Unstructured road detection method based on four-line laser radar

Abstract

The invention provides an unstructured road detection method based on four-line laser radar. The method comprises the steps that three-dimensional information coordinate points of a road are acquired by the four-line laser radar on a vehicle and transformed to the coordinate points under the coordinates at which the vehicle is located; the coordinate points are preprocessed to eliminate abnormal data and noise interference; corrosion and expansion processing is performed on the preprocessed data, and clustering of the result after corrosion and expansion is performed by using a DBSCAN clustering algorithm in a vehicle body Z-direction and ground points are extracted, wherein the Z-axis positive direction is upward in a way of being perpendicular to the horizontal ground; straight line fitting is performed on the ground points by using hall transformation so as to obtain the straight line scanned on the ground by the laser radar; the points of the two ends of the straight line are taken as the road boundary points of the scanning line, and smooth tracking of the road boundary points is performed by using Kalman filtering so as to obtain the final road boundary points; and road boundary fitting is performed on the final road boundary points by using the least square method.

Description

technical field [0001] The invention designs an unmanned driving technology, in particular, an unstructured road detection method based on four-line laser radar. Background technique [0002] With the rapid development of science and technology, unmanned platforms represented by intelligent robots and unmanned vehicles have become the development direction of modern high-tech. In the technical components of unmanned platforms, environmental perception technology is an extremely important part. It is the most basic part of the whole system, which directly determines the autonomy and intelligence level of the unmanned platform. The operating environment of unmanned platforms can be divided into structured environment, semi-structured environment and unstructured environment. The development of environmental perception technology for structured and semi-structured environments is relatively mature, but due to the relatively high complexity of unstructured environments, there i...

AI Technical Summary

Problems solved by technology

However, in most unstructured environments and a few semi-structured environments, because there are no obstacle boundaries on both sides of the road, or due to the existence of negative obstacle factors such as ravines on both sides of the road, the detected obstacle boundaries are not strict road edge constraints. , so in this case, the current road detection method cannot accurately obtain the range of the passable road area

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