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Method for creating and updating three-dimensional grid map based on roadside laser radar

A technology of laser radar and grid map, which is applied in the direction of road network navigator, electromagnetic wave re-radiation, measuring device, etc., can solve the problems of inability to meet the requirements of non-line-of-sight environment perception and limited perception distance

Active Publication Date: 2021-04-09
BEIHANG UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

At present, the sensing distance of the core sensor for unmanned vehicles is limited, which cannot meet the perception needs of non-line-of-sight environments such as severe weather and occluded areas.

Method used

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  • Method for creating and updating three-dimensional grid map based on roadside laser radar
  • Method for creating and updating three-dimensional grid map based on roadside laser radar
  • Method for creating and updating three-dimensional grid map based on roadside laser radar

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Embodiment Construction

[0020] In order to better illustrate the method for creating and updating the three-dimensional grid map proposed by the present invention, the specific implementation will be described in detail in conjunction with the patent drawings:

[0021] Step1: Layout of roadside lidar: such as figure 2 and 3 As shown, since the laser in the lidar has the maximum pitch angle ±α, it has the minimum range r m , that is, obstacles within the distance r will not be detected. When laying on the roadside, the minimum measuring range r min It will change with the height H of the lidar bracket, assuming that the height of the lidar itself is h and the radius is q:

[0022] r min =q+(h / 2+H) / tanα

[0023] In addition, the roadside layout also needs to ensure that the lidar has no blind spots, so it is deployed on both sides of the road at intervals. Assuming that the maximum range of the lidar is R and the road width is D, then as figure 2 As shown, the distance between two adjacent lid...

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Abstract

The invention discloses a method for creating and updating a three-dimensional grid map based on roadside laser radar. The method comprises the following steps: 1, constructing the three-dimensional grid map based on the roadside laser radar; 2, determining coordinates of an obstacle in the space grid; 3, judging and updating the obstacle state in the space grid map based on a Bayesian formula; and 4, determining a three-dimensional grid set of non-obstacles while updating the obstacles in the space grid map. By means of the method, the three-dimensional grid map based on the roadside laser radar can be accurately and rapidly established, and when the scene changes, the roadside digital map can be timely and accurately utilized to update the coordinate positions of the obstacles and the non-obstacles so as to support normal driving of the unmanned vehicle.

Description

technical field [0001] The invention belongs to the technical field of Internet of Vehicles and assisted driving, and in particular relates to a method for creating and updating a three-dimensional grid map based on roadside laser radar. Background technique [0002] The normal driving of unmanned vehicles depends on the comprehensive perception of road information. In urban scenes, the roads are open, the structure is complex, the traffic flow is large, and the behavior differences are significant. These changes have higher requirements for the environment perception ability of unmanned vehicles. At present, the sensing distance of the core sensor for unmanned vehicles is limited, which cannot meet the perception requirements of non-line-of-sight environments such as severe weather and occluded areas. [0003] As a radar system that uses laser beams to detect the characteristics of target positions, speeds, etc., lidar has a longer detection distance, higher angle and spee...

Claims

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Application Information

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IPC IPC(8): G01C21/32G01S17/89G01S17/931
CPCG01C21/32G01S17/89G01S17/931
Inventor 任毅龙姜涵于海洋
Owner BEIHANG UNIV
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