A multi-lidar grid map fusion system based on unmanned vehicles
A technology of unmanned vehicles and grid maps, which is applied in radio wave measurement systems, vehicle components, vehicle safety arrangements, etc., can solve problems such as practical limitations, high cost, and complex structures, so as to improve safety and simplify structures , a wide range of effects
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Embodiment 1
[0038] A multi-laser grid map fusion system based on driverless cars, including laser radars, switches and industrial computers; the laser radars include one-line laser radars and four-line laser radars installed in front of driverless cars, and The eight-line laser radar on the roof, and the one-line laser radar installed behind the car; the industrial computer includes a first industrial computer and a second industrial computer; the laser radar communicates with the first industrial computer through a switch and utilizes Ethernet Connection, the data of the laser radar is transmitted to the first industrial computer through the switch using Ethernet, and the first industrial computer analyzes and preprocesses the data, and then performs data processing for different laser radars, and performs gridding on the effective data after processing. Grid code and transmit the coded value to the first industrial computer responsible for data fusion through Ethernet, then use the raste...
Embodiment 2
[0040] A multi-lidar grid map fusion system based on unmanned vehicles is similar to Embodiment 1, the difference is that the first-line laser radar is 1 if there is an obstacle, and 0 if there is no obstacle; during the transmission process, Only transmit the coordinates of the grid image of 1; convert the data coordinates of each laser radar into the coordinates of the front-line laser radar; then, use the grid map fusion method to perform data fusion on the grid coded laser radar data .
Embodiment 3
[0042] A multi-lidar grid map fusion system based on unmanned vehicles is similar to Embodiment 2, the difference is that the grid map fusion method, as a fusion strategy, stipulates the priority of eight-line laser radar data The priority is the highest, followed by the four lines, and the priority of the first line is the lowest, and its coded values are fused.
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