Real-time navigation method and device, unmanned vehicle, computer equipment and storage medium

Abstract

The invention discloses a real-time navigation method and device based on a laser radar, an unmanned vehicle, computer equipment and a storage medium, and is used for enabling the unmanned vehicle equipped with the laser radar to run on the ground paved with a landmark line along the landmark line, and the laser reflection intensity of the landmark line is smaller than the laser reflection intensity of the ground. The problems that according to an image-based navigation method, corners are prone to failure, the speed is constant, and the speed cannot be too high are solved. The real-time navigation method comprises the following steps: acquiring a driving direction of an unmanned vehicle at a current path point, a current frame point cloud acquired by a laser radar and laser reflection intensity of each point in the current frame point cloud; identifying a landmark point corresponding to a landmark line in the current frame point cloud based on the laser reflection intensity; determining at least one continuous path point based on the landmark point; and controlling the unmanned vehicle to run along at least one continuous path point by taking the current path point as a starting point.

Description

technical field [0001] The present application relates to the technical field of navigation, and in particular to a real-time navigation method and device based on lidar, an unmanned vehicle, computer equipment, and a storage medium. Background technique [0002] The autonomous navigation method of unmanned vehicles in farmland operations is usually based on the obtained image information. The image is segmented through a deep learning algorithm to segment a drivable path, and then the angle that needs to be turned is calculated according to the curvature of the path in the current image. navigation. [0003] The above methods have the following disadvantages: 1. Due to the use of images for navigation, the current image is needed to calculate the curvature to send a control signal each time. Too many directions of travel at the previous waypoint can lead to loss of control. 2. The use of image navigation will lose depth information, so that the vehicle speed needs to be a...

AI Technical Summary

Problems solved by technology

[0004] In view of this, the embodiment of the present application provides a real-time navigation method and device based on lidar, an unmanned vehicle, computer equipment, and a storage medium to solve the problem that the image-based navigation method is easy to fail at corners, the speed is constant, and the speed not too fast problem

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