Obstacle identification method for smart vehicles

An obstacle identification and intelligent vehicle technology, which is applied in the direction of using re-radiation, electromagnetic wave re-radiation, measuring device, etc., can solve the problem of not being able to obtain three-dimensional information, and achieve the effects of low computing cost, improved processing efficiency, and improved recognition efficiency.

Inactive Publication Date: 2015-09-23
TONGJI UNIV
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Problems solved by technology

Since the single-line laser radar can only obtain a cross section of the object, it cannot obtain relatively complete three-dimensional information.

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  • Obstacle identification method for smart vehicles
  • Obstacle identification method for smart vehicles
  • Obstacle identification method for smart vehicles

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Embodiment Construction

[0044] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments. This embodiment is carried out on the premise of the technical solution of the present invention, and detailed implementation and specific operation process are given, but the protection scope of the present invention is not limited to the following embodiments.

[0045] An obstacle recognition method for intelligent vehicles. In order to meet the real-time performance of intelligent driving obstacle identification, based on the spherical coordinates of the three-dimensional laser radar point cloud, firstly segment the obstacles in the driving environment of the intelligent vehicle, so that the obstacles Objects are separated from each other; and then the obstacles are classified to determine which type of pedestrians and vehicles the obstacles belong to.

[0046] Such as figure 1 As shown, the obstacle identification method includes steps:

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Abstract

The invention relates to an obstacle identification method for smart vehicles. The obstacle identification method includes the following steps that: 1) data points of original scanning point cloud three-dimensional laser radar of surrounding environment of the vehicles under a spherical coordinate system are obtained, and obstacle points are screened out from all the data points; 2) the obstacle points are grouped according to the horizontal azimuth angles of the obstacle points and the radial distances of the obstacle points relative to a three-dimensional laser radar sensor; and 3) each group of obstacle points correspond to one obstacle, and the categories of the obstacles can be obtained according to the relative position relationships of the obstacle points in each group. Compared with the prior art, and according to the obstacle identification method for the smart vehicles of the invention, the intrinsic unity of the measurement principles of the a three-dimensional laser radar and a point cloud data spherical coordinate representation method is utilized; it is point cloud data that are analyzed based on spherical coordinates, and the Cartesian coordinates of the point cloud data are not analyzed, and therefore, high efficiency can be realized; and at the same time, the original data of point cloud are directly analyzed, and grid division is not needed to perform on the point cloud, and therefore, processing efficiency can be improved.

Description

technical field [0001] The invention relates to a vehicle environment perception technology, in particular to an obstacle recognition method for an intelligent vehicle. Background technique [0002] Intelligent vehicle is a comprehensive intelligent system integrating environmental perception, path planning decision-making, control and other functions, which can greatly improve traffic safety, improve the efficiency of vehicle traffic on existing roads, and reduce pollution. Among them, the environmental perception system is the foundation and core of the intelligent vehicle architecture, which provides the necessary basic information for planning decision-making and control execution. The main function of the environmental perception system is to obtain vehicle and environmental information through sensors, specifically the acquisition of vehicle pose and state information, identification and tracking of lane lines and lane edges in structured roads, identification and trac...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S17/93
CPCG01S17/931
Inventor 尹慧琳安沙沙何超杨筱菡
Owner TONGJI UNIV
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