摘要
利用嵌入式系统的实时性及FPGA并行处理的优点,基于FPGA和DSP设计了无人车辆激光雷达数据采集系统;此系统可以通过FPGA并行实现以500K波特率的速度对4路LMS激光雷达信息实时采集,并传递给DSP进行数据解算,实现无人车环境探测和激光雷达在线控制;此外,该系统通过FPGA设计的LAN接口将数据发送给计算机,进行数据分析验证;实车实验表明,所设计系统能够满足无人车对雷达数据数据采集处理的实时性要求。
Using real--time of the embedded system and parallel processing of FPGA, an acquisition system of laser radar signals in un- manned vehicles is designed based on FPGA and DSP. This system can achieve 500 k four--road parallel signal of LMS laser radar through FPGA, transmit them to DSP to calculate, and control laser radar in real--time. In addition, through the LAN port, this system can also transmit five--road signal of LMS laser radar to computer to perform data validation. The experiments show that the proposed system can meet the requirements of real--time data acquisition and procession in unmanned vehicles.
出处
《计算机测量与控制》
北大核心
2013年第3期819-822,共4页
Computer Measurement &Control
