TUNNEL HEIGHT DETECTION SYSTEM DEVELOPED USING LIDAR SENSOR

Abstract

The invention relates to the measurement system (A), which includes the ROS algorithm that enables autonomous vehicles to perceive their surroundings by detecting and mapping obstacles, structures, surface shapes and areas in the environment according to the data received from the lidar sensor (20), the wheel turn angle and speed adjustment system that enables the vehicle to control its speed / movement, the dynamic safety barrier system that enables autonomous vehicles to perceive their surroundings by making height measurements in areas such as tunnels and bridges in the autonomous vehicles (10) and transportation safety sector, ensuring the passage safety of autonomous vehicles (10); ensuring that vehicles move in a way that is sensitive to the surrounding height and preventing accidents that may be caused by infrastructure; ensuring the detection of the ground / obstacle and / or vehicle / obstacle height distance and enabling / controlling the operations that the vehicle must perform; and the dynamic safety barrier system that enables autonomous vehicles to perceive their surroundings by detecting and mapping obstacles, structures, surface shapes and areas in the environment according to the data received from the lidar sensor (20).

Description

1 TARIFF DEVELOPED USING A LIDAR SENSOR TUNNEL HEIGHT DETERMINATION SYSTEM TECHNICAL FIELD The invention is relevant to the autonomous vehicles and transportation safety sector, particularly in areas such as tunnels and bridges. Ensuring the safety of autonomous vehicles by performing height measurements; By ensuring that it moves in a way that is sensitive to the surrounding height, 10% of the infrastructure It is related to the goals of preventing accidents that may occur. PREVIOUS TECHNIQUE Lidar devices use a laser emitter to emit laser light at a specific wavelength, 15 a laser receiver to detect laser light of a specific wavelength and the aforementioned a laser emitter and a processor to control the operation of the aforementioned laser receiver It includes the unit. Lidar devices typically have a volume of 20 where the laser emitter emits laser beams. The reflections of laser beams hitting objects are detected by the laser sensor. It determines the distance of objects through perception. The distance in question... Determination is the flight of a laser beam from the emitter to the receiver. This is done based on the time of flight. The laser is used to determine this distance. a computer-based three-dimensional point set of objects in the volume through which light travels 25 is obtained. However, the distance measurement mentioned above is only in front of the sensor / vehicle. It does not go beyond identifying the obstacles that are found / emerged. The known aspects of the technique... In applications carried out in this situation, the area where the sensor / vehicle is located is 30 Mapping and especially measuring the transition height has become important. It is coming. 2 In current technology, the height of the tunnel and / or the environment where the sensor / vehicle is located There are many methods and studies for determining its parameters, however, the need A solution that meets the required standards has not been found. This method and these studies... This part is explained below. 1. Creating a vehicle profile using the lidar sensor and tunnel collision notification. system and method (Vehicle profiling extraction using lidar sensor and tunnel) collision notification system and method) Disadvantages of the method: 10 — This system is necessary due to the cost of LiDAR sensors and infrastructure requirements. It may be disadvantageous in terms of large-scale applicability. Also, the outdoor environment. Conditions such as dense fog, rain, etc., can negatively affect the performance of LiDAR sensors. This can affect perception and lead to security risks. 15 She can give birth. 2. Unmanned aerial vehicle-assisted vehicle-mounted path acquisition three-dimensional modeling system and implementation method (Unmanned aerial vehicle assisted vehicle- mounted road acquisition three-dimensional modeling system and realization 20 method thereof) Disadvantages of the method: — Complex System Structure: Unmanned aerial vehicle, vehicle-mounted LIDAR, SLAM, and 25 The structure, which includes other data integration systems, is quite complex, and the system This can make installation, maintenance, and data management more difficult. — Cost and Resource Requirements: Advanced hardware and software components. It is expensive, especially for all components to work synchronously, 30 The resource requirement is high. 3 — Data Integration and Analysis Challenges: Airborne and vehicle-mounted LIDAR data Precise integration requires complex analytical processes. 3. Vehicle-mounted laser radar tunnel detection system, autonomous positioning tunnel Method based on detection system and tunnel hazard detection method (Car-mounted laser 5) radar tunnel detection system, autonomous positioning method based on tunnel detection system and tunnel hazard detection method) Disadvantages of the method: — Satellite Positioning Coverage Restriction: Satellite signal while inside the tunnel. The inability to obtain it is solely dependent on the autonomous positioning module. This requires that, in this case, positional accuracy depends on non-satellite systems. — Energy Consumption: Continuous operation of laser radar and other sensors requires the vehicle to consume 15 watts of energy. This can increase the platform's energy consumption, shortening battery life. — High Installation and Maintenance Costs: Multiple detection and coupling. System setup with modules is complex and costly, as well as requiring regular maintenance. may be required. 20 Consequently, due to the aforementioned drawbacks and shortcomings, the relevant The need for an innovation in the technical field has arisen. 4 THE PURPOSE OF THE INVENTION The overall purpose of the invention is to create a complete system that meets the requirements mentioned above. especially autonomous systems that eliminate disadvantages and bring additional advantages. In the vehicle and transportation safety sector, in areas such as tunnels and bridges, the height limit is 5. By performing measurements, autonomous vehicles are enabled to ensure safe passage; environmental assessments of vehicles by enabling it to move in a height-sensitive manner from the infrastructure It is related to the goals of preventing accidents that may occur. Due to the drawbacks of the previous technique, the invention encompasses all 10 described above. It aims to resolve the negative aspects. The main purpose of the invention is to determine the altitude of the environment in which autonomous vehicles are located. It is developing a system that enables it to do so. Another important purpose of the invention is to use lidar sensor data to determine vehicle passage. It is the measurement of areas in terms of height. Another important objective of the invention is to provide different features for existing and newly designed / manufactured products. It can be integrated into existing vehicles. 20 Another important objective of the invention is to reduce the risk of accidents by increasing safety in vehicles. integration with the hardware and software systems (ADAS) on board and the vehicle Autonomous operation in confined spaces by more accurately identifying hazards in its surroundings. The goal is to improve driving efficiency. 25 The purpose of this altitude measurement algorithm is to be used in autonomous vehicles or other robotics systems. The purpose of laser systems is to determine the height of objects in a specific area. This invention utilizes lasers. with point cloud data from sensors such as scanners (Lidar) or stereo cameras By processing, it detects and visualizes tall objects in specific areas. Thus, 30 It enables autonomous systems to better understand the objects around them. Innovations Brought About by the Invention — Real-Time Elevation Measurement: This algorithm measures altitude in real time. By processing the cloud, it calculates the altitude quickly and efficiently. This allows... Data relating to instantaneous danger detection or location information of tall objects 5 is obtained. — Targeting Specific Regions: The algorithm targets a specific range of y coordinates. Because it selects and processes the highest points, it is a high-altitude object in the targeted area. This enables detection. This reduces unnecessary calculations and data redundancy. 10 Advantages it provides — Enhanced Awareness of the Environment: Detection of tall objects, robots, or autonomous vehicles. 15 when vehicles are maneuvering in a specific area, especially such as a factory or warehouse It helps them to accurately detect collisions and obstacles. — High Accuracy: High precision using the Euclidean distance calculation method. This ensures accuracy. This is essential for reliable distance determination and altitude detection. It is useful. 20 — Speed ​​and Performance: This system, capable of parallel processing, is ideal where time is critical. It delivers high-speed results in autonomous applications. The structural and characteristic features and all the advantages of the invention are given in Figure 25 below. And thanks to the detailed explanation written with references to these figures, more This will be clearly understood, and therefore the evaluation should also be based on these forms and details. This should be done taking the explanation into consideration. 6 DESCRIPTION OF THE FIGURES Figure 1 shows the application view of the height measurement system described in the invention. REFERENCE NUMBERS 5 A. Measurement system 10. Vehicle 20. Lidar sensor 30. Obstacle β layer angle 15 L. The distance measured by the layer in contact with the barrier. h. Obstacle / tunnel height d0. The distance between the sensor and the obstacle on the x-axis. d1. Distance between sensor and ground. 7 DETAILED DESCRIPTION OF THE INVENTION The invention is for autonomous vehicles (10) and the transportation safety sector, such as tunnels and bridges. by taking height measurements in the areas, the passage safety of autonomous vehicles (10) enabling vehicles to move in a way that is sensitive to ambient height. 5 The goals are to prevent accidents that may arise from infrastructure problems by ensuring these conditions are met. performing; ground / obstacle and / or vehicle / obstacle height distance By detecting and controlling the actions the vehicle needs to perform, The ROS algorithm, which controls the vehicle's speed / movement, is used by the wheels. The turning angle and speed adjustment system adjusts the turning angle and speed according to the data received from the lidar sensor (20). Identifying surrounding obstacles, structures, surface shapes, and areas dynamic mapping that enables autonomous vehicles to perceive their surroundings It relates to the measurement system (A) which includes a safety barrier system. Figure 1 shows the application view of the height measurement system (A) which is the subject of the invention. 15 It is located. The overall purpose of the invention is to create a complete system that meets the requirements mentioned above. especially autonomous systems that eliminate disadvantages and bring additional advantages. In the vehicles and transportation safety sector, in areas such as tunnels and bridges, the height limit is 20. By performing measurements, autonomous vehicles are enabled to ensure safe passage; environmental assessments of vehicles by enabling it to move in a height-sensitive manner from the infrastructure It is related to the goals of preventing accidents that may occur. Due to the drawbacks of the previous technique, the invention, as described in all 25 points, It aims to resolve the negative aspects. The main purpose of the invention is to determine the altitude of the environment in which autonomous vehicles are located. It is developing a system that enables it to do so. The invention is for autonomous vehicles (10) and the transportation safety sector, such as tunnels and bridges. by taking height measurements in the areas, the passage safety of autonomous vehicles (10) 8 enabling vehicles to move in a way that is sensitive to ambient height. The goals are to prevent accidents that may arise from infrastructure problems by ensuring these conditions are met. The measurement system that performs this is (A), and its characteristic is; — ground / obstacle and / or vehicle / obstacle height distance of 5 by identifying the actions the vehicle needs to perform. ROS algorithm that provides / controls, — wheel rotation that allows control of the vehicle's speed / movement. Angle and speed adjustment system, 10 — obstacles in the environment according to data received from lidar sensor (20), by identifying and mapping structures, surface shapes and areas dynamics that enable autonomous vehicles to perceive their surroundings. It is characterized by including a safety barrier system. 15 Measurement Algorithm In addition to knowing which direction and how to go, autonomous vehicles also know They also need to react to the obstacles they will encounter. Any 20 They have to react when faced with an obstacle. Another aspect of narrow field detection is... This stage detects heights that could obstruct the vehicle's autonomous movement. to do. Figure 1 shows the diagram of the height calculation. d0 is the distance to the obstacle x 25 d1 is the distance along the axis, d2 is the distance of the LiDAR sensor from the ground, and h is the distance of the obstacle / tunnel. β is the height, L is the distance measured by the layer in contact with the obstacle, and β is the layer angle. It expresses. In measuring the amount of height; 30 — the distance of the vehicle(10) / sensor(20) from the obstacle(30) on the x-axis Calculation of (d0), 9 — Calculation of the distance (d1) of the vehicle(10) / sensor(20) from the ground, — Calculation of the height (h) of the obstacle / tunnel — Calculation of the distance (L) measured by the layer in contact with the obstacle, — the calculation of the layer angle (β) involves procedural steps. It is characterized by... The purpose of an altitude measurement system is to assist in autonomous vehicles or other robotic systems. The purpose is to determine the height of objects in a specific area. This invention, the laser scanner, Point cloud data from sensors such as (Lidar) or stereo cameras. By processing the data, it detects and visualizes tall objects in specific areas. Thus It enables autonomous systems to better understand the objects around them. 15 Innovations Brought About by the Invention — Real-Time Elevation Measurement: This algorithm measures altitude in real time. By processing the cloud, it calculates the altitude quickly and efficiently. This allows for 20... Instantaneous danger detection or data related to the location of tall objects. is obtained. — Targeting Specific Regions: The algorithm targets a specific range of y coordinates. Because it selects and processes the highest points, there are 25 high objects in the targeted area. This enables the detection of errors. This reduces unnecessary calculations and data redundancy. Advantages it provides — Enhanced Awareness of the Environment: Detection of tall objects, robots or autonomous 30 when vehicles are maneuvering in a specific area, such as a factory or warehouse It helps them to accurately detect collisions and obstacles. — High Accuracy: High precision using the Euclidean distance calculation method. This ensures accuracy. This is essential for reliable distance determination and altitude detection. It is useful. — Speed ​​and Performance: This system, capable of parallel processing, is ideal where time is critical. It delivers high-speed results in autonomous applications. Problems it solved — Reducing Collision Risk in Autonomous Vehicles: Certain aspects of the vehicles It reduces the risk of collisions by enabling the detection of objects at a height. — Reducing Data Complexity: Eliminating unnecessary data by measuring height for a specific area. It filters point cloud data, thus using system resources efficiently. — Automatic Visualization and Notification: Height of objects It provides operators or higher-level systems with real-time information through visualization. This facilitates decision-making processes. These features make the invention... This makes it extremely useful in autonomous driving and environmental awareness technologies. Elements that constitute the Measurement System 3D LiDAR sensor: 3D LiDAR sensors scan the environment with laser beams. This Sensors calculate distances by measuring the time it takes for light to reflect off objects. The data obtained is a "point cloud" that represents every point in the environment with 3D coordinates. 25 These points create a precise representation of surrounding obstacles, structures, and landforms. It allows for mapping in this way. LiDAR, with its rotating or fixed heads, offers a wide range of capabilities. By scanning areas, it helps autonomous vehicles perceive their surroundings. Enhanced ROS-Based Algorithm for Height Detection: 30 1. Node Structure: 11 — The HeightCalculate class extends the rclcpp::Node class and It creates a node named "point_cloud_subscriber". — QoS (Quality of Service) settings are configured; these settings ensure messages are sent in "best-effort" mode. This ensures that it reaches its destination. 2. Subscription and Publisher Definitions: — named subscription_: / pointcloud_filters / voxel_grid_filter / voxel_grid_zed_points It listens to PointCloud2 data. — Four different marker emitters are identified:  marker_publisher_line_: Represents the line between two points. 10  marker_publisher_top_left and marker_publisher_top_right: Top left and Sphere markers for the upper right corners.  marker_publisher_text_: A text marker that represents height. 3. Auxiliary Functions: — findMidpoint: Calculates the midpoint between two points. 15 — calculateDistance: Calculates the Euclidean distance between two points. 4. Detecting the Top Left and Top Right Corners in a Point Cloud: — leftCornerOperation: Determines the top left corner. Based on the y-coordinate in the point cloud. filter 20 applies (0.5 < y < 1.0).  The distance from the origin to each point that satisfies the conditions is calculated. (distance_left_top).  If the distance is greater than the previously recorded minimum distance, this The point is selected as the "top left point". 25 — rightCornerOperation: Determines the top right corner using the same logic (-1.0 < y < -0.5). 5. PointCloud Callback: 12 — The pointCloudCallback function starts when a new PointCloud2 message arrives. is called. — The message is converted to PCL (Point Cloud Library) format and processed by solKoseIslem. sagKoseIslem functions are separate threads. It is being operated. 5 — Processing times are calculated when the top left and top right corners are present. 6. Marker Publishing: — If the processes were completed quickly (in less than 100 ms):  Sphere Markers: Red sphere markers for the top left and top right points. 10 It will be published.  Text Marker: A text marker located in the center, representing the height. It will be published.  Line Marker: Fixed on the ground, between the midpoint of the upper left and right points. A line is drawn connecting a point (z = -1.0). 15 This structure defines the upper left and upper right points of an area with a specific height, It provides visualization by marking these points. When run, ROS 2's Marker This feature makes it possible to visualize the height of the environment.

Claims

13 REQUESTS 1. The invention relates to autonomous vehicles (10) and the transportation safety sector, such as tunnels and bridges. by taking height measurements in the areas, the passage safety of autonomous vehicles (10) enabling vehicles to move in a way that is sensitive to ambient height. 5 by ensuring that accidents that may arise from infrastructure problems are prevented. The measurement system that achieves its objectives is (A), and its feature is; — ground / obstacle and / or vehicle / obstacle height distance By enabling its detection, the actions the vehicle needs to perform are 10. ROS algorithm that provides / controls, — wheel rotation that allows control of the vehicle's speed / movement. angle and speed adjustment system, — obstacles in the environment according to data received from lidar sensor (20), by identifying and mapping structures, surface shapes and areas 15 dynamics that enable autonomous vehicles to perceive their surroundings. It is characterized by including a safety barrier system.

2. The invention relates to the movement of vehicles in a manner sensitive to ambient altitude. by ensuring that accidents that may arise from infrastructure problems are prevented. 20 The measurement system (A) that achieves its objectives is; height in measuring quantity; — the distance of the vehicle(10) / sensor(20) from the obstacle(30) on the x-axis Calculation of (d0), 25 — Calculation of the distance (d1) of the vehicle(10) / sensor(20) from the ground, — Calculation of the height (h) of the obstacle / tunnel, — Calculation of the distance (L) measured by the layer in contact with the obstacle, — the calculation of the layer angle (β) involves procedural steps. It is characterized by 30