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Road-surface abstraction and road gradient recognition method

A recognition method and technology of road slope, applied in road network navigator, measuring inclination, re-radiation of electromagnetic waves, etc., to achieve the effect of improving autonomy, simple calculation, and improving stability

Inactive Publication Date: 2015-09-30
TONGJI UNIV
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  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Little research has been reported on predicting the road slope ahead of an autonomous vehicle

Method used

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  • Road-surface abstraction and road gradient recognition method
  • Road-surface abstraction and road gradient recognition method
  • Road-surface abstraction and road gradient recognition method

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Embodiment Construction

[0041] 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.

[0042] A road surface extraction and road slope recognition method, which is based on three-dimensional laser radar to analyze road surface extraction and bridge slope estimation, and directly uses the spherical coordinate system data provided by three-dimensional laser radar, this method is not only applicable to a certain sensor, but In order to specifically describe the working mode and data format of sensors such as 3D lidar, we take the 32-line lidar sensor Velodyne HDL 32E commonly used on unmanned vehicles as an example to analyze this method.

[0043] Such as figure 1 shown, ...

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Abstract

The invention relates to a road-surface abstraction and road gradient recognition method. The method includes the steps: 1) acquiring spherical coordinate data of a scanning point cloud of a three-dimensional lidar around a vehicle; 2) determining a feasible driving route of the vehicle according to a radial distance of each data point to the sensor under the same pitch angle; 3) determining an azimuth angle of a road ahead in the feasible driving route, and identifying a gradient of the road ahead according to the pitch angle of each data point and the radial distance of each data point to the sensor under the azimuth angle. Compared with the prior art, the use of the method estimates the gradient of the road ahead in the feasible driving route, provides useful information for path planning, decision-making and control for unmanned driving, and improves autonomy of the unmanned driving.

Description

technical field [0001] The invention relates to the field of unmanned driving, in particular to a method for road surface extraction and road slope recognition. Background technique [0002] The unmanned vehicle system includes three subsystems: environment perception, path planning and control execution. Among them, the environmental perception subsystem is the basis of the unmanned vehicle system. Through multi-sensor data collection and data processing, it provides the necessary information for the realization of vehicle path planning and motion control. It occupies a very important position in the field of unmanned vehicle technology. The environment The performance of the perception subsystem is directly related to the safety of the vehicle. [0003] Among the multi-sensors on the vehicle, in addition to cameras, GPS, inertial navigation, etc., active sensors are an important type of sensors. Active sensors emit energy to environmental targets, and achieve distance mea...

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Application Information

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IPC IPC(8): G01S17/88G01S17/93G01C9/00G01C21/34
CPCG01C9/00G01C21/3469G01S17/88G01S17/931
Inventor 尹慧琳周娟王子豪杨筱菡
Owner TONGJI UNIV