Road edge detection method based on single-line laser radar

A single-line laser radar, road edge technology, applied in the field of data processing, can solve the problems of inability to meet real-time performance, high system performance requirements, low precision, etc., to meet real-time requirements, low computational complexity, and high robustness. Effect

Active Publication Date: 2019-10-25
BEIJING ZHIXINGZHE TECH CO LTD
View PDF7 Cites 16 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0008] The purpose of the embodiments of the present invention is to provide a roadside detection method based on single-line laser radar to solve the problems of roadside detection in t

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Road edge detection method based on single-line laser radar
  • Road edge detection method based on single-line laser radar
  • Road edge detection method based on single-line laser radar

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0041] The application 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 related inventions, rather than to limit the invention. It should also be noted that, for the convenience of description, only the parts related to the related invention are shown in the drawings.

[0042] It should be noted that, in the case of no conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and embodiments.

[0043] figure 1 It is a schematic flow chart of the single-line lidar-based roadside detection method provided by Embodiment 1 of the present invention. The application scenario of the method is an unmanned vehicle, and the execution body of the method is the processor in th...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention provides a road edge detection method based on a single-line laser radar. The method comprises the following steps of obtaining a positioning information sequence, wherein each piece ofpositioning information includes positioning data and a time stamp for obtaining the positioning data; obtaining current frame single-line laser point cloud information, wherein the single-line laserpoint cloud information includes point cloud data and the time stamp for acquiring the point cloud data; determining vehicle pose information corresponding to the current frame point cloud data according to the time stamp of the positioning data and the time stamp of the point cloud data; carrying out coordinate conversion on first map road edge information in a preset first coordinate system according to the vehicle pose information, and obtaining second map road edge information in a second coordinate system; according to the second map road edge information, determining road edge point cloud data in the current frame point cloud data; and fitting the plurality of road edge point cloud data in preset duration to obtain the road edge information. The road edge detection method based on the single-line laser radar has a low environmental requirement, high robustness, and low computational complexity, and can satisfy a real-time requirement.

Description

technical field [0001] The invention relates to the technical field of data processing, in particular to a road edge detection method based on single-line laser radar. Background technique [0002] With the rapid development of autonomous driving technology in recent years, environmental perception is an important part of the automatic driving system. The extraction of road boundary information is an important research content of environmental perception, and the road edge is a typical road boundary information. Accurate identification of roadside information isolates the drivable area and non-drivable area for autonomous vehicles, which is conducive to safer and more reliable path planning for vehicles and the completion of more complex functions and tasks. [0003] In order to realize the function of road edge detection, researchers have proposed a variety of solutions. According to the different sensors used, the solutions can be divided into two categories, camera-based ...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
IPC IPC(8): G01S17/88
CPCG01S17/88
Inventor 汪涛熊祺杨潇潇张放李晓飞张德兆王肖霍舒豪
Owner BEIJING ZHIXINGZHE TECH CO LTD
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products