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Obstacle real-time detection method based on vehicle-mounted equipment

A real-time detection, vehicle-mounted equipment technology, applied in image data processing, instruments, 3D modeling, etc., can solve the problem of low accuracy of obstacle location judgment, achieve high accuracy, improve spatial density, and reduce false negatives and false positives. Effect

Pending Publication Date: 2022-03-25
BEIJING LUSTER LIGHTTECH
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] This application provides a real-time detection method for obstacles based on vehicle-mounted equipment, which solves the technical problem of low accuracy in judging the location of obstacles in the tunnel environment where the structure is cyclical and lacks features.

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Embodiment Construction

[0020] The technical solutions in the embodiments of the present application will be fully and clearly described below in conjunction with the drawings in the embodiments of the present application. Apparently, the described embodiments are only some of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of this application.

[0021] It should be noted that the brief description of the terms in this application is only for the convenience of understanding the implementations described below, and is not intended to limit the implementations of this application. These terms are to be understood according to their ordinary and usual meaning unless otherwise stated.

[0022] The terms "first", "second", and "third" in the description and claims of this application and the above drawings are used to...

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Abstract

The invention provides a real-time obstacle detection method based on vehicle-mounted equipment, and solves the technical problem that the accuracy of judging the position of an obstacle in an environment in a tunnel with a structure circulating and lacking characteristics is low. The invention provides a real-time obstacle detection method based on vehicle-mounted equipment. The method comprises the steps that laser point cloud data and camera image data of a track advancing area are acquired; wherein the camera image data is a multi-frame constraint; fusing the laser point cloud data and the camera image data to obtain fused point cloud data; drawing a point cloud map according to the fused point cloud data; marking a safety clearance on the point cloud map, wherein the safety clearance is the contour of a vehicle safety driving space in the track driving area; acquiring a first position of the vehicle, wherein the first position is a real-time position of the vehicle and a position coordinate corresponding to the attitude information in the point cloud map; marking the first position on the point cloud map to obtain a target map; and filtering the point cloud data outside the safety limit in the target map.

Description

technical field [0001] The present application relates to the technical field of rail traffic detection, in particular to a method for real-time detection of obstacles based on vehicle-mounted equipment. Background technique [0002] Real-time obstacle detection during the operation of rail vehicles, especially subway vehicles, is a hot topic at this stage, and it is also a technical problem that needs to be improved. This technology is the technical foundation for the subway to realize automatic driving, improve operation and scheduling efficiency, improve the ride experience, and then better adapt to cross-network dispatching of rail vehicles in the future, and adapt to the integration of high-speed rail, intercity, urban rail, and subway networks. [0003] At present, obstacle detection is mainly based on vision. The camera installed on the front of the car is used to obtain the image in front of the vehicle, and the track area ahead is found through image segmentation an...

Claims

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Application Information

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IPC IPC(8): G06V20/58G06V10/22G06V10/762G06V10/80G06K9/62G06T7/73G06T17/05
CPCG06T7/73G06T17/05G06T2207/10028G06T2207/30261G06F18/23G06F18/251
Inventor 刘文佳张勇姚毅杨艺
Owner BEIJING LUSTER LIGHTTECH
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