Racing track cone bucket detection and target point tracking method based on multi-line laser radar

A technology of laser radar and multi-line laser, which is applied in the direction of radio wave measurement system, two-dimensional position/channel control, measurement device, etc., to achieve strong real-time performance, not easily affected by light conditions, and strong adaptability

Active Publication Date: 2020-02-11
SOUTH CHINA UNIV OF TECH
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  • Abstract
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Problems solved by technology

[0007] The technical problem to be solved by the present invention is to realize the cone barrel detection and target tracking of the unmanned driving track only r

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  • Racing track cone bucket detection and target point tracking method based on multi-line laser radar
  • Racing track cone bucket detection and target point tracking method based on multi-line laser radar

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Embodiment Construction

[0033] The purpose of the present invention will be further described in detail through specific examples below. In order to reduce costs and facilitate experimental testing, the present invention uses the experimental car to simulate the real application scene of the racing car, and uses the same installation position and installation height as the real car to simulate the laser radar The data collection method installed on the real racing car, the embodiment can not be repeated here one by one, but the embodiment of the present invention is not limited to the following embodiment.

[0034] Such as figure 1 As shown, a racetrack cone detection and target point tracking method based on multi-line lidar includes the following steps:

[0035] 1. Read the lidar point cloud data under the ROS robot operating system; specifically, the described reading of the lidar point cloud data under the ROS robot operating system includes the steps: On the platform, install the ROS robot ope...

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Abstract

The invention discloses a racing track cone bucket detection and target point tracking method based on multi-line laser radar. The method comprises the following steps of: 1) reading laser radar pointcloud data; 2) performing through-connection filtering on the laser radar point cloud data; 3) eliminating interference of ground point cloud data on cone bucket detection; 4) screening out a point cloud cluster of a cone bucket; 5) performing statistical analysis on the point cloud cluster obtained by clustering, setting the maximum standard deviation threshold according to the characteristics of the actual size of the cone bucket, and screening out the cone bucket; 6) obtaining coordinates of the central point of the point cloud cluster; 7) calculating the average value of the coordinates of the central points of the cone buckets on the left and right sides of the laser radar to obtain the central points of the cone buckets as the nearest target points in the current state; and 8) circularly performing the steps mentioned above to obtain the newest target point. By processing such as real-time, segmentation and clustering for the laser radar point cloud, a vehicle is continuously controlled to move towards the target point to finally achieve the racing track cone bucket detection and target point tracking based on multi-line laser radar.

Description

technical field [0001] The invention relates to the field of environmental perception of driverless formula racing cars, in particular to a method for detecting cones on a track and tracking a target point based on a multi-line laser radar. Background technique [0002] The Chinese College Student Driverless Formula Contest (English test: FSAC) is a design and manufacturing competition for driverless racing cars organized by students majoring in automotive engineering or automotive related majors in colleges and universities. This event is known as "the cradle of automotive engineers". In this event, various unmanned racing teams generally used multi-line lidar as an important sensor for the unmanned driving environment perception system. [0003] In this event, the unmanned racing cars of the participating teams need to complete dynamic competitions such as linear acceleration, figure-of-eight circling, and high-speed tracking. Different tracks are marked by cones of fixe...

Claims

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Application Information

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IPC IPC(8): G01S17/02G01S17/66G05D1/02
CPCG01S17/02G01S17/66G05D1/0257Y02T10/40
Inventor 郑少武李巍华陈泽涛冯秉潜纪淮宁
Owner SOUTH CHINA UNIV OF TECH
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