Unstructured road detection method based on four-line laser radar

An unstructured and road detection technology, which is applied in the direction of radio wave measurement system, measurement device, electromagnetic wave re-radiation, etc., can solve the problem of not being able to accurately obtain the range of passable road areas, and achieve good real-time performance, good reliability, The effect of high accuracy

Active Publication Date: 2017-11-17
NANJING UNIV OF SCI & TECH
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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 ravi

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  • Unstructured road detection method based on four-line laser radar
  • Unstructured road detection method based on four-line laser radar
  • Unstructured road detection method based on four-line laser radar

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Embodiment

[0050] As shown in Figure 2, assume that the positive direction of the Z-axis of the vehicle body coordinates is vertical and horizontal, and satisfies the right-handed coordinate system, and the origin of the vehicle body coordinates is located at the center of its rear axis. The installation of the four-line laser radar should satisfy that its X-axis direction is the same as that of the car body coordinate X-axis, and ensure that its installation position is located in the car body coordinate X=0 plane. In the actual installation process, it is installed in the center of the front of the vehicle. Considering the complexity of the unstructured environment, the height of the lidar should be at least higher than 60cm under the premise of ensuring the passability of the vehicle. The four-line laser radar can detect depth data within 110° in the horizontal direction and 3.2° in the vertical direction. During the installation process, the pitch angle of the laser radar should be ad...

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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...

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Application Information

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IPC IPC(8): G01S17/88G06K9/62G06K9/00
CPCG01S17/88G06V20/588G06F18/2321
Inventor 蔡云飞闫明陈萌
Owner NANJING UNIV OF SCI & TECH
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