Unmanned vehicle intersection detection method based on three-dimensional laser radar

A technology of three-dimensional laser and detection method, which is applied in the direction of radio wave measurement system, instrument, etc., can solve the problems of vehicle positioning deviation, narrow viewing angle, reliability cannot be guaranteed, etc., and achieve the effect of wide application range and strong real-time performance

Inactive Publication Date: 2017-06-27
TONGJI UNIV
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AI Technical Summary

Problems solved by technology

The camera sensor is easily affected by lighting factors, the reliability cannot be guaranteed, and its viewing angle is too narrow to cover the entire intersection scene
At the same time, the vehicle positioning will be biased, and the real position of the unmanned vehicle cannot be accurately obtained

Method used

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  • Unmanned vehicle intersection detection method based on three-dimensional laser radar
  • Unmanned vehicle intersection detection method based on three-dimensional laser radar
  • Unmanned vehicle intersection detection method based on three-dimensional laser radar

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Embodiment

[0043] A 3D lidar-based intersection detection method for unmanned vehicles, based on 3D lidar for intersection detection, uses vehicle pose information, and converts multi-frame point cloud data from the sensor coordinate system to the earth coordinate system, so that it can Acquire accurate 3D scene point cloud images. At the same time, combined with the offline map road network information, real-time matching with the self-driving car position, extracting the intersection in front of the vehicle and its branch road network as prior data, and then extracting the sense of each branch from the 3D point cloud image. area of ​​interest. By interpolating each region of interest to obtain a grayscale image of the terrain height, and then calculating the gradient of the encoded image, the height invariance of different terrains can be achieved. On this basis, using machine learning algorithms to extract multiple features from the gradient image, the position and direction of each ...

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Abstract

The invention relates to an unmanned vehicle intersection detection method based on three-dimensional laser radar. In the traveling process of an unmanned vehicle, the laser radar collects ambient environment data and inputs the data to a support vector regression machine, thereby obtaining front intersection branch information. The training process of the support vector regression machine includes the following steps: S1. a laser radar installation error is corrected; S2. the unmanned vehicle travels along a road, the laser radar performs data collection on ambient environment, point cloud data are obtained, and an intersection node in front of the unmanned vehicle is found; S3. grid division is performed on a region of interest of each branch, thereby obtaining multiple frames of height information map; and S4. a pixel point sequence in the height information map is used as a feature vector, and characteristics of branches are used as output, thereby training the support vector regression machine. Compared with the prior art, a method for modeling different types of intersections is designed, different types of intersections can be effectively detected, and the method is suitable for different types of laser radars, and can achieve the same detection effect.

Description

technical field [0001] The invention relates to an intersection detection method, in particular to an unmanned vehicle intersection detection method based on a three-dimensional laser radar. Background technique [0002] With the development of computer technology and artificial intelligence, unmanned vehicles (hereinafter referred to as unmanned vehicles) have shown great application prospects in military, transportation, industrial production, logistics and warehousing, and daily life. In terms of national defense and military affairs, unmanned vehicles are mostly used to perform military tasks in dangerous scenarios, such as military rescue and material delivery. In terms of traffic safety, unmanned driving technology is an effective means to promote the development of intelligent transportation systems. Unmanned driving technology based on artificial intelligence can improve the active safety of vehicles, and can effectively reduce traffic accidents caused by driver misu...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S7/48
CPCG01S7/4802
Inventor 王晓年王峻王亮张怡欢
Owner TONGJI UNIV
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