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Road edge detection method based on laser radar scanning

A technology of laser radar and detection method, which is applied in the direction of measuring device, electromagnetic wave reradiation, radio wave measurement system, etc., can solve the problems of being easily affected by weather and light, and using restrictions

Active Publication Date: 2017-10-20
SUTENG INNOVATION TECH CO LTD
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Problems solved by technology

The existing technology mainly uses a camera to obtain the roadside by using the edge detection method of the image. This method is easily affected by weather and light, and its use is limited.

Method used

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  • Road edge detection method based on laser radar scanning
  • Road edge detection method based on laser radar scanning
  • Road edge detection method based on laser radar scanning

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Embodiment Construction

[0038] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0039] The following embodiments provide a roadside detection method based on lidar scanning, which can be used to detect roadsides in a road environment and provide reference data for applications such as assisted driving. The following takes autonomous driving as an example. The laser radar is configured on the self-driving vehicle applying the above method, such as figure 1 As shown, the laser radar emits laser light to the ground at a certain inclination angle and scans around 360 degrees. The signal reflected by the laser light is received and analyzed, and the point cloud data of the environ...

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Abstract

The invention relates to a road edge detection method based on laser radar scanning, which is used for acquiring road edges of a road in a road environment. The method comprises: a three-dimensional coordinate system is established by taking a road surface as the X-Y plane, a projection point of a laser radar on the X-Y plane as the origin, and the direction perpendicular to the road surface as the Z-axis direction; environmental multi-frame laser data is obtained by laser radar scanning for forming point cloud data; the point cloud data comprises a plurality of scan points containing three-dimensional coordinate information; for each frame of laser data, scan points on a scan line are subjected to gradient filtering to obtain road edge candidate points; and the candidate road edge points that meet the conditions are subjected to quadratic curve fitting to obtain a road edge detection result. The road edge detection method is not affected by the weather and light and has a wide range of applications.

Description

technical field [0001] The invention relates to the technical field of road surface environment detection, in particular to a road edge detection method based on laser radar scanning. Background technique [0002] In recent years, autonomous driving technology has developed rapidly due to the demand for road safety and transportation efficiency. Roadside is an essential element of urban roads, and roadside detection is an important part of the environment perception system of unmanned vehicles. The prior art mainly uses a camera to obtain the roadside by using the edge detection method of the image. This method is easily affected by weather and light, and its use is limited. Contents of the invention [0003] Based on this, it is necessary to provide a road edge detection method that is not affected by weather and light. [0004] A method of curb detection based on lidar scanning for obtaining curbs of roads in a road environment, including: [0005] Establish a three-d...

Claims

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Application Information

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IPC IPC(8): G01S17/89
CPCG01S17/89
Inventor 邱纯鑫刘乐天
Owner SUTENG INNOVATION TECH CO LTD
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