Obstacle detection method

An obstacle detection and obstacle detection technology, which is applied in the field of obstacle detection, can solve the problems of dangerous driving of motor vehicles, large data point errors, and inability to distinguish obstacles stably, so as to achieve the effect of avoiding accidents

Active Publication Date: 2015-05-27
FUZHOU HUAYING HEAVY IND MACHINERY
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Problems solved by technology

The accuracy of the height value is usually not stable to distinguish some obstacles with relatively low heights
And even small obstacles (such as bricks, sidewalk boundaries, etc.) on the road may bring dange...

Method used

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Embodiment Construction

[0039] In order to explain in detail the technical content, structural features, achieved goals and effects of the technical solution, the following will be described in detail in conjunction with specific embodiments and accompanying drawings.

[0040] see figure 1 As shown, this embodiment provides an obstacle detection method, which can be applied to the control module of the motor vehicle 1 to realize the obstacle detection. The control module is connected with a surround-view laser radar 2, which is generally installed on the roof of the motor vehicle 1, and the surround-view laser radar can perform 360°. Laser scanning can obtain the environmental information of the motor vehicle, including road surface information.

[0041] This method includes the following steps when performing obstacle detection: Obtaining the measured straight-line distance r of the point i beam i by looking around the lidar i ; Obtain the measured straight-line distance r of the adjacent beam i-1...

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Abstract

The invention discloses an obstacle detection method which comprises the following steps: obtaining actually measured linear distance ri between a point i and a light beam i through an all-round looking laser radar; obtaining actually measured linear distance ri-1 between two adjacent light beams i-1 through the all-round looking laser radar, and calculating the actually measured distance difference di=ri-(ri-1); obtaining the anticipated distance difference of the point i; comparing di' with di, and if the absolute value of di-di' is larger than the preset valve, the fact that an obstacle exists at the point i is shown. Through the adoption of the scheme, the detection of the obstacle at a specific height can be realized, so that accidents, which are caused by the fact that a motor vehicle encounters the obstacle during the process of automatically driving, can be avoided.

Description

technical field [0001] The invention relates to the technical field of obstacle detection during automatic driving, in particular to an obstacle detection method. Background technique [0002] Obstacle avoidance is the main challenge of autonomous driving and is crucial to safe driving. If the obstacle cannot be oriented in time, it is likely to cause a serious safety accident. The premise of avoiding obstacles is to find obstacles, that is, to be able to detect obstacles through the information collected by sensors. [0003] Existing detection methods for obstacles include a look-around laser ranging method, and the look-around laser ranging method is the main obstacle search method. Because the surround-view lidar is the only 360-degree, three-dimensional, panoramic scanning sensor on a motor vehicle, the ranging method is based on the data points collected by the surround-view lidar. [0004] This method is mainly based on comparing the data points irradiated on the ob...

Claims

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Application Information

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IPC IPC(8): G01S17/93
CPCG01S17/931
Inventor 潘晨劲赵江宜
Owner FUZHOU HUAYING HEAVY IND MACHINERY
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