Racing track cone bucket detection and target point tracking method based on multi-line laser radar

Abstract

The invention discloses a racing track cone bucket detection and target point tracking method based on multi-line laser radar. The method comprises the following steps of: 1) reading laser radar pointcloud data; 2) performing through-connection filtering on the laser radar point cloud data; 3) eliminating interference of ground point cloud data on cone bucket detection; 4) screening out a point cloud cluster of a cone bucket; 5) performing statistical analysis on the point cloud cluster obtained by clustering, setting the maximum standard deviation threshold according to the characteristics of the actual size of the cone bucket, and screening out the cone bucket; 6) obtaining coordinates of the central point of the point cloud cluster; 7) calculating the average value of the coordinates of the central points of the cone buckets on the left and right sides of the laser radar to obtain the central points of the cone buckets as the nearest target points in the current state; and 8) circularly performing the steps mentioned above to obtain the newest target point. By processing such as real-time, segmentation and clustering for the laser radar point cloud, a vehicle is continuously controlled to move towards the target point to finally achieve the racing track cone bucket detection and target point tracking based on multi-line laser radar.

Description

technical field [0001] The invention relates to the field of environmental perception of driverless formula racing cars, in particular to a method for detecting cones on a track and tracking a target point based on a multi-line laser radar. Background technique [0002] The Chinese College Student Driverless Formula Contest (English test: FSAC) is a design and manufacturing competition for driverless racing cars organized by students majoring in automotive engineering or automotive related majors in colleges and universities. This event is known as "the cradle of automotive engineers". In this event, various unmanned racing teams generally used multi-line lidar as an important sensor for the unmanned driving environment perception system. [0003] In this event, the unmanned racing cars of the participating teams need to complete dynamic competitions such as linear acceleration, figure-of-eight circling, and high-speed tracking. Different tracks are marked by cones of fixe...

AI Technical Summary

Problems solved by technology

[0007] The technical problem to be solved by the present invention is to realize the cone barrel detection and target tracking of the unmanned driving track only relying on the laser radar point cloud data, and get rid of the problem that the visual perception system is easily affected by the light intensity and becomes invalid

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