Track and road obstacle detecting method

Abstract

The invention discloses a track and a road obstacle detecting method. The method comprises the following steps: A. obtaining an image of the front of a vehicle through a monocular camera or multiple cameras; B. transmitting and receiving an optical signal by a millimeter-wave device and a laser device to obtain a 2D point cloud image and a 2D spectrogram; C. performing a multi-look processing on the image, taking a video system as a medium, and analyzing and matching a laser radar with the video system by using a focal plane array; for a millimeter-wave radar, matching the video system with amillimeter-wave radar system by a data preprocessing and an edge matching method to complete the pixel level fusion of the laser radar, the millimeter-wave radar and the video system; performing sequence analysis on the acquired image, filtering a multi-radar system and the video system, and matching images acquired by the millimeter-wave radar and the laser radar with an original image; and D. marking obstacles. The track and the road obstacle detecting method can accurately identify the obstacles, has certain early warning functions, and can simultaneously ensure accuracy and early warning functions.

Description

technical field [0001] The invention belongs to the field of transportation, and in particular relates to a detection method for track and road obstacles. Background technique [0002] Domestic mainstream obstacle detection technology is still in its infancy. Now the main rail transit obstacle detection technology still stays at the front end of the rail vehicle by installing a contact obstacle detection device. This technology detects through the mechanical method of touch. The detection distance is short, and it does not have early warning capabilities. However, the current radar detection technology is not yet mature enough, especially when driving on turns and slopes, its detection accuracy and accuracy cannot meet the obstacle detection requirements of road traffic. In addition, the number of laser scanning points is limited, and the scanning points are uneven and sparse, which may easily cause the vehicle to be unable to easily identify obstacles in places where the p...

AI Technical Summary

Problems solved by technology

[0002] Domestic mainstream obstacle detection technology is still in its infancy. Now the main rail transit obstacle detection technology still stays at the front end of the rail vehicle by installing a contact obstacle detection device. This technology detects through the mechanical method of touch. The detection distance is short, and there is no early warning capability

However, the current radar detection technology is not mature enough, especially when driving on a turning or a slope, its detection accuracy and accuracy cannot meet the obstacle detection requirements of road traffic

In addition, the number of laser scanning points is limited, and the scanning points are uneven and sparse, which will easily cause the vehicle to be unable to easily identify obstacles in places where the point cloud is relatively sparse, and the size of obstacles cannot be qualitatively estimated.

At the same time, the millimeter-wave radar is not mature, and the accuracy and accuracy of long-distance detection are difficult to meet the requirements of the automatic driving system, and the cycle of upgrading a single radar system is long

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