Pavement segmentation method and device based on multi-line laser radar

Abstract

The invention discloses a pavement segmentation method and device based on a multi-line laser radar, and the method comprises the steps: S1, scanning the surrounding environment of a vehicle through the multi-line laser radar, obtaining laser radar point cloud data under a laser radar coordinate system, and converting the laser radar point cloud data into laser radar point cloud data under a vehicle coordinate system; S2, projecting the laser radar point cloud data under the vehicle coordinate system into a two-dimensional grid map; S3, according to the two-dimensional grid map, carrying out road surface segmentation based on a local accumulated height difference and a regional laser beam distribution threshold value; and S4, superposing road surface segmentation results based on the local cumulative height difference and the regional laser beam distribution threshold to obtain a complete road surface segmentation result. According to the method, the local feature fusion method is adopted, the road surface segmentation problem of the automatic driving automobile under the complex environment working condition is effectively solved, the steps are simple and easy to implement, and the method has high robustness and real-time performance.

Description

Technical field [0001] The present invention belongs to the field of automotive driving technology, and more particularly to a road segmentation method and apparatus based on multi-line laser radar. Background technique [0002] With the continuous development of automobile technology, the intelligence of vehicles has become trend. Automatic driving technology is an important manifestation of automotive intelligence, and environmental perception technology is an important part of it. By collecting a variety of sensor information, the identification of lanes, vehicles, pedestrians, obstacles, access to lanes, vehicles, pedestrians, obstacles, etc., and provides a basis for automatic driving behavior decisions. [0003] Applying multi-wire laser radar segmented the road surface of smart cars, you can implement the road can be accepted in a traffic area to ensure safe driving of automatic driving. For road segmentation for the application of multi-wire laser radar, the laser radar i...

AI Technical Summary

Problems solved by technology

Driving roads mainly include structured urban roads and unstructured rural and field roads. Unstructured roads are not smooth and will introduce high-order noise; weather environments mainly include sunny and rainy days. The radar wiring harness changes from diffuse reflection to specular reflection, resulting in data loss; the self-driving car sometimes bumps during driving, which causes the local coordinate system to oscillate

Many of the above factors will have a greater impact on the above technical method of using multi-line lidar for road segmentation

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