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Road boundary detection method and device based on laser radar

A lidar and road technology, applied in the field of vehicles, can solve the problem that road detection algorithms cannot be applied to solid-state lidar scenarios.

Pending Publication Date: 2022-04-15
CHINA FIRST AUTOMOBILE
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] Embodiments of the present invention provide a lidar-based road boundary detection method and device to at least solve the technical problem that current road detection algorithms cannot be applied to solid-state lidar scenarios

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  • Road boundary detection method and device based on laser radar
  • Road boundary detection method and device based on laser radar
  • Road boundary detection method and device based on laser radar

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Experimental program
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Embodiment 1

[0027] According to an embodiment of the present invention, an embodiment of a road boundary detection method based on laser radar is provided. It should be noted that the steps shown in the flow chart of the accompanying drawings can be implemented in a computer system such as a set of computer-executable instructions and, although a logical order is shown in the flowcharts, in some cases the steps shown or described may be performed in an order different from that shown or described herein.

[0028] figure 1 A flow chart of a laser radar-based road boundary detection method according to an embodiment of the present invention, such as figure 1 The shown flow chart of the road boundary detection method based on lidar, the method includes the following steps:

[0029] Step S102, scanning the road image of the structured road to obtain laser radar point cloud data of the structured road.

[0030] In the technical solution provided by the above step S102 of the present inventio...

Embodiment 2

[0079] The technical solutions of the embodiments of the present invention are illustrated below in combination with preferred implementation modes.

[0080] With the continuous advancement of technology, autonomous driving provides more possibilities for liberating human hands. Throughout the development of autonomous driving, whether it is L2, L3 and other assisted driving or L4, L5 and other more advanced automatic driving, it is inseparable from the detection of road boundaries. It is the core functional module that provides humans with safe driving areas in assisted driving. , It is also an important front-end functional module that provides effective detection range and drivable area for fully automatic driverless driving.

[0081] Most of the previous road edge detection algorithms were based on mechanical lidar point clouds. However, due to the disadvantages of high price, large size, and inconvenient mass production of mechanical lidar, solid-state lidar emerged as th...

Embodiment 3

[0125] According to an embodiment of the present invention, a lidar-based road boundary detection device is also provided. It should be noted that the lidar-based road boundary detection device can be used to implement the lidar-based road boundary detection method in Embodiment 1.

[0126] Figure 4 is a schematic diagram of a lidar-based road boundary detection device according to an embodiment of the present invention. Such as Figure 4 As shown, the lidar-based road boundary detection device 400 may include: an acquisition module 401 , a processing module 402 , a screening module 403 , a marking module 404 and a generation module 405 .

[0127] The acquisition module 401 is configured to scan road images of structured roads and acquire lidar point cloud data of structured roads.

[0128] The processing module 402 is configured to perform rasterization processing on the lidar point cloud data, generate multiple rasters, and obtain raster feature information of the point ...

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Abstract

The invention discloses a road boundary detection method and device based on a laser radar. The method comprises the following steps: scanning a road image of a structured road, and obtaining laser radar point cloud data of the structured road; rasterizing the laser radar point cloud data to generate a plurality of grids, and acquiring grid feature information of the point cloud in each grid; based on the grid feature information of the point clouds in each grid, performing at least one screening processing on the plurality of grids to obtain a plurality of target candidate grids; performing region marking on the plurality of target candidate grids to obtain at least one road edge candidate region of the structured road; a road boundary of the structured road is generated based on the region candidate points in each road edge candidate region. The technical problem that a current road detection algorithm cannot be suitable for a solid-state laser radar scene is solved.

Description

technical field [0001] The present invention relates to the field of vehicles, in particular to a method and device for detecting road boundaries based on laser radar. Background technique [0002] At present, automatic driving is inseparable from the detection of road boundaries. The detection of road boundaries is the core functional module for providing safe driving areas for human beings in assisted driving, and it is also an important prerequisite for providing effective detection ranges and drivable areas for fully automatic driverless driving. Set function modules. [0003] In related technologies, road edge detection algorithms are mostly based on mechanical lidar point clouds. However, due to the disadvantages of high price, large size, and inconvenient mass production of mechanical lidar, solid-state lidar has emerged as the times require, and is in mass production. Self-driving cars are gaining ground. Due to the different scanning methods, the point clouds form...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06V20/58G06V10/22G06V10/30G06V10/44G06V10/762G06K9/62
CPCG06V10/22G06V10/44G06V10/30G06V10/762G06V20/58
Inventor 庞伟凇王宇周琳林崇浩
Owner CHINA FIRST AUTOMOBILE