Method and system for removing ground by using multi-line laser radar

Abstract

The invention relates to the technical field of automatic driving, in particular to a method and a system for removing ground by using multi-line laser radar. The method comprises the following steps:acquiring point cloud data of the multi-line laser radar; selecting alternative points of a plane where the fitting ground is located; fitting the alternative points of the plane where the fitting ground is located, and conducting calculation to obtain four coefficients of the equation of the plane where the ground is located through the equation of the plane where the ground is located; regarding points with the directed distance to the plane where the ground is located smaller than a set threshold value as points on the ground to be removed; and outputting the remaining point cloud data ofthe multi-line laser radar, and extracting obstacle information. The system comprises a data acquisition module, a data extraction module, a data calculation module and a data output module. Accordingto the embodiment of the invention, the method is executed through the system, so that the accuracy of removing points on the ground is improved to a certain extent, and an automatic driving vehiclecan normally run in a more complex scene.

Description

technical field [0001] The invention relates to the technical field of automatic driving, in particular to a method and system for ground elimination using multi-line laser radar. Background technique [0002] In the process of automatic driving, the automatic driving system needs to obtain the information of the surrounding obstacles; the automatic driving system needs to control the vehicle so that the vehicle can run smoothly on the road without colliding with obstacles, so as to achieve the purpose of driving safely on the road ; Obstacles refer to pedestrians, motor vehicles, bicycles, cones and trash cans on the road that affect the driving of autonomous vehicles; these obstacle information should be obstacles that will block the driving of autonomous vehicles. When obtaining the information of surrounding obstacles, the ground cannot be regarded as an obstacle, otherwise the vehicle cannot drive normally on the road. Obtaining obstacle information by using the point ...

AI Technical Summary

Problems solved by technology

[0004] The disadvantage of the existing technology is that the ground culling based on the height information of the point cloud in the multi-line lidar must meet the precondition that the ground is parallel to the plane on which the vehicle is driving. If it is not parallel, it may affect the ground point culling. accuracy; for example, when the vehicle is accelerating or decelerating or driving on a bumpy road, some points on the ground are often regarded as obstacles, causing abnormal braking of the self-driving vehicle

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