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Laser radar simulation method and device

A technology of laser radar and simulation method, which is applied in the directions of measuring devices, electromagnetic wave re-radiation, and utilization of re-radiation, etc. It can solve the problems of long data index establishment time, sacrifice of laser retrieval efficiency, and reduction of data index establishment time, etc.

Pending Publication Date: 2020-10-23
BEIJING JINGWEI HIRAIN TECH CO INC
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Problems solved by technology

However, due to the long time to establish the data index, the LiDAR simulation results will be obviously stuck when the road is updated, so the retrieval efficiency of the laser to the road grid has to be sacrificed to reduce the establishment time of the data index

Method used

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  • Laser radar simulation method and device
  • Laser radar simulation method and device

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Embodiment Construction

[0029] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. All other embodiments obtained by persons of ordinary skill in the art based on the embodiments of the present invention belong to the protection scope of the present invention.

[0030] An embodiment of the present invention provides a laser radar simulation method. figure 1 is a flowchart of a lidar simulation method according to an embodiment of the present invention. figure 2 is a schematic diagram of a road model and its three boundaries according to an embodiment of the present invention. combine figure 1 with figure 2 Shown to illustrate the laser radar simulation method of the present invention. Such as figure 1 with figure 2 As shown, the road model i...

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Abstract

The invention discloses a laser radar simulation method and device. A road model comprises a model boundary and a loading boundary located outside the model boundary. The laser radar simulation methodcomprises the following steps of: when the field of view of a target vehicle collides with the loading boundary, establishing an index of road grid data, wherein the index is a data structure used for managing grids; and after the index is established, updating the road information in the road model. The road model further comprises a vanishing boundary located outside the loading boundary, and when the field of view of the target vehicle leaves the vanishing boundary, a road in the model boundary is deleted. According to the laser radar simulation method and the device, the jamming phenomenon of the laser radar during road updating can be avoided at least; and the situation of frequent road updating can be avoided by increasing the disappearance boundary.

Description

technical field [0001] The present invention relates to the technical field of intelligent driving simulation, and more specifically, to a laser radar simulation method and device. Background technique [0002] LiDAR is one of the most critical sensors in the field of intelligent driving at present, so it is also an indispensable function in the field of intelligent driving simulation. The core algorithm of the lidar simulation software is the laser collision algorithm (Ray Shooting Algorithm, RSA), and the laser collision algorithm is usually calculated on the GPU (graphics processing unit). When implementing RSA, due to the huge amount of calculation of the exhaustive traversal method, in practice, a certain data structure is usually established as an index to manage all the grids in the scene, thereby reducing the number of collision point detection and improving The speed at which RSA operates. Commonly used data index structures include KD-Tree (KD-Tree), Bounding Vol...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S17/931
CPCG01S17/931
Inventor 由强张大鹏王舜琰
Owner BEIJING JINGWEI HIRAIN TECH CO INC
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