Method and system for removing ground by using multi-line laser radar

A multi-line laser and ground technology, applied in the radio wave measurement system, using re-radiation, re-radiation of electromagnetic waves, etc., can solve problems such as abnormal braking of self-driving vehicles, affecting accuracy, etc.

Pending Publication Date: 2020-09-15
WUHAN KOTEI TECH CORP
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Problems solved by technology

[0004] The disadvantage of the existing technology is that the ground culling based on the height information of the point cloud in the multi-line lidar must meet the precondition that the ground is parallel to the plane on which the vehicle is driving. If it is n

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  • Method and system for removing ground by using multi-line laser radar
  • Method and system for removing ground by using multi-line laser radar
  • Method and system for removing ground by using multi-line laser radar

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Embodiment Construction

[0032] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of embodiments of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

[0033] figure 1 It is a schematic flow chart of a method for ground elimination using multi-line laser radar according to an embodiment of the present invention; figure 1 shown, including the following steps

[0034] S1, obtain the point cloud data of the multi-line lidar; specifically, establish the right direction as the positive direction of ...

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Abstract

The invention relates to the technical field of automatic driving, in particular to a method and a system for removing ground by using multi-line laser radar. The method comprises the following steps:acquiring point cloud data of the multi-line laser radar; selecting alternative points of a plane where the fitting ground is located; fitting the alternative points of the plane where the fitting ground is located, and conducting calculation to obtain four coefficients of the equation of the plane where the ground is located through the equation of the plane where the ground is located; regarding points with the directed distance to the plane where the ground is located smaller than a set threshold value as points on the ground to be removed; and outputting the remaining point cloud data ofthe multi-line laser radar, and extracting obstacle information. The system comprises a data acquisition module, a data extraction module, a data calculation module and a data output module. Accordingto the embodiment of the invention, the method is executed through the system, so that the accuracy of removing points on the ground is improved to a certain extent, and an automatic driving vehiclecan normally run in a more complex scene.

Description

technical field [0001] The invention relates to the technical field of automatic driving, in particular to a method and system for ground elimination using multi-line laser radar. Background technique [0002] In the process of automatic driving, the automatic driving system needs to obtain the information of the surrounding obstacles; the automatic driving system needs to control the vehicle so that the vehicle can run smoothly on the road without colliding with obstacles, so as to achieve the purpose of driving safely on the road ; Obstacles refer to pedestrians, motor vehicles, bicycles, cones and trash cans on the road that affect the driving of autonomous vehicles; these obstacle information should be obstacles that will block the driving of autonomous vehicles. When obtaining the information of surrounding obstacles, the ground cannot be regarded as an obstacle, otherwise the vehicle cannot drive normally on the road. Obtaining obstacle information by using the point ...

Claims

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Application Information

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IPC IPC(8): G01S17/931G01S7/48
CPCG01S17/931G01S7/48
Inventor 苏晓聪朱敦尧陈波
Owner WUHAN KOTEI TECH CORP
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