基于3个单线雷达的车身360度障碍检测
确定障碍物需要使用传感器作为工具，目前有多种传感器可供选择，其中单线激光雷达凭借其工作频率高，数据精度高，价格合理等诸多优点，被广泛的应用在无人车的研究中。本文研究的内容是利用三个单线激光雷达，对小车周围进行360°全方位无死角的扫描，通过分析扫描数据，确定车身周围障碍物的信息。
关键词 无人车 激光雷达 障碍物检测
毕业论文设计说明书外文摘要
Title 360 degree obstacle detection based on 3 single track radar
Abstract
In recent years, with the steady growth in the economy, science and technology also in the unceasing development, many fields of science ushered in the peak of the development, such as computers, artificial intelligence and automation control, which also makes unmanned vehicle research has become a hot spot. The unmanned vehicle is a kind of complex intelligent system, which has many features such as perception environment, understanding environment, decision-making route, automatic control and so on.. Research on unmanned vehicle is the basis of the detection and identification of the obstacles in the surrounding environment, which is the study of one of the most influential part of the, because to achieve unmanned vehicle safety driving, it is necessary to ensure unmanned vehicle can accurately know the obstacle information.
Identify obstacles to using the sensor as a tool, there are a variety of sensors are available, which single line laser radar with its high working frequency, high precision data, reasonable price, and many other advantages, is widely application in the research of unmanned vehicle. In this paper, the content of the three single track laser radar, around the car around the no dead angle scanning, through the analysis of scan data, to determine the body around the obstacle information.
Keywords Unmanned vehicle Laser radar Obstacle detection
目 次
1 绪论 1
1.1 选题的研究意义 1
1.2 智能无人车的研究的历史和成果 2
1.2.1 国外智能无人车研究的历史和成果 2
1.2.2 中国智能无人车研究的历史和成果 4
1.3 无人车常用传感器 6
1.4 论文结构安排 8
2 激光雷达测距原理 9
2.1 LMS111单线激光雷达 9
2.2 单线激光雷达的测距原理 10
2.3 单线激光雷达坐标转换 11
2.4 本章小结 12
3 雷达数据的读取和处理 13
3.1 单线激光雷达与计算机之间的通信规则 13
3.2 利用SOCKET接口实现网络通信 14
3.3 三个单线激光雷达的数据融合 15
3.4 本章小结 16
4 障碍物的检测 17
4.1 单线激光雷达显示界面 17
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