Road environment element sensing method based on laser radar

Abstract

The invention discloses a road environment element sensing method based on a laser radar, and the method comprises the steps: 1, downsampling original point cloud data of the laser radar, obtaining aregion of interest, obtaining simplified point cloud data, segmenting ground data, and obtaining a result; 2, adopting a voxelization-based DBSCAN clustering algorithm to realize barrier segmentationof non-ground data, and carrying out obstacle classification and recognition based on multiple features; and 3, designing a road boundary extraction method suitable for vehicle-mounted laser radar data by utilizing data point elevation mutation, screening boundary points by using prior knowledge after extracting the road boundary points, fitting a road boundary line by adopting a least square method, and marking a barrier-free area by using the grids to realize detection of a passable area in a laser radar road scene. The method is simple in algorithm, small in data error, safe and reliable.

Description

Technical field [0001] The invention belongs to the technical field of computer vision and artificial intelligence, and relates to a method for sensing road environment elements based on laser radar. Background technique [0002] Road environment perception technology is an important technical support for unmanned driving. It is one of the core research contents of computer vision and artificial intelligence, and has a wide range of application prospects. [0003] In the field of computer vision, due to the complexity of the road environment and the real-time variability, it is usually necessary to collect multiple data sets from different perspectives and at different times. Each data set contains a large amount of data and real-time features. By analyzing and processing them to perceive real-time road conditions, important tasks such as real-time vehicle control, path planning, and obstacle avoidance can be realized. At present, the scene data used in many road environment perce...

AI Technical Summary

Problems solved by technology

At present, the scene data used in many road environment perception studies is relatively simple, and the scene only contains a small number of obstacles. The perception method implemented in this case can often get good results, but it cannot adapt to the situation with many obstacles. Complex Scenes of Elements

In addition, the realization of perception tasks is relatively simple. One kind of scene data is only suitable for solving a certain type of perception tasks, and it is impossible to realize the perception operation of one kind of scene data processing multiple tasks.

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