US 11,656,356 B2
Ranging method based on laser radar system, device and readable storage medium
Jiajia Chen, Beijing (CN); Ji Wan, Beijing (CN); and Tian Xia, Beijing (CN)
Assigned to Apollo Intelligent Driving Technology (Beijing) Co., Ltd., Beijing (CN)
Filed by Apollo Intelligent Driving Technology (Beijing) Co., Ltd., Beijing (CN)
Filed on Jul. 15, 2019, as Appl. No. 16/511,456.
Claims priority of application No. 201811062793.4 (CN), filed on Sep. 12, 2018.
Prior Publication US 2019/0353790 A1, Nov. 21, 2019
Int. Cl. G01S 17/42 (2006.01); G01S 17/04 (2020.01); G01S 17/931 (2020.01)
CPC G01S 17/42 (2013.01) [G01S 17/04 (2020.01); G01S 17/931 (2020.01)] 14 Claims
OG exemplary drawing
 
1. A ranging method based on a laser radar system, comprising:
receiving ranging data obtained by measuring via a plurality of laser radars of the laser radar system, wherein the ranging data comprises distances between the laser radars and obstacles in measurement ranges of the laser radars;
establishing a three-dimensional coordinate model according to the ranging data, wherein the three-dimensional coordinate model comprises a coordinate of each laser radar and a coordinate of an obstacle measured by each laser radar; and
determining a distance between a target unmanned device and each obstacle according to the three-dimensional coordinate model;
wherein the plurality of laser radars comprises a target laser radar installed on the target unmanned device;
the establishing a three-dimensional coordinate model according to the ranging data comprises:
establishing a three-dimensional coordinate system with a location of the target unmanned device as an origin, according to a target ranging data obtained by the target laser radar installed on the target unmanned device; and
determining a coordinate of other laser radar and a coordinate of each obstacle in a measurement range of the other laser radar according to other ranging data except the target ranging data in the ranging data, to obtain the three-dimensional coordinate model, wherein the other laser radar is a laser radar except the target laser radar among the plurality of laser radars of the laser radar system.