《智能传感器装调与测试（双语）》课件-18.激光雷达帧率影响分析

激光雷达帧率影响分析AnalysisoftheImpactofLiDARFrameRate激光雷达点云LiDARpointcloud激光雷达点云LiDARpointcloudPART01激光雷达帧率基础概念BasicConceptofLiDARFrameRate激光雷达帧率・基础概念LiDARFrameRate・BasicConcept机械固定

Mechanicalfixation激光雷达帧率是指每秒完成的扫描次数，单位为赫兹（Hz）。10Hz即每秒扫描10次，时间间隔为100ms；20Hz则为每秒20次Z间隔50ms。TheLiDARframeratereferstothenumberofscanscompletedpersecond,inHertz(Hz).10Hzmeansscanning10timespersecondwithanintervalof100ms;20Hzmeansscanning20timespersecondwithanintervalof50ms.核心场景

Corescenarios在智能网联汽车中，帧率对行人横穿、车辆加减速、紧急变向等动态场景的感知与跟踪至关重要。Inintelligentconnectedvehicles,theframerateiscrucialtotheperceptionandtrackingofdynamicscenariossuchaspedestriancrossing,vehicleaccelerationanddeceleration,andemergencydirectionchanges.机械固定

Mechanicalfixation帧率直接影响数据更新频率，进而决定动态目标位置捕捉的精度。时间间隔越短，目标位置更新越及时，跟踪精度越高。Theframeratedirectlyaffectsthedataupdatefrequency,whichinturndeterminestheprecisionofdynamictargetpositioncapture.Theshorterthetimeinterval,themoretimelythetargetpositionupdateandthehigherthetrackingprecision.PART0210Hz帧率影响分析10HzFrameRateImpactAnalysis10Hz帧率对动态目标跟踪的影响Theimpactof10Hzframerateondynamictargettracking一、核心优势：低成本与低算力适配Coreadvantages:Lowcostandlowcomputingpower1硬件成本更低，性价比突出，适合控制预算的场景。Thehardwarecostislower,theprice-performanceratioisoutstanding,andthusitissuitableforscenarioswithcontrolledbudgets.数据处理压力小，每秒仅生成10帧数据，对车载计算平台的算力需求低。Thedataprocessingpressureissmall,only10framesofdataaregeneratedpersecond,andthecomputingpowerdemandonthevehicle-mountedcomputingplatformislow.应用场景广泛，是入门级智能驾驶系统的常用选择。Ithasawiderangeofapplicationscenariosandisacommonchoiceforentry-levelintelligentdrivingsystems.10Hz帧率对动态目标跟踪的影响Theimpactof10Hzframerateondynamictargettracking核心短板：动态场景下的性能局限Coreweakness:performancelimitationsindynamicscenarios2位置滞后与误差放大Positionlaganderroramplification目标轨迹断裂风险:表现为屏幕上目标突然消失，几秒后重新出现，直接干扰智能车决策判断。Riskoftargettrajectorybreakage:Itismanifestedasthetargetonthescreensuddenlydisappearingandreappearingafewsecondslater,directlyinterferingwiththedecision-makingjudgmentofintelligentvehicle.突发场景响应延迟DelayedresponseinemergencyscenariosPART0320Hz帧率影响分析20HzFrameRateImpactAnalysis20Hz帧率对动态目标跟踪的影响TheImpactof20HzFrameRateonDynamicTargetTracking-高精度与快速响应-Highprecisionandfastresponse20Hz帧率下，10m/s的目标50ms内仅移动0.5m，误差控制在0.3m以内，轨迹连续性强，响应速度快，能提前感知突发变化。Ataframerateof20Hz,thetargetat10m/smovesonly0.5mwithin50ms,andtheerroriscontrolledwithin0.3m.Thetrajectorycontinuityisstrong,theresponseisfast,andsuddenchangescanbesensedinadvance.20Hz帧率对动态目标跟踪的影响TheImpactof20HzFrameRateonDynamicTargetTracking-高精度与快速响应-Highprecisionandfastresponse轨迹连续性大幅增强：50ms的短间隔使得前后帧的点云特征衔接更加紧密。例如行人步态的细微变化、车辆转向灯亮起后的小幅转向，都能被连续捕捉。跟踪算法可以轻松匹配同一目标，避免轨迹断裂，为智能车提供稳定的目标运动趋势判断。Trajectorycontinuityisgreatlyenhanced:theshortintervalof50msmakesthepointcloudfeaturesofthepreviousandnextframesmorecloselyconnected.Forexample,subtlechangesinpedestriangaitandsmallturnsafterthevehicle'sturnsignallightsupcanbecapturedcontinuously.Thetrackingalgorithmcaneasilymatchthesametarget,avoidtrajectorybreakage,andprovidestabletargetmovementtrendjudgmentforintelligentvehicle.20Hz帧率对动态目标跟踪的影响TheImpactof20HzFrameRateonDynamicTargetTracking高精度与快速响应Highprecisionandfastresponse在突发场景应对上，20Hz帧率的响应速度更快：50ms的提前感知能为制动系统争取更多反应时间。在时速60公里的场景下，这可以缩短制动距离约0.8米，显著降低碰撞风险。Intermsofemergencyresponse,the20Hzframeratehasafasterresponsespeed:50msadvancesensingcanbuymorereactiontimeforthebrakingsystem.Ina60km/hscenario,thiscanshortenthebrakingdistancebyabout0.8meters,significantlyreducingtheriskofcollision.硬件与算力挑战Hardwareandcomputingpowerchallenges20Hz帧率需要升级扫描电机与传输带宽，硬件成本高，且每秒20帧数据对计算平台性能要求极高。The20Hzframeraterequiresupgradingthescanningmotorandtransmissionbandwidth,whichhashighhardwarecosts,and20framesofdatapersecondplacesextremelyhighperformancerequirementsonthecomputingplatform.双目摄像头工作原理的三个关键步骤ThreeKeyStepsintheWorkingPrincipleofBinocularCamera10Hz帧率成本低、算力需求小，但因100ms间隔导致位置滞后大、轨迹易断裂，适配低速、简单场景；The10Hzframeratehaslowcostandsmallcomputingpowerrequirements,butduetothe100msinterval,itcauseslargepositionlagandeasytrajectorybreakage,whichissuitableforlow-speedandsimplescenarios;20Hz帧率虽成本与算力需求更高，但50ms间隔实现了更高的位置精度、更连续的轨迹和更快的突发响应，适配高速、复杂动态场景。Althoughthe20Hzframeratehashighercostandcomputingpowerrequirements,the50msintervalachieveshigherpositionprecision,morecontinuoustrajectoryandfasteremergencyresponse,whichissuitableforhigh-speedan