Laser radar scanning method, scanning equipment and computer readable storage medium

Abstract

The invention provides a laser radar scanning method, laser radar scanning equipment and a computer readable storage medium. The laser radar scanning method comprises the following steps: identifying an initial scanning position of laser radar rotary scanning; judging whether the rotation angle between the current scanning position and the initial scanning position of the laser radar reaches a preset angle or not; if yes, acquiring point cloud data obtained by scanning from the initial scanning position to the current scanning position by the laser radar; and outputting the point cloud data. Through the above mode, the laser radar scanning method provided by the invention processes the point cloud of the partial scanning angle acquired in real time in advance, and improves the scanning efficiency of the laser radar.

Description

technical field [0001] The present application relates to the field of automatic driving positioning, in particular to a laser radar scanning method, a laser radar scanning device and a computer-readable storage medium. Background technique [0002] Self-driving vehicles (Autonomous vehicles; Self-piloting automobile), also known as unmanned vehicles, computer-driven vehicles, or wheeled mobile robots, are intelligent vehicles that realize unmanned driving through computer systems. Self-driving vehicles rely on artificial intelligence, visual computing, radar, monitoring devices, and global positioning systems to work together to allow computers to automatically and safely operate motor vehicles without any active human intervention. During the driving process of the vehicle, the automatic driving system needs to understand the surrounding traffic conditions, and control the vehicle according to the road conditions and traffic conditions on the driving route to ensure the sa...

AI Technical Summary

Problems solved by technology

However, when an obstacle suddenly appears in the existing laser radar scanning method, because the global scanning angle needs to be scanned before inputting the data frame, there is a lag in obtaining the point cloud data, and the obstacle cannot be found in time, and the obstacle avoidance is not timely. Case

Therefore, the current lidar scanning method has a low ability to process data in real time, and needs to rely on manual avoidance of sudden obstacles, resulting in high traffic risks for self-driving vehicles in complex road conditions.

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