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Relative position measurement system for vehicles using diffuse light

使用漫射光的车辆相对位置测量系统

基本信息

批准号：
11460118
负责人：
IMOU Kenji
金额：
$ 9.79万
依托单位：
The University of Tokyo
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (B)
财政年份：
1999
资助国家：
日本
起止时间：
1999 至 2001
项目状态：
已结题

来源：
https://kaken.nii.ac.jp/en/grant/KAKENHI-PROJECT-11460118/
关键词：
Position ditection Infrared Diffuse light Transponder Light emitting diodes Escort vehicle LED 位置計測

项目摘要

For the purpose of saving labor and improving safety in farm operations conducted with a pair of vehicles, automatic driving system of the following or preceding vehicle have been studied. These systems require real-time and precise measurement of the relative position of vehicles. The authors have proposed a relative position detection system using intensity modulated diffuse light from LEDs. In the first stage of this study, a range-finder was developed and tested, consisting of two stations which emit high-frequency modulated light at each other. The range between the stations is obtained from the phase difference between the two low-frequency beat signals generated in both stations. The results of this study may be summarized as follows :1. A relative position detection system using diffuse light was proposed for automatic driving of the following or preceding vehicle used for farm operations.2. A prototype range-finder was manufactured and tested to investigate the feasibility of the proposed system. It consisted of optical transmitters and receivers to transfer intensity modulated light to each other. Each transmitter had 25 high-speed infrared LEDs, and an avalanche photodiode module was used for each receiver.3. Performance tests of the range-finder were conducted under direct sunshine. The maximum and standard errors from the regression values were about 5 and 3 cm respectively in the range from 1 to 10 m.4. The tests results achieved the target accuracy of the development. However, the effects of temperature change, rain or fog were not considered and should be investigated in the next stage of the study.

为了节省劳动力和提高双车农场作业的安全性，研究了后车或前车的自动驾驶系统。这些系统需要实时精确地测量车辆的相对位置。作者提出了一种利用led的强度调制漫射光的相对位置检测系统。在本研究的第一阶段，研制并测试了一种测距仪，该测距仪由两个相互发射高频调制光的站组成。台站之间的距离由两个台站产生的两个低频拍信号之间的相位差获得。本研究的结果可以总结为：1。提出了一种基于漫射光的相对位置检测系统，用于农场作业中前后车辆的自动驾驶。制作了一个原型测距仪并进行了测试，以验证该系统的可行性。它由光发射器和接收器组成，以相互传输强度调制的光。每个发射器有25个高速红外led，每个接收器使用雪崩光电二极管模块。在阳光直射下对测距仪进行了性能测试。在1 ~ 10 m范围内，回归值的最大误差约为5 cm，标准误差约为3 cm。测试结果达到了研制的目标精度。然而，温度变化、雨或雾的影响没有被考虑在内，应该在下一阶段的研究中进行调查。