Multi-line laser radar ground segmentation method, vehicle and computer readable medium

Abstract

The invention discloses a multi-line laser radar ground segmentation method, a vehicle and a computer readable medium, the multi-line laser radar ground segmentation method is applied to automatic driving of the vehicle, and comprises the following steps: obtaining a preprocessing result of ground detection data of a multi-line laser radar; obtaining preliminary segmentation data of ground segmentation according to a preprocessing result; and obtaining final segmentation data of ground segmentation according to the preliminary segmentation data, and realizing ground segmentation according to the final segmentation data. According to the multi-line laser radar ground segmentation method disclosed by the invention, an automatic driving vehicle can adapt to a driving environment with violentpavement fluctuation and a complex road, and the adaptability is very strong; the ground object data of the next wire harness is segmented through the recorded actual elevation included angle betweenthe adjacent wire harnesses, so that the ground object segmentation is more accurate and reliable; in addition, through multiple times of confirmation of the ground object segmentation state and further ground object segmentation screening, the possibility of false identification of environmental perception of the vehicle can be greatly reduced.

Description

technical field [0001] The invention relates to the technical field of automatic driving, in particular to a multi-line lidar ground segmentation method, a vehicle, and a computer readable medium. Background technique [0002] As one of the key technologies of autonomous driving, the accurate output of environmental perception determines whether the automatic driving function is realized or not. In the current autonomous driving industry, multi-line lidar has become a priority for environmental perception equipment. Ground segmentation processing is the most front-end processing flow in the multi-line lidar algorithm. [0003] The existing ground segmentation processing methods still have certain defects. For example, in the prior art, by constructing a polar coordinate grid map, extracting the vertices and lowest points of the point cloud data in the polar coordinate grid, and comparing it with the set threshold to judge , realize the segmentation of the ground points in ...

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Problems solved by technology

[0005] In order to solve the technical problem of poor environmental adaptability in the prior art, under-segmentation or over-segmentation of the ground will occur when the vehicle movement range is large, which may easily cause wr

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