supported by the vehicle-mounted collection device.
  • the range that the rear-view camera can actually capture will be different, and the range of the near-end blind spot L r that cannot be captured by the rear-view camera and the range of the rear road L rv captured by the rear-view camera will also be different. will change.
  • the overlap ratio between them ie, the overlap range between frames
  • the field of vision coverage requirements in the rear view direction include the horizontal field of view coverage requirements and the requirements for the longitudinal proportion of the road in the captured image.
  • the horizontal field of view coverage requirement means that the rear-view camera is required to be able to photograph a road width of the rear L fh , where the L fh covers no less than three lanes.
  • the requirement for the longitudinal proportion of the road in the captured image means that, in order to clearly capture information elements such as lane lines on the road, it is necessary to ensure that the rear road L rv occupies a certain proportion, such as 50%, in the image captured by the rear-view camera.
  • FIG. 9 is a schematic diagram of the relationship between parameters of the rear-view camera. As shown in FIG. 9 , the shooting quality of the rear-view camera is affected by vehicle speed, frame rate and exposure time.
  • FIGS. 10a and 10b are schematic diagrams of a rear-view camera and its installation structure in a vehicle-mounted acquisition device.
  • the rear-view camera is fixed on a bracket at the rear of the device, which is inclined downward at a certain angle, and the rear-view camera scans the rear view through the high-transparency glass fixed at the front of the device housing.
  • a layer of sealing cover is installed on the outside of the rear-view camera as a whole, and a rubber pad and a glass cover are used for nesting and sealing in front of the lens to achieve a sealing effect and reduce the impact of humid air on the rear-view camera.
  • the above-mentioned installation structure can effectively improve the stability of the rear-view camera and enhance the protection capability of the rear-view camera.
  • the lidar needs to cover most of the ground behind the car and the environment on both sides of the road to generate point clouds.
  • the scanning range of the lidar on the ground and the left and right sides should be uniform, and the coverage of the lidar should be consistent with the coverage of the rear-view camera, so that the point cloud collected by the lidar can be compared with the image captured by the rear-view camera in the later stage.
  • the images are checked against each other to improve the accuracy of the drawing. Therefore, the lidar can be set at a second down-tilt angle, and the second down-tilt angle refers to the angle between the central axis of the laser scanning and the horizontal plane, denoted as ⁇ Lidar .
  • FIG. 11 is a schematic diagram of the second downtilt angle and vertical coverage of the lidar.
  • the second down-tilt angle is also determined according to the field coverage requirement in the rear view direction and the maximum vehicle speed supported by the vehicle-mounted acquisition device.
  • the range that the lidar can actually scan will also be different, and the range of the near-end blind spot L r that cannot be scanned by the lidar and the range of the rear road L rv scanned by the lidar will also change.
  • the smaller the second down-dip angle the greater the point cloud density, the weaker the ability to scan and cover the ground, the lower the image clarity, and the more difficult it is to extract lane lines and signs.
  • the larger the second down-tilt angle is, the smaller the scanning spacing in the vertical direction, the larger the frame spacing on the rear side, the lower the ranging accuracy, and the lower the extraction elements.
  • the inter-frame image overlap ratio means that the images collected by the rear-view camera and lidar should be continuously covered, and there should be continuity between the previous frame image and the next frame image. to occupy a certain percentage. If there is an L hole in a certain area on the ground that is not covered by the previous frame image and the post frame image, it will cause blanks in the final three-dimensional map, which will affect the accuracy of the map.
  • Figure 13 is a schematic diagram of the relationship between the parameters of the lidar. As shown in Figure 13, the shooting quality of the lidar is affected by the vehicle speed, frame rate and horizontal scanning resolution.
  • FIGS. 14a and 14b are schematic diagrams of the lidar and its installation structure in the vehicle-mounted acquisition device. As shown in Figure 14a and Figure 14b, the lidar is fixed on the bottom plate inside the device using a column structure and passes through the housing. Double-layer sealing between the column and the outer cover, the angle accuracy is controlled within 0.2 degrees.
  • parameters such as the field of view angle, down-tilt angle, and horizontal scanning resolution of the front-view camera, rear-view camera, and lidar are selected according to the field of view coverage requirements, which helps to reduce the number of sensors required in the vehicle-mounted collection device. It can effectively avoid the configuration redundancy of various sensors (such as cameras and lidars) in the vehicle-mounted acquisition equipment. For example, selecting a front-view camera with a suitable field of view through the above method can make it possible to set a camera in the front-view direction to shoot to meet the acquisition requirements.
  • the industrial computer and the synchronization signal board are respectively arranged on both sides of the center line extending in the front and rear directions on the bottom plate of the equipment.
  • the industrial computer is used to control the front-view camera and the rear-view camera for collection, receive the image data collected by the front-view camera and the rear-view camera, as well as the point cloud data collected by the lidar, and perform processing on the received image data and point cloud data. deal with.
  • the synchronization signal board is used to provide synchronization signals for the front-view camera, the rear-view camera and the lidar, so as to realize the acquisition synchronization of the front-view camera, the rear-view camera and the lidar.
  • the synchronization signal board can directly interact with the industrial computer and lidar with signals or instructions, while the synchronization signal board and the front-view camera or the rear-view camera can interact with signals or instructions. It is processed and forwarded by the industrial computer.
  • the synchronization signal board can send synchronization signals to the industrial computer and lidar.
  • the industrial computer can send shooting instructions to the forward-looking camera and the rear-view camera according to the synchronization signal received from the synchronization signal board, and the front-view camera and the rear-view camera collect image data according to the shooting instructions.
  • the lidar can collect point cloud data according to the synchronization signal received from the synchronization signal board.
  • the synchronization signal can be a rectangular pulse signal.
  • the industrial computer can send a shooting command to the forward-looking camera and the rear-view camera when the rising edge or falling edge of the synchronization signal comes to trigger the forward-looking camera. and the rear-view camera to collect image data at the rising or falling edge of the synchronization signal.
  • Lidar can collect point cloud data when the rising or falling edge of the synchronization signal comes.
  • the synchronization signal board is used to provide the synchronization signal
  • the front-view camera, the rear-view camera and the lidar can be coordinated to realize the acquisition and synchronization of image data and point cloud data, which can effectively reduce the burden of post-image processing and improve the mapping efficiency. accuracy.
  • the synchronization signal board can also receive the wheel speedometer signal, and send the wheel speedometer signal to the industrial computer and the laser radar.
  • the wheel speedometer signal comes from the wheel speedometer of the vehicle on which the vehicle-mounted collecting device is installed, and is used to indicate the real-time vehicle speed of the vehicle.
  • the wheel speedometer may be mounted on one or more wheels of the vehicle, and is a sensor for measuring the rotational speed of the wheels of the vehicle.
  • the industrial computer can send adjustment instructions to the front-view camera and the rear-view camera according to the real-time vehicle speed indicated by the wheel speedometer signal, so as to instruct the front-view camera and the rear-view camera to adjust their respective acquisition parameters.
  • lidar can adjust its own acquisition parameters according to the real-time vehicle speed indicated by the wheel speedometer signal.
  • the acquisition parameters of the front-view camera include frame rate and/or exposure time
  • the acquisition parameters of the rear-view camera may include frame rate and/or exposure time
  • the acquisition parameters of lidar may include frame rate and/or horizontal scanning resolution.
  • the industrial computer can instruct the front-view camera and the rear-view camera to increase the frame rate, reduce the exposure time, ensure the number of target acquisitions and the coverage between frames, and reduce image blur; lidar;
  • the frame rate and horizontal scanning resolution can be increased according to the vehicle speed to ensure the coverage between frames.
  • the synchronization signal board can also adjust the synchronization signal according to the received wheel speedometer signal. For example, changing the period of the sync signal, the duration or ratio of high/low levels, etc. Therefore, the acquisition timing of the front-view camera, the rear-view camera and the lidar can be adjusted according to the vehicle speed, so that the acquisition rhythm of the front-view camera, the rear-view camera and the lidar can match the speed of the vehicle on which the device is installed.
  • the synchronization signal board can shorten the period of the synchronization signal according to the wheel speedometer signal, thereby speeding up the collection frequency of the front-view camera, the rear-view camera and the lidar.
  • the vehicle-mounted acquisition device may also include a power supply (also known as a power supply unit/module), or in another possible design, the synchronization signal board may also have a power supply for the above-mentioned various sensors and industrial computers. function, at this time, the synchronization signal board can be called the power supply and synchronization signal board.
  • a power supply also known as a power supply unit/module
  • the synchronization signal board may also have a power supply for the above-mentioned various sensors and industrial computers. function, at this time, the synchronization signal board can be called the power supply and synchronization signal board.
  • the GPS antenna is arranged on the outside of the vehicle-mounted acquisition device box (such as on both sides above the roof), and is used to receive positioning data from satellites and send them to the power divider. Then, the power divider sends the positioning data from the GPS antenna to the GNSS board and IMU at the same time.
  • the GNSS board can locate the vehicle-mounted acquisition device according to the received positioning data, and send the obtained position signal to the industrial computer. In this way, on the one hand, the industrial computer can send shooting instructions to the front-view camera and the rear-view camera according to the synchronization signal and the position signal, so that each frame of image collected by the front-view camera and the rear-view camera can be matched with a piece of precise position information. correspond.
  • the industrial computer can send a position signal to the lidar, so that the lidar can collect point cloud data according to the position signal and the synchronization signal from the synchronization signal board, so that each scanned point cloud image can be matched with an accurate one. corresponding to the location information.
  • the IMU can determine the attitude parameter of the vehicle-mounted acquisition device according to the positioning data, and send it to the synchronization signal board, so that the synchronization signal board can generate or adjust the synchronization signal according to the attitude parameter.
  • the bottom plate of the vehicle-mounted collection device is provided with a heat dissipation structure, which is used for ventilation and heat dissipation of the vehicle-mounted collection device.
  • the heat dissipation structure includes an air inlet and an air outlet, wherein the air inlet is arranged at the front of the bottom plate of the device and opens to the front, and the air outlet is arranged at the rear of the device and opens to the rear.
  • the air flow will enter the interior of the vehicle-mounted collection device from the air inlet on the equipment bottom plate, and then flow out from the air outlet, taking away the heat generated by the components inside the vehicle-mounted collection device.
  • connection structure may be provided below the bottom plate of the device for realizing a rigid connection between the bottom plate of the device and the bracket of the mounted vehicle, and the connection structure has a shock absorption function.
  • the connecting structure includes a profiled member, a wire damping spring and a leveling block.
  • a profiled metal plate may also be included.
  • the profiling member is used to fix the device on the mounting frame on the roof, for example, the profiled metal plate can be snapped (or pressed) on the mounting frame on the roof, and the leveling block is used for Realize the level of the bottom plate of the device.
  • connection structures for example, four symmetrically arranged under the bottom plate.
  • the engineering requirements such as ventilation, heat dissipation, waterproofing, and shock absorption when the device is installed on the roof can be ensured, so as to meet the needs of field collection, and help large-scale Promote the application.
  • the embodiments of the present application may be provided as a method, a system, or a computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.
  • computer-usable storage media including, but not limited to, disk storage, CD-ROM, optical storage, etc.
  • These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory result in an article of manufacture comprising instruction means, the instructions
  • the apparatus implements the functions specified in the flow or flow of the flowcharts and/or the block or blocks of the block diagrams.

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Abstract

一种车载采集设备，包括：一个前视相机、一个后视相机、一个激光雷达和工控机；其中，前视相机、后视相机和激光雷达分别设置在设备的底板前后方向延伸的中线的前后两端，并且前视相机、后视相机和激光雷达的参数如视场角、下倾角和水平扫描分辨率可根据该设备的视野覆盖需求确定。这种硬件布局以及参数选择方式，有助于减少车载采集设备中需要的传感器的数量，有效避免车载采集设备中各类传感器的配置冗余。还公开了一种包括该车载采集设备和车辆的采集系统。

Description

一种车载采集设备
相关申请的交叉引用
本申请要求在2021年03月29日提交中国国家知识产权局、申请号为202110336419.4、申请名称为“一种车载采集设备”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及电子技术领域，尤其涉及一种车载采集设备。
背景技术
现有技术中，车载采集设备通常设置有前后左右四个相机以及一个或两个激光雷达。从相机的角度看，在前视方向上设置两个相机，虽然能使整体的覆盖面达到180度，但是两个相机的覆盖范围有很大重叠，后视方向上也是如此。不同相机采集的图像之间存在大块区域的重叠，会增加后期图像处理的负担。例如，如果要根据相机采集到的图像制作三维地图，则需要将多个相机采集的图像进行图像切割和拼接，进而拼接成一周完整的图像，但是相机的覆盖范围重叠会使得上述图像切换、拼接等步骤变得复杂。
此外，这类设备的结构形态通常比较复杂，要么体积和重量都比较大，安装困难，要么以分布式的方式覆盖整个车顶，因此，不利于大规模应用。
可见，现有技术中的车载采集设备存在结构复杂，传感器数量多，配置冗余的问题。
发明内容
本申请实施例中的车载采集设备，用于提高设备的采集精度，并避免设备内部传感器配置冗余的问题。
第一方面，本申请实施例提供一种车载采集设备，该设备包括：一个前视相机、一个后视相机、一个激光雷达和工控机；所述前视相机用于采集前视方向上的图像数据并发送给工控机；所述后视相机用于采集后视方向上的图像数据并发送给工控机；所述激光雷达用于采集后视方向上的点云数据并发送给工控机；
其中，所述前视相机、所述后视相机和所述激光雷达位于设备的底板前后方向延伸的中线上；所述前视相机设置于中线的前端，朝向设备的前方；所述后视相机和激光雷达设置于中线的后端，朝向设备的后方，且激光雷达位于后视相机之上；所述前视相机的视场角根据前视方向上的视野覆盖需求和设备支持的最大车速确定；所述后视相机以第一下倾角设置，所述激光雷达以第二下倾角设置，第一下倾角根据后视方向上的视野覆盖需求和设备支持的最大车速确定，第二下倾角根据后视方向上的视野覆盖需求和设备支持的最大车速确定。
本申请实施例中，通过将前视相机、后视相机和激光雷达分别设置在设备的底板前后方向的中线的前后两端，并根据视野覆盖需求来选择前视相机、后视相机和激光雷达的视场角、下倾角、水平扫描分辨率等参数，有助于减少车载采集设备中需要的传感器(如相 机、激光雷达)的数量，有效避免车载采集设备中各类传感器的配置冗余。
在一种可能的设计中，所述前视方向上的视野覆盖需求包括水平视野覆盖需求和垂直视野覆盖需求；所述后视方向上的视野覆盖需求包括水平视野覆盖需求和道路在拍摄图像中的纵向占比。
在一种可能的设计中，所述设备还包括同步信号板；所述同步信号板用于向工控机和激光雷达发送同步信号，该同步信号用于实现前视相机、后视相机和激光雷达的采集同步；所述工控机用于根据同步信号，向前视相机和后视相机发送拍摄指令；所述前视相机和所述后视相机用于根据拍摄指令，采集图像数据；所述激光雷达用于根据同步信号，采集点云数据。
本申请实施例中，通过同步信号板提供同步信号，可以协调前视相机、后视相机和激光雷达实现图像数据和点云数据的采集同步，从而可有效减轻后期图像处理的负担，提高制图的准确性。
在一种可能的设计中，所述同步信号板还用于接收轮速计信号，并将该轮速计信号发送给工控机和激光雷达，该轮速计信号用于指示车辆的车速，所述车载采集设备安装在所述车辆上；所述工控机还用于根据车速向前视相机和后视相机发送调整指令，该调整指令用于指示前视相机和后视相机调整采集参数；所述激光雷达还用于根据车速调整采集参数。
在一种可能的设计中，所述前视相机的采集参数包括帧率或曝光时间；所述后视相机的采集参数包括帧率或曝光时间；所述激光雷达的采集参数包括帧率或水平扫描分辨率。
本申请实施例中，通过同步信号板提供轮速计信号，可以使得设备能够根据当前安装在的车辆的实时车速动态调整前视相机、后视相机和激光雷达的采集参数，从而确保在不同的车速下相机和激光雷达都能采集到质量好、清晰度高的图像和点云，提高制图的准确性，满足制图平台的需求。
在一种可能的设计中，所述设备还包括GPS天线、GNSS板卡和功分器；其中，所述GPS天线用于接收来自卫星的定位数据；所述功分器用于将来自GPS天线的定位数据发送给GNSS板卡；所述GNSS板卡用于根据接收到的定位数据对设备进行定位，并将得到的位置信号发送给工控机；所述工控机用于根据同步信号和位置信号，向前视相机和后视相机发送拍摄指令，以及向激光雷达发送位置信号；所述激光雷达用于根据同步信号和位置信号，采集点云数据。
本申请实施例中，通过GNSS板卡提供位置信号，可使得前视相机、后视相机和激光雷达能够基于来自同步信号板的同步信号以及来自GNSS板卡的位置信号进行图像或点云的采集，并且前视相机、后视相机和激光雷达采集的每帧图像均可与一条准确的位置信息相对应，从而有效提高制图精度，满足制图平台的需求。
在一种可能的设计中，所述设备还包括IMU；所述功分器还用于将来自GPS天线的定位数据发送给IMU；所述IMU用于根据定位数据确定设备的姿态参数，并发送给同步信号板；所述同步信号板用于根据姿态参数，生成同步信号。
在一种可能的设计中，所述设备的底板上设置有散热结构，该散热结构用于对所述设备进行通风散热。
在一种可能的设计中，所述散热结构包括入风口和出风口，其中，入风口设置在设备的底板的前部并朝前开口，出风口设置在设备的底板的后部并朝后开口。
在一种可能的设计中，所述设备的底板上设置有连接结构，该连接结构用于实现设备 的底板与车辆的支架之间的刚性连接，并且该连接结构具有减震功能。
在一种可能的设计中，所述连接结构包括仿形构件、钢丝减震弹簧和调平块，其中，调平块用于实现设备的底板的水平。
本申请实施例中，通过在设备的底板中设置散热结构和连接结构，可使得设备能够满足当安装在车顶时的通风、散热、防水、减震等各类工程要求，从而满足野外采集的需要，有助于将该设备大规模推广应用。
第二方面，本申请实施例提供一种采集系统，该系统包括车载采集设备和车辆，该车载采集设备安装于所述车辆的车顶上。
附图说明
图1为本申请实施例提供的车载采集设备的硬件组成及信号走向的示意图；
图2为本申请实施例提供的车载采集设备的硬件布局的示意图；
图3为本申请实施例提供的前视相机的水平覆盖范围的示意图；
图4为本申请实施例提供的前视相机的垂直覆盖范围的示意图；
图5为本申请实施例提供的前视相机的参数影响关系的示意图；
图6a和图6b为本申请实施例提供的前视相机及其安装结构的示意图；
图7为本申请实施例提供的后视相机的第一下倾角和垂直覆盖范围的示意图；
图8为本申请实施例提供的后视相机的水平覆盖范围的示意图；
图9为本申请实施例提供的后视相机的参数影响关系的示意图；
图10a和图10b为本申请实施例提供的后视相机及其安装结构的示意图；
图11为本申请实施例提供的激光雷达的第二下倾角和垂直覆盖范围的示意图；
图12为本申请实施例中后视相机和激光雷达的帧间覆盖要求的示意图；
图13为本申请实施例提供的激光雷达的参数影响关系的示意图；
图14a和图14b为本申请实施例提供的激光雷达及其安装结构的示意图；
图15为本申请实施例提供的车载采集设备的散热结构的示意图；
图16为本申请实施例提供的车载采集设备的减震结构的示意图。
具体实施方式
为了使本申请实施例的目的、技术方案和优点更加清楚，下面将结合附图对本申请实施例作进一步地详细描述。
本申请实施例提供的车载采集设备用于地理图像的采集，主要包括拍摄路面车道线、道路上方指示灯、指示标牌、道路两侧边缘的图像。拍摄的图像经过后期软件的处理，可以制作成常见的三维地图。
图1为本申请实施例提供的车载采集设备的硬件组成和信号走向的示意图，图2为本申请实施例提供的车载采集设备的硬件布局示意图。
如图1和图2所示，该车载采集设备包括一个前视相机、一个后视相机、一个激光雷达、工控机和同步信号板。进一步地，该车载采集设备还可包括全球定位系统(global positioning system，GPS)天线、全球卫星导航系统(global navigation satellite system，GNSS)板卡、惯性导航单元(inertial navigation unit，IMU)和功分器等。
上述车载采集设备中包括的各类传感器或其他器件分布在设备的底板上。具体的，前视相机、后视相机和激光雷达位于设备的底板前后方向延伸的中线上。前视相机设置于该中线的前端，朝向设备的前方，用于采集设备前视方向上的图像数据并发送给工控机。后视相机设置于该中线的后端，朝向设备的后方，用于采集设备后视方向上的图像数据并发送给工控机。激光雷达设置于该中线的后端，朝向设备的后方，但是位于后视相机之上，用于采集后视方向上的点云数据并发送给工控机。
本申请实施例中，前视相机的视场角根据前视方向上的视野覆盖需求和该车载采集设备支持的最大车速确定，以确保前视相机在车载采集设备支持的车速范围内，能够清楚地拍摄到设定范围内的前方视野，从而满足制图要求。
示例性地，车载采集设备支持的最大车速可以为80km/h。
其中，前视方向上的视野覆盖需求可进一步分为水平视野覆盖需求和垂直视野覆盖需求。前视方向上的视野覆盖需求具体包括：水平方向上，要求前视相机在前方L front的范围内能够拍摄到L fh的道路宽度，该L fh覆盖不少于三条车道，每条车道的宽度大约为3.5左右；垂直方向上，要求前视相机能够拍摄到前方L front的范围内的视野以及道路上方的标识牌、信号指示灯等重要标志，这些重要标志的最大高度大约在4.5m左右，即使前方有高度为H bus的障碍物(如大货车)也不能影响到前视相机对这些重要标志的拍摄。所述L front是指最小跟车距离，该L front与当前的车速直接相关，车速越大时L front也就越大。基于上述视野覆盖需求，前视相机拍摄的水平覆盖范围和垂直覆盖范围可分别如图3和图4所示。
图5为前视相机的参数影响关系的示意图，如图5所示，前视相机的拍摄质量受到前视方向上的视野覆盖需求、车速、帧率和曝光时间的影响。
图6a和图6b为前视相机及其在车载采集设备中的安装结构的示意图。如图6a和图6b所示，前视相机朝向设备的正前方设置，其主光轴位于水平面内，方向与车载采集设备所安装的车辆的行驶方向保持一致，不存在左右方向的倾斜。前视相机固定在设备内部前方的支架上，通过固定在设备外罩前端的高透玻璃扫描前方视野。前视相机整体外部安装有密封罩，镜头前方采用橡胶垫和玻璃罩进行嵌套封闭，实现密闭效果，减小潮湿空气对前视相机的影响。上述安装结构可有效提高前视相机的稳定性，增强对前视相机的防护能力。
后视相机的视场角可根据后视方向上的视野覆盖需求和该车载采集设备支持的最大车速确定，以确保后视相机在车载采集设备支持的车速范围内，能够拍摄到设定范围内的后视野，从而满足制图要求。
与前视相机不同，后视相机的拍摄重点在于后方的道路，要确保道路上的车道线拍摄清晰。因此，后视相机以第一下倾角设置，该第一下倾角是指后视相机的主光轴与水平面之间的夹角，记为θ camera。
图7为后视相机的第一下倾角和垂直覆盖范围的示意图。该第一下倾角根据后视方向上的视野覆盖需求和车载采集设备支持的最大车速确定。当后视相机被设置不同的第一下倾角时，后视相机实际能够拍摄到的范围也会不同，后视相机拍摄不到的近端盲区L r以及拍摄到的后方道路L rv的范围也会变化。可以理解地，第一下倾角越大，后视相机实际拍摄到的范围会越小，同时对车道的覆盖能力减弱，后方道路L rv在拍摄图像中的占比增大，拍摄的前后帧图像之间的重叠率(即帧间重叠范围)减小。
其中，后视方向上的视野覆盖需求包括水平视野覆盖需求和道路在拍摄图像中的纵向 占比要求。示例性地，水平视野覆盖需求是指，要求后视相机能够拍摄到后方L fh的道路宽度，该L fh覆盖不少于三条车道。道路在拍摄图像中的纵向占比要求是指，为了将道路上的车道线等信息元素拍摄清晰，要保证后方道路L rv在后视相机拍摄到的图像中占据一定的比例，如50％。应注意，所述道路在拍摄图像中的纵向占比要求并非越大越好，也并非越小越好，而是根据图像的覆盖范围和相机的采集帧率进行综合考虑，确定合适的纵向占比的区间范围。基于上述视野覆盖需求，后视相机的水平覆盖范围可如图8所示。
图9为后视相机的参数影响关系的示意图，如图9所示，后视相机的拍摄质量受到车速、帧率和曝光时间的影响。
图10a和图10b为后视相机及其在车载采集设备中的安装结构的示意图。如图10a和图10b所示，后视相机固定在设备内部后方的支架上，该支架以一定角度向下倾斜，后视相机通过固定在设备外罩前端的高透玻璃扫描后方视野。后视相机外部整体安装一层密封罩，镜头前方采用橡胶垫和玻璃罩进行嵌套封闭，实现封闭效果，减小潮湿空气对后视相机的影响。上述安装结构可有效提高后视相机的稳定性，增强对后视相机的防护能力。
激光雷达要覆盖车后大部分地面以及道路两侧的环境，生成点云。激光雷达对地面及左右两侧的扫描范围要均匀，而且激光雷达的覆盖范围还需与后视相机的覆盖范围保持一致，以便于后期对激光雷达采集的点云和与后视相机拍摄到的图像进行相互校验，从而提高制图的准确性。因此，激光雷达可以第二下倾角设置，该第二下倾角是指激光扫描的中心轴与水平面之间的夹角，记为θ Lidar。
图11为激光雷达的第二下倾角和垂直覆盖范围的示意图。该第二下倾角同样根据后视方向上的视野覆盖需求和车载采集设备支持的最大车速确定。当激光雷达被设置不同的第二下倾角时，该激光雷达实际能够扫描到的范围也会不同，激光雷达扫描不到的近端盲区L r以及扫描到的后方道路L rv的范围也会变化。可以理解地，第二下倾角越小，点云密度会越大，对地面的扫描覆盖能力会减弱，图像清晰度会降低，对于车道线和标牌的提取难度增大。第二下倾角越大，垂直方向的扫描间距减小，后侧帧间距加大，测距精度会降低，提取要素也会下降。
需要说明的是，本申请实施例中，当在一定的车速下进行采集时，后视相机和激光雷达还要满足一定帧间图像重叠率的要求。如图12所示，帧间图像重叠率是指后视相机个激光雷达采集的图像要连续覆盖，前帧图像和后帧图像之间要有连续性，帧间覆盖范围L overlap在每帧图像中要占有一定比例。如果前帧图像和后帧图像都没有覆盖到地面上的某块区域出现L hole，则会造成最终制成的三维地图中出现空白，影响地图的准确性。
图13为激光雷达的参数影响关系的示意图，如图13所示，激光雷达的拍摄质量受到车速、帧率和水平扫描分辨率的影响。
图14a和图14b为激光雷达及其在车载采集设备中的安装结构的示意图。如图14a和图14b所示，激光雷达采用立柱结构固定在设备内部的底板上，并穿过外罩。立柱与外罩之间双层密封，角度精度控制在0.2度以内。
本申请实施例中，通过根据视野覆盖需求来选择前视相机、后视相机和激光雷达的视场角、下倾角、水平扫描分辨率等参数，有助于减少车载采集设备中需要的传感器的数量，有效避免车载采集设备中各类传感器(如相机、激光雷达)的配置冗余。例如，通过上述方式来选择具有合适视场角的前视相机，可使得在前视方向上设置一个相机进行拍摄就可以满足采集需求，同样的通过选择具有合适视场角的后视相机，并合理设置后视相机的下 倾角，可使得后视方向上设置一个相机进行拍摄图像就可以满足采集需求。类似的，通过上述方式，选择具有合适水平扫描分辨率的激光雷达，并合理设置激光雷达的下倾角，可使得仅在后视方向上设置激光雷达就可以采集到所有理想中的点云图像。而且，经过分析，由于车辆前方的盲区范围较大，不需要前方也设置激光雷达进行重复扫描。
工控机和同步信号板分别设置于设备的底板上前后方向延伸的中线的两侧。工控机用于控制前视相机和后视相机进行采集，接收前视相机和后视相机采集到的图像数据，以及激光雷达采集到的点云数据，对接收到的图像数据和点云数据进行处理。同步信号板用于为前视相机、后视相机和激光雷达提供同步信号，以实现前视相机、后视相机和激光雷达的采集同步。
应注意，本申请实施例中，同步信号板可与工控机、激光雷达进行直接的信号或指令的交互，而同步信号板与前视相机或后视相机之间的信号或指令的交互则可通过工控机的处理和转发进行。
同步信号板可向工控机和激光雷达发送同步信号。工控机可根据从同步信号板接收的同步信号，向前视相机和后视相机发送拍摄指令，由前视相机和后视相机根据该拍摄指令采集图像数据。激光雷达可根据从同步信号板接收的同步信号，采集点云数据。
示例性地，所述同步信号可以为矩形的脉冲信号，如此，工控机可在该同步信号的上升沿或下降沿来临时，向前视相机和后视相机发送拍摄指令，以触发前视相机和后视相机在同步信号的上升沿时刻或下降沿时刻采集图像数据。激光雷达可在该同步信号的上升沿或下降沿来临时，采集点云数据。
本申请实施例中，通过同步信号板提供同步信号，可以协调前视相机、后视相机和激光雷达实现图像数据和点云数据的采集同步，从而可有效减轻后期图像处理的负担，提高制图的准确性。
所述同步信号板还可接收轮速计信号，并将该轮速计信号发送给工控机和激光雷达。所述轮速计信号来自所述车载采集设备安装在的车辆的轮速计，用于指示车辆实时的车速。所述轮速计可安装在车辆的一个或多个车轮上，是用于测量车辆的车轮转速的传感器。如此，工控机可根据该轮速计信号指示的实时车速，向前视相机和后视相机发送调整指令，以指示前视相机和后视相机调整各自的采集参数。类似的，激光雷达可根据该轮速计信号指示的实时车速，调整自身的采集参数。
其中，前视相机的采集参数包括帧率和/或曝光时间；后视相机的采集参数可包括帧率和/或曝光时间；激光雷达的采集参数可包括帧率和/或水平扫描分辨率。示例性地，当车辆的车速较快时，工控机可指示前视相机和后视相机调大帧率，减小曝光时间，确保目标采集次数和帧间覆盖，同时降低图像模糊度；激光雷达可根据车速调大帧率和水平扫描分辨率，确保帧间覆盖。
可见，通过将轮速计信号发送给工控机和激光雷达，有助于根据车辆当前的车速适应调整前视相机、后视相机和激光雷达的采集参数，从而确保在不同的车速下都能采集到质量好、清晰度高的图像和点云，提高制图的准确性，满足制图平台的需求。
可选的，所述同步信号板还可根据接收到的轮速计信号，调整同步信号。例如，改变同步信号的周期、高电平/低电平的持续时间或占比等。从而可根据车速调整前视相机、后视相机和激光雷达的采集时刻，使得前视相机、后视相机和激光雷达的采集节奏能够与该设备安装在的车辆的车速相匹配。示例性地，当车辆的车速较快时，同步信号板可根据轮 速计信号将同步信号的周期缩短，从而加快前视相机、后视相机和激光雷达的采集频率。
可选的，车载采集设备还可包括电源(又称供电单元/模块)，或者在另一种可能的设计中，所述同步信号板还可同时具有为上述各种传感器和工控机进行供电的功能，此时，所述同步信号板可称为电源与同步信号板。
GPS天线设置于车载采集设备盒体的外部(如车顶上方两侧)，用于接收来自卫星的定位数据，并发送给功分器。然后，由功分器将来自GPS天线的定位数据同时发送给GNSS板卡和IMU。GNSS板卡可根据接收到的定位数据对车载采集设备进行定位，并将得到的位置信号发送给工控机。如此，一方面，工控机可根据同步信号和位置信号向前视相机和后视相机发送拍摄指令，以使前视相机和后视相机采集到的每帧图像均可与一条精确的位置信息相对应。另一方面，工控机可向激光雷达发送位置信号，以便激光雷达可根据该位置信号以及来自同步信号板的同步信号，采集点云数据，使得扫描到的每张点云图像都可与一条准确的位置信息相对应。IMU可根据所述定位数据确定车载采集设备的姿态参数，并发送给同步信号板，以便同步信号板根据该姿态参数，生成或调整同步信号。
本申请实施例中，车载采集设备的底板上设置有散热结构，用于对车载采集设备进行通风散热。如图15所示，该散热结构包括入风口和出风口，其中，入风口设置在设备的底板的前部并朝前开口，出风口设置在设备的底板的后部并朝后开口。随着车辆向前行驶，气流将从设备底板上的入风口进入车载采集设备的内部，然后从出风口流出，并带走车载采集设备内部各器件产生的热量。
进一步地，设备的底板的下方可设置有连接结构，用于实现设备的底板与所安装的车辆的支架之间的刚性连接，并且该连接结构具有减震功能。如图16所示，该连接结构包括仿形构件、钢丝减震弹簧和调平块。可选的，还可包括仿形金属板。其中，仿形构件用于实现将设备固定在车顶上的安装架上，例如可以是通过设置的仿形金属板卡扣(或紧压)在车顶的安装架上，调平块用于实现设备的底板的水平。所述连接结构可以有一个或多个，例如在底板下对称设置的4个。
本申请实施例中，通过将所有硬件组成整合在一个盒子里边，可确保设备安装在车顶时的通风、散热、防水、减震等工程要求，从而满足野外采集的需要，有助于大规模推广应用。
本领域内的技术人员应明白，本申请的实施例可提供为方法、系统、或计算机程序产品。因此，本申请可采用完全硬件实施例、完全软件实施例、或结合软件和硬件方面的实施例的形式。而且，本申请可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。
本申请是参照根据本申请的方法、设备(系统)、和计算机程序产品的流程图和/或方框图来描述的。应理解可由计算机程序指令实现流程图和/或方框图中的每一流程和/或方框、以及流程图和/或方框图中的流程和/或方框的结合。可提供这些计算机程序指令到通用计算机、专用计算机、嵌入式处理机或其他可编程数据处理设备的处理器以产生一个机器，使得通过计算机或其他可编程数据处理设备的处理器执行的指令产生用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的装置。
这些计算机程序指令也可存储在能引导计算机或其他可编程数据处理设备以特定方式工作的计算机可读存储器中，使得存储在该计算机可读存储器中的指令产生包括指令装 置的制造品，该指令装置实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能。
这些计算机程序指令也可装载到计算机或其他可编程数据处理设备上，使得在计算机或其他可编程设备上执行一系列操作步骤以产生计算机实现的处理，从而在计算机或其他可编程设备上执行的指令提供用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的步骤。
显然，本领域的技术人员可以对本申请进行各种改动和变型而不脱离本申请的精神和范围。这样，倘若本申请的这些修改和变型属于本申请权利要求及其等同技术的范围之内，则本申请也意图包含这些改动和变型在内。

Claims (12)

  1. 一种车载采集设备，其特征在于，所述设备包括一个前视相机、一个后视相机、一个激光雷达和工控机；所述前视相机用于采集前视方向上的图像数据并发送给所述工控机；所述后视相机用于采集后视方向上的图像数据并发送给所述工控机；所述激光雷达用于采集所述后视方向上的点云数据并发送给所述工控机；
    其中，所述前视相机、所述后视相机和所述激光雷达位于所述设备的底板前后方向延伸的中线上；所述前视相机设置于所述中线的前端，朝向所述设备的前方；所述后视相机和所述激光雷达设置于所述中线的后端，朝向所述设备的后方，且所述激光雷达位于所述后视相机之上；
    所述前视相机的视场角根据所述前视方向上的视野覆盖需求和所述设备支持的最大车速确定；
    所述后视相机以第一下倾角设置，所述激光雷达以第二下倾角设置，所述第一下倾角根据所述后视方向上的视野覆盖需求和所述设备支持的最大车速确定，所述第二下倾角根据所述后视方向上的视野覆盖需求和所述设备支持的最大车速确定。
  2. 根据权利要求1所述的设备，其特征在于，所述前视方向上的视野覆盖需求包括水平视野覆盖需求和垂直视野覆盖需求；
    所述后视方向上的视野覆盖需求包括水平视野覆盖需求和道路在拍摄图像中的纵向占比要求。
  3. 根据权利要求1或2所述的设备，其特征在于，所述设备还包括同步信号板；
    所述同步信号板用于向所述工控机和所述激光雷达发送同步信号，所述同步信号用于实现所述前视相机、所述后视相机和所述激光雷达的采集同步；
    所述工控机用于根据所述同步信号，向所述前视相机和所述后视相机发送拍摄指令；
    所述前视相机和所述后视相机用于根据所述拍摄指令，采集图像数据；
    所述激光雷达用于根据所述同步信号，采集点云数据。
  4. 根据权利要求3所述的设备，其特征在于，所述同步信号板还用于接收轮速计信号，并将所述轮速计信号发送给所述工控机和所述激光雷达，所述轮速计信号用于指示车辆的车速，所述车载采集设备安装在所述车辆上；
    所述工控机还用于根据所述车速向所述前视相机和所述后视相机发送调整指令，所述调整指令用于指示所述前视相机和所述后视相机调整采集参数；
    所述激光雷达还用于根据所述车速调整采集参数。
  5. 根据权利要求4所述的设备，其特征在于，所述前视相机的采集参数包括帧率或曝光时间；
    所述后视相机的采集参数包括帧率或曝光时间；
    所述激光雷达的采集参数包括帧率或水平扫描分辨率。
  6. 根据权利要求3至5中任一项所述的设备，其特征在于，所述设备还包括全球定位系统GPS天线、全球卫星导航系统GNSS板卡和功分器；
    其中，所述GPS天线用于接收来自卫星的定位数据；
    所述功分器用于将来自所述GPS天线的所述定位数据发送给所述GNSS板卡；
    所述GNSS板卡用于根据接收到的定位数据对所述设备进行定位，并将得到的位置信 号发送给所述工控机；
    所述工控机用于根据所述同步信号和所述位置信号，向所述前视相机和所述后视相机发送所述拍摄指令，以及向所述激光雷达发送所述位置信号；
    所述激光雷达用于根据所述同步信号和所述位置信号，采集所述点云数据。
  7. 根据权利要求6所述的设备，其特征在于，所述设备还包括惯性导航单元IMU；
    所述功分器还用于将来自所述GPS天线的所述定位数据发送给所述IMU；
    所述IMU用于根据所述定位数据确定所述设备的姿态参数，并发送给所述同步信号板；
    所述同步信号板用于根据所述姿态参数，生成所述同步信号。
  8. 根据权利要求1至7中任一项所述的设备，其特征在于，所述设备的底板上设置有散热结构，用于对所述设备进行通风散热。
  9. 根据权利要求8所述的设备，其特征在于，所述散热结构包括入风口和出风口，所述入风口设置在所述底板的前部并朝前开口，所述出风口设置在所述底板的后部并朝后开口。
  10. 根据权利要求1至9中任一项所述的设备，其特征在于，所述设备的底板上设置有连接结构，所述连接结构用于实现所述设备的底板与车辆的支架之间的刚性连接，并且所述连接结构具有减震功能。
  11. 根据权利要求10所述的设备，其特征在于，所述连接结构包括仿形构件、钢丝减震弹簧和调平块，所述调平块用于实现所述设备的底板的水平。
  12. 一种采集系统，其特征在于，所述系统包括如权利要求1-11任一项所述的车载采集设备和车辆。
PCT/CN2022/079914 2021-03-29 2022-03-09 一种车载采集设备 WO2022206321A1 (zh)

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JPH11296227A (ja) * 1998-04-08 1999-10-29 Mitsubishi Electric Corp 自動搬送装置
GB2373117A (en) * 2000-10-04 2002-09-11 Intelligent Tech Int Inc Mapping road edges; collision avoidance
JP2006248374A (ja) * 2005-03-10 2006-09-21 Seiko Epson Corp 車両安全確認装置及びヘッドアップディスプレイ
CN106525057A (zh) * 2016-10-26 2017-03-22 陈曦 高精度道路地图的生成系统
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