Multi-strategy rail transit obstacle recognition method based on laser radar

Abstract

The invention discloses a multi-strategy rail transit obstacle recognition method based on a laser radar. The method comprises the steps: scanning, by a laser radar, the train operation environment data acquisition in real time in an actual train operation environment, wherein the obtained point cloud samples are used for establishing a point cloud data set of obstacles in front of a train; performing sampling filtering on the point cloud by using a VoxelGrid voxel filtering method; creating a new point cloud container, traversing the filtered point clouds, and storing the point clouds according to the distance; performing ground segmentation on indoor and outdoor rail transit train operation scenes by using different strategies, performing preliminary extraction on a rail region in the segmentation process, and finally performing accurate limitation on the extracted rail region and performing fitting by using a space curve; and performing multi-strategy obstacle detection according to different distances, and performing regional identification and screening based on multiple strategies of the distances, thereby obtaining a screening result. According to the invention, real-time detection of obstacles in front of the train can be realized, high-precision detection is carried out in a real scene in the whole experiment, and debugging is easy.

Description

technical field [0001] The invention belongs to the technical field of rail transit automatic driving, and in particular relates to a laser radar-based multi-strategy rail transit obstacle identification method. Background technique [0002] With the diversified development of train and railway technology, rail transit gradually presents various types, which are not only used in long-distance land transportation, but also widely used in medium and short-distance urban public transportation. The main artery for cargo transportation is the lifeline project of the country. Especially in China, by the end of 2020, the national railway operating mileage will reach 146,000 kilometers. This year, the passenger volume will be 17.59 billion, and the freight volume will be 3.58 billion tons. Therefore, the safety of railway operation is particularly important. The railway safety guarantee system is facing new challenges. Factors affecting the safe operation of trains mainly include t...

AI Technical Summary

Problems solved by technology

The above method is time-consuming, labor-intensive and has low detection efficiency, and cannot meet the requirements of real-time detection under high-speed and long-term running conditions of trains

Images