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A vehicle passability detection system based on vision and laser sensors

A lidar and detection system technology, applied in instruments, special data processing applications, electrical digital data processing, etc., can solve problems such as inability to identify width-limited obstacles or other obstacles, and single functions, so that there is no technical risk. , The effect of high feasibility and reliable road scene perception ability

Pending Publication Date: 2019-02-19
张维玲
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Problems solved by technology

Obviously, this camera-based technology only detects lane markings and does not process other objects. It has a single function and cannot identify width-limited obstacles or other obstacles on both sides of the road. Of course, it cannot avoid accidents. occur

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  • A vehicle passability detection system based on vision and laser sensors
  • A vehicle passability detection system based on vision and laser sensors
  • A vehicle passability detection system based on vision and laser sensors

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Embodiment Construction

[0023] The technical means adopted by the present invention to achieve the intended invention purpose are further described below in conjunction with the drawings and preferred embodiments of the present invention.

[0024] The vehicle passability detection system based on vision and lidar sensors proposed in this application includes: on-board sensors and data processing modules, and the on-board sensors are arranged on the vehicle; wherein,

[0025] The point cloud data of the road is collected by the on-board sensor, and the three-dimensional reconstruction of the road scene is carried out. The point cloud data includes the characteristic model data of roads, tunnels, and obstacles; the data processing module is used to establish a spatial tree for the three-dimensional reconstruction scene, and generate a corresponding Accelerated collision detection and solving process; model the vehicle according to the geometric parameters of the vehicle passability, and obtain the geome...

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Abstract

The invention discloses a vehicle passability detection system based on vision and laser radar sensors, which comprises a vehicle-mounted sensor and a data processing module. point cloud data of roadis collected by vehicle sensor, and 3D reconstruction of road scene is carried out. Point cloud data includes characteristic model data of road, tunnel and obstacle. The data processing module is usedfor establishing a spatial tree for the three-dimensional reconstructed scene and generating a corresponding accelerated collision detection solution process; The vehicle is modeled according to thegeometrical parameters of vehicle throughput, and the rigid body geometrical contour model of vehicle is obtained. Vehicle dynamic data were collected and vehicle motion model was established. According to the vehicle motion model and the road 3D scene data, the vehicle motion simulation trajectory is generated. Along with the vehicle motion simulation trajectory, real-time collision detection calculation is carried out to obtain the passability detection results.

Description

technical field [0001] The invention relates to the technical field of vehicle terrain passability simulation analysis, in particular to a vehicle passability detection system based on vision and laser radar sensors. Background technique [0002] During the driving process of the vehicle, accidents such as scratches are often caused due to the driver's inaccurate estimation of the position of the width-limiting obstacles on both sides of the road, which will not only bring certain economic losses, but also require the driver to spend a certain amount of time to deal with the accident. Therefore, today when the use of vehicles has become a habit, there is an urgent need for a method that can replace the driver to accurately estimate the position of the width-limiting obstacles on both sides of the road, and provide corresponding measures to prevent the occurrence of scratching accidents. [0003] In the prior art, there is only technology for detecting traffic lane markings, ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06F17/50
CPCG06F30/20
Inventor 张维玲
Owner 张维玲
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