Obstacle detection method based on multi-line laser radars

A technology of obstacle detection and multi-line laser, which is applied in the direction of radio wave measurement system, measurement device, electromagnetic wave re-radiation, etc., can solve the problems of low accuracy, difficulty in the real position of the vehicle, and difficulty in overcoming light changes, etc., to improve safety performance and high detection accuracy

Inactive Publication Date: 2020-06-19
中振同辂(江苏)机器人有限公司
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Problems solved by technology

[0003] The existing method of detecting obstacles through camera vision technology and deep learning technology has low accuracy, and it is difficult to overcome the influence of illumination changes, and the detected obstacles are only pixel coordinates, which are difficult to convert into real positions relative to the vehicle. Applied in the field of intelligent driving

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  • Obstacle detection method based on multi-line laser radars
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  • Obstacle detection method based on multi-line laser radars

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Embodiment Construction

[0020] The technical solution of the present invention will be further described below in conjunction with the accompanying drawings.

[0021] The above-mentioned obstacle detection method based on multi-line laser radar comprises the following steps:

[0022] (1) Multi-line laser radars are respectively installed on the left front and right front of the vehicle, and each multi-line laser radar is used to collect laser point cloud data around the vehicle; One multi-line laser radar is installed respectively, and the laser point cloud data map collected by two multi-line laser radars is shown in figure 1 shown.

[0023] (2) see figure 2 shown, attached figure 1 The schematic diagram of direct superimposition of two sets of laser point cloud data, it can be seen that when the two sets of laser point cloud data are directly superimposed together, they do not overlap at all and cannot be used. Therefore, it is necessary to transform the two sets of laser point cloud data into...

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Abstract

The invention discloses an obstacle detection method based on multi-line laser radars. The method comprises the following steps: (1), installing multi-line laser radars at the left front and the rightfront of a vehicle, and using each multi-line laser radar for collecting laser point cloud data around the vehicle; (2), converting the at least two groups of laser point cloud data into a vehicle coordinate system through pre-calibrated conversion parameters from a laser radar coordinate system to the vehicle coordinate system to form fused data; (3), obtaining obstacle point cloud data from thefused data; (4), clustering the obstacle point cloud data according to the Euclidean distance to obtain the position of each obstacle under the vehicle coordinate system; and (5), filtering out obstacles except a driving route from a high-precision map of vehicle driving. According to the obstacle detection method based on the multi-line laser radars, obstacle detection is carried out through themulti-line laser radars, high detection precision can be achieved, and the real position of an obstacle relative to a vehicle can be obtained.

Description

technical field [0001] The invention relates to an obstacle detection method based on multi-line laser radar. Background technique [0002] In the field of intelligent driving, when the vehicle is driving on the road, it needs to perceive the surrounding information and obtain the information of the surrounding obstacles, which is one of the crucial technologies to ensure the safe driving of intelligent driving vehicles. Only when the vehicle obtains the surrounding obstacle information can it make correct driving decisions. [0003] The existing method of detecting obstacles through camera vision technology and deep learning technology has low accuracy, and it is difficult to overcome the influence of illumination changes, and the detected obstacles are only pixel coordinates, which are difficult to convert into real positions relative to the vehicle. Applied in the field of intelligent driving. Contents of the invention [0004] The purpose of the present invention is ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S17/931G01S7/48
CPCG01S7/4802G01S7/4808
Inventor 徐昆源桂坡坡胡建平张涛陆新民赵懿
Owner 中振同辂(江苏)机器人有限公司
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