METHOD FOR OBTAINING SPATIAL MODEL OF ENVIRONMENT IN REAL TIME ON BASIS OF LASER LOCATION AND DEVICE FOR IMPLEMENTATION THEREOF

摘要

FIELD: laser engineering.;SUBSTANCE: claimed group of inventions relates to methods and devices for laser location and is used for laser location of objects from a mobile carrier, especially for the purpose of creating a road map for driving without a driver. Method for obtaining a spatial model of the environment in real time using laser location is proposed, in which space is scanned by a sequence of laser pulses in the spatial sector, the optical scattering signal and/or reflection of the laser pulses is recorded by at least one detected object of the environment. In the field of view of the laser radar at least one spatial sector is allocated, in which at least one detected object is located, a detailed scan of at least one selected spatial sector is carried out along a variable angular scanning trajectory, thereby changing the angular scan resolution. Based on the detailed real-time scan data obtained in at least one selected spatial sector, a spatial model of the environment is constructed with an increased spatial resolution. Device containing a laser radar is also proposed, which includes a source of laser radiation, the photodetector unit and the scanning unit, the control unit, the processing unit and the memory unit, the scanning unit of the laser radar contain a scanning optical unit, configured to change the angular scanning trajectory, and accordingly, change the angular resolution of the scan, and the guide optical unit, configured to control the spatial sector at least one spherical coordinate.;EFFECT: technical result consists in developing a method for obtaining detailed spatial images of objects detected in the wide scanning sector in real-time, and a device for implementation thereof with a simplified design and reduced dimensions.;23 cl, 4 dwg