CN104597453A - Detection method and device for safety driving area of vehicle corrected by inertial measuring unit - Google Patents

Abstract

The invention provides a detection method and a detection device for a safety driving area of a vehicle corrected by an inertial measuring unit. The method comprises the steps of collecting the coordinate data of sampling points output by a laser radar fixed on the vehicle; generating spatial rectangular coordinate type road surface outline data according to the coordinate data; collecting angular variation values of the laser radar output by the inertial measuring unit linked with the laser radar in a pitching direction, and correcting the coordinate data or the pavement outline data by using the angular vibration values; processing the road surface outline data to obtain the areal coordinate data of a plurality of spatial boxes; calculating gradient values between the spatial boxes according to the gravity coordinate data, and marking the plurality of spatial boxes according to the gradient values; and projecting the marked spatial boxes, and carrying out center line generation on a projection processing result to generate the safety driving area of the vehicle. According to the detection method and the detection box provided by the invention, in comparison with the prior art, the safety driving area of the vehicle can be detected, and the detection accuracy of the road surface can be improved.

Description

The vehicle safe driving method for detecting area that inertial measuring unit corrects and device

Technical field

The present invention relates to pavement detection technology, particularly relate to vehicle safe driving method for detecting area and the device of the correction of a kind of inertial measuring unit.

Background technology

Along with people's improving constantly security requirement in car steering process, wish that vehicle can barrier on active probe road, and which region identifying road surface can safety traffic, these information are very crucial for automatic driving vehicle, simultaneously for pilot steering vehicle, the effect of the active safe driving enriching vehicle also can be played.

In prior art, the sensors such as millimetre-wave radar or imageing sensor is mainly utilized to detect vehicle front road surface.Wherein, utilize the detection method surveyed area of the sensors such as millimetre-wave radar narrow and small, and cannot detect small size target, simultaneously the details such as None-identified road gradient information.In addition, the detection method of imageing sensor is utilized to show recognizer function perfect not, the correct recognition rata of visual field internal object only has 60%-70%, what produce in vehicular motion jolts, camera imaging can be made to thicken, thus cause recognition accuracy to decline further, and, camera imaging quality affects huge by ambient lighting, night can not work completely.Therefore above-mentioned two kinds of method Detection results are very limited.

Summary of the invention

The vehicle safe driving method for detecting area that embodiments of the invention provide a kind of inertial measuring unit to correct and device, can detect vehicle safe driving region, to improve the accuracy rate of pavement detection.

For achieving the above object, the invention provides the vehicle safe driving method for detecting area that a kind of inertial measuring unit corrects, comprising: data collection steps: the coordinate data gathering the sampled point that the laser radar be fixed on vehicle exports; Road surface profile data genaration step: according to the road surface outline data of described coordinate data span Cartesian form; Data correcting step: the described laser radar angle changing value in the pitch direction that the inertial measuring unit that collection and described laser radar link exports, utilizes described angle changing value to correct described coordinate data or described road surface outline data; Barycentric coordinates data genaration step: process described road surface outline data, obtains the barycentric coordinates data of multiple space box; Space box markers step: calculate the Grad between described space box according to described barycentric coordinates data, and according to the described multiple space box of described Grad mark; Vehicle safe driving Area generation step: the space box after mark is carried out projection process, and carries out center line growth to projection process result, generates vehicle safe driving region.

Present invention also offers the vehicle safe driving regional detection device that a kind of inertial measuring unit corrects, comprising: data acquisition module, for gathering the coordinate data of the sampled point that the laser radar be fixed on vehicle exports; Road surface profile data generation module, for the road surface outline data according to described coordinate data span Cartesian form; Data correction module, for gathering the described laser radar angle changing value in the pitch direction that the inertial measuring unit that links with described laser radar exports, utilizes described angle changing value to correct described coordinate data or described road surface outline data; Barycentric coordinates data generation module, for processing described road surface outline data, obtains the barycentric coordinates data of multiple space box; Space box mark module, for calculating the Grad between described space box, and according to the described multiple space box of described Grad mark according to described barycentric coordinates data; Vehicle safe driving Area generation module, for the space box after mark is carried out projection process, and carries out center line growth to projection process result, generates vehicle safe driving region.

The vehicle safe driving method for detecting area that inertial measuring unit of the present invention corrects and device, by laser radar coordinate acquisition data, process is carried out to coordinate data and generates road surface profile characteristic, utilize the laser radar angle changing value in the pitch direction that the inertial measuring unit linked with laser radar collected exports, coordinate data or road surface profile characteristic are corrected, and the road surface outline data after correcting is processed, obtain multiple space box and barycentric coordinates data thereof, based on the plurality of space box of barycentric coordinates data markers, according to the multiple space boxes after mark, just can generate vehicle safe driving region, got rid of the measuring error that laser radar up-down vibration in vehicle travel process produces simultaneously, thus improve the accuracy rate of pavement detection.

Accompanying drawing explanation

Fig. 1 is one of principle of work schematic diagram of the laser radar of the embodiment of the present invention;

Fig. 2 is the principle of work schematic diagram two of the laser radar of the embodiment of the present invention;

Fig. 3 is the schematic flow sheet of the vehicle safe driving method for detecting area that the inertial measuring unit of the embodiment of the present invention one corrects;

Fig. 4 is the transfer principle schematic diagram of the coordinate data of the sampled point that laser radar exports;

Fig. 5 is the principle schematic of space box markers step in Fig. 3;

Fig. 6 is the principle schematic of vehicle safe driving Area generation step in Fig. 3;

Fig. 7 is the structural representation of the vehicle safe driving regional detection device that the inertial measuring unit of the embodiment of the present invention two corrects.

Label declaration:

1: laser radar; 2: laser beam; 3: sampled point.

Embodiment

The vehicle safe driving method for detecting area corrected embodiment of the present invention inertial measuring unit below in conjunction with accompanying drawing and device are described in detail, but illustrated embodiment is not as limiting to the invention.

The know-why of the vehicle safe driving method for detecting area that inertial measuring unit of the present invention corrects utilizes laser radar to scan the road surface ahead that vehicle travels, gather the coordinate data of the sampled point that laser radar exports, utilize the laser radar angle changing value in the pitch direction that the inertial measuring unit linked with laser radar collected exports, described coordinate data is corrected, and the coordinate data of sampled point is processed, and then generate vehicle safe driving region.

Embodiment one

As depicted in figs. 1 and 2, it is the principle of work schematic diagram of the laser radar of the embodiment of the present invention, laser radar 1 is fixed on vehicle up direction, but be not limited to the mounting means shown in Fig. 1 and Fig. 2, also other position of vehicle can be arranged on, such as vehicle front bumper place, the investigative range of this mounting means will reduce.Make laser radar 1 slightly to having a down dip during installation, the pitch angle θ making it to be formed in ground certain angle and laser beam carries out scanning to road surface ahead and produces laser beam 2, namely can obtain the sampled point 3 of range finding continuously in the direction of the x axis.

Will in a data acquisition section unit (such as vehicle runs over L rice distance), the laser emission point of the laser radar of vehicle traveling section start is set as the round dot (0 of rectangular coordinate system in space, 0,0), X-axis is the direction parallel with road surface, Y-axis is vehicle heading, and Z axis is the direction perpendicular to road surface.The polar coordinates of such as sampled point are (r _i, η _i), the rectangular space coordinate of its correspondence is (x _i, y _i, z _i), i is the sequence number of the sampled point of laser radar.Such as vehicle travels along the y-axis direction, then laser radar can scan road surface ahead with fixing sweep frequency, thus is had the discrete sampled point of spatial coordinated information in a large number, the spatial information of these sampled points and reducible road surface.In actual applications, laser radar can provide the polar data of sampled point, also directly can provide the rectangular coordinate data after converting of sampled point.

Based on the principle of work of Fig. 1 and Fig. 2, and consult Fig. 3, the vehicle safe driving method for detecting area that the inertial measuring unit of the embodiment of the present invention one corrects comprises:

Data collection steps 301: the coordinate data gathering the sampled point that the laser radar be fixed on vehicle exports.Particularly, the coordinate data of the exportable sampled point of laser radar can be known according to the principle of work of laser radar, in addition, different according to the model of laser radar, the polar coordinates η of sampled point _imaximum magnitude may be between 30 ~ 90 degree.

Road surface profile data genaration step 302: according to the road surface outline data of coordinate data span Cartesian form.Particularly, if the coordinate data of the sampled point of laser radar output is polar form, just need the coordinate data of sampled point to change into Cartesian form by polar form, and then generate the road surface outline data of Cartesian form.

Data correcting step 303: the laser radar angle changing value in the pitch direction that the inertial measuring unit that collection and laser radar link exports, utilizes angle changing value to correct coordinate data or road surface outline data.Here, it should be noted that the pitch angle of laser beam is fixed value when stationary vehicle, owing to vibration occurring thus produces error in vehicle travel process, therefore need to correct it.Concrete, inertial measuring unit can be tightened together with laser radar, because vehicle can produce vibration in the process of moving, the angular acceleration in XYZ tri-coordinate axis acceleration and each coordinate axis can be measured, calculated the angle change σ that can calculate in the pitch orientation of laser radar by above-mentioned data _j, then utilize this angle changing value to correct coordinate data or road surface outline data.Such as, following formula (1) can be adopted to calculate the pitching angle theta of the laser beam of i-th sampled point after correcting _i:

θ _i=θ-σ _j... ... ... ... ... ... ... ... ... ... ... ... ... ... formula (1)

Wherein, i is the sequence number of the sampled point of laser radar, the pitch angle of the laser beam of laser radar when θ is stationary vehicle, σ _jfor the laser radar angle changing value in the pitch direction that inertial measuring unit exports, θ _ifor the angle of pitch of the laser beam of i-th sampled point after correction.

Barycentric coordinates data genaration step 304: road pavement outline data processes, obtains the barycentric coordinates data of multiple space box.

Space box markers step 305: according to the Grad between barycentric coordinates data computer memory box, and mark multiple space box according to Grad.In embodiments of the present invention, the implication of space box is be the unit box body of fixed measure by Spacial domain decomposition, be convenient to the sampled point in area of space be put into corresponding unit box body, thus directly perceived, the simple barycentric coordinates that must calculate box body, the Grad for this step calculates provides data basis.

Vehicle safe driving Area generation step 306: the space box after mark is carried out projection process, and carries out center line growth to projection process result, generates vehicle safe driving region.It should be noted that, in the embodiment of the present invention, the implication of center line growth is in the plane domain that the square lattice by fixed measure form, searches from the midline position of every a line along the positive and negative both direction of transverse axis, can the frontier point in safety traffic region according to lookup result acquisition vehicle.

The vehicle safe driving method for detecting area that inertial measuring unit of the present invention corrects, by laser radar coordinate acquisition data, process is carried out to coordinate data and generates road surface profile characteristic, utilize the laser radar angle changing value in the pitch direction that the inertial measuring unit linked with laser radar collected exports, coordinate data or road surface profile characteristic are corrected, and the road surface outline data after correcting is processed, obtain multiple space box and barycentric coordinates data thereof, based on the plurality of space box of barycentric coordinates data markers, according to the multiple space boxes after mark, just can generate vehicle safe driving region, compared with prior art, the detection method in vehicle safe driving region of the present invention can detect vehicle safe driving region, got rid of the measuring error that laser radar up-down vibration in vehicle travel process produces simultaneously, thus improve the accuracy rate of pavement detection.

Further, the coordinate data of the sampled point that laser radar exports can be polar form, as shown in Figure 4, the transfer principle schematic diagram of the coordinate data of its sampled point exported for laser radar, principle shown in composition graphs 4, road surface profile data genaration step 302 can specifically comprise: the coordinate data of sampled point is changed into Cartesian form by polar form, can adopt following formula (2), formula (3) and the X-axis coordinate figure x of formula (4) calculating sampling point under rectangular coordinate system _i, Y-axis coordinate figure y _iwith Z axis coordinate figure z _i:

X _i=r _isin (η _i) ... ... ... ... ... ... ... ... ... ... ... ... ... formula (2)

$y_i=r_i\cos \left(\mathrm{\η}\right)\cos \left({\mathrm{\θ}}_i\right)+\frac{1}{f}\underset{1}{\overset{j}{\mathrm{\Σ}}}{v}_j$ ... ... ... ... ... ... ... ... ... formula (3)

Z _i=r _icos (η _i) sin (θ _i) ... ... ... ... ... ... ... ... ... ... ... ... formula (4)

Wherein, i is the sequence number of the sampled point of laser radar, and j is the sequence number of the sweep trace of laser radar, r _ifor the polar data of the sampled point of laser radar, the laser emission point that the center of circle is located in a data acquisition section unit, vehicle travels the laser radar of section start of rectangular coordinate system in space, X-axis is the direction parallel with road surface, Y-axis is vehicle heading, Z axis is the direction perpendicular to road surface, laser emission point obtains the first intersection point to XY plane as vertical line, the second intersection point obtained to the sweep trace at sampled point place as vertical line by the first intersection point, η _ifor the angle between laser beam and the line of laser emission point and the second intersection point, θ _ibe the angle of pitch of the laser beam of i-th sampled point, v _jbe the car speed that the jth bar sweep trace at i-th sampled point place is corresponding, f is the sweep frequency of laser radar, x _ifor the X-axis coordinate of sampled point, y _ifor the Y-axis coordinate of sampled point, z _ifor the Z axis coordinate of sampled point.

Here, it should be noted that vehicle speed sensor such as can using such as photoelectric encoder obtains speed information accurately.Under normal circumstances, the sample frequency of vehicle speed sensor is less than the sweep frequency of laser radar, can carry out difference operation here to vehicle speed data, makes each sweep trace of laser radar can a corresponding vehicle speed data in the same time.Namely due to laser radar each sweep velocity quickly, but the time interval of every twice sweep is relatively long, and therefore can be similar to what think that all sampled points on this sweep trace obtain is the vehicle speed data in same moment.

Further, barycentric coordinates data genaration step 304 can specifically comprise: with the center of circle of rectangular coordinate system in space for starting point, generates multiple space boxes of the setting length of side, and multiple space box is axially closely connected three of rectangular coordinate system in space; All sampled points are all put into corresponding space box according to road surface outline data, and remove the space box not comprising any sampled point; Identify the sequence number of each space box, and calculate the barycentric coordinates of each space box, utilize following formula (5), formula (6) and formula (7) to realize:

$x_{m,n,q}=\frac{1}{p}\underset{1}{\overset{p}{\mathrm{\Σ}}}{x}_p$ ... ... ... ... ... ... ... ... ... ... ... ... ... formula (5)

$y_{m,n,q}=\frac{1}{p}\underset{1}{\overset{p}{\mathrm{\Σ}}}{y}_p$ ... ... ... ... ... ... ... ... ... ... ... ... ... formula (6)

$z_{m,n,q}=\frac{1}{p}\underset{1}{\overset{p}{\mathrm{\Σ}}}{z}_p$ ... ... ... ... ... ... ... ... ... ... ... ... ... formula (7)

Wherein, m is the sequence number of space box in X-direction, and n is the sequence number of space box in Y-axis, and q is the sequence number of space box in Z-direction, x _{m, n, q}for the X-axis coordinate of the center of gravity of space box, y _{m, n, q}for the Y-axis coordinate of the center of gravity of space box, z _{m, n, q}for the Z axis coordinate of the center of gravity of space box, p is the number of the sampled point comprised in space box, x _pfor the X-axis coordinate of sampled point comprised in space box, y _pfor the Y-axis coordinate of sampled point comprised in space box, z _pfor the Z axis coordinate of sampled point comprised in space box.Therefore, after road pavement outline data processes, just obtain the multiple space box after identifier and barycentric coordinates data thereof, thus provide data basis for next step space box markers step.

Further, consider the metrical error that laser radar is possible, and the existence of the minimum chaff interference such as the little winged insect that may fly in detection space, the sampled point of some relative discrete to be got rid of, barycentric coordinates data genaration step 304 can also comprise: check the number comprising sampled point in each space box, the number comprising sampled point is less than the sampled point that the space box of predetermined threshold and space box comprise and removes in the lump.Concrete, suppose that predetermined threshold is 2, check all space boxes, for the space box only comprising 1 or 2 sampled point, just above-mentioned space box and the sampled point comprised thereof can be abandoned together.

Further, space box markers step 305 can specifically comprise: be handled as follows each space box:

To search with space box at adjacent forward at least one space box of Y-axis, compare the sequence number of the Z-direction of at least one space box, choose the space box of the sequence number of maximum Z-direction;

Grad between the space box of the sequence number of computer memory box and maximum Z-direction, if Grad is greater than the first setting threshold value, then the space box of the sequence number of maximum Z-direction is labeled as non-security running region, if Grad is less than the first setting threshold value, then the space box of the sequence number of maximum Z-direction is labeled as safety traffic region.

Concrete, Fig. 5 is the principle schematic of space box markers step in Fig. 3, with reference to Fig. 5, suppose from space box (m, n, q) start, find the space box that this space box place y-axis forward is adjacent, have two space boxes as can be seen from Figure 5, compare the sequence number of the Z-direction of these two space boxes, choose the space box of the sequence number of maximum Z-direction, namely space box (m, n+1, q+1), then calculate the Grad between these two space boxes, following formula (8) can be utilized to realize:

$g_{m,n+1,q+1}=\frac{|z_{m,n+1,q+1}-z_{m,n,q}|}{\sqrt{{(x_{m,n,q}-x_{m,n+1,q+1})}^2+{(y_{m,n,q}-y_{m,n+1,q+1})}^2+{(z_{m,n,q}-z_{m,n+1,q+1})}^2}}$ ... ... ... formula (8)

Wherein, (m, n, q) is space box, and (m, n+1, q+1) is the space box of the sequence number of maximum Z-direction, g _{m, n+1, q+1}be the gradient between (m, n, q) individual space box and (m, n+1, q+1) individual space box, x _{m, n, q}be the X-axis coordinate of the center of gravity of (m, n, q) individual space box, y _{m, n, q}be the Y-axis coordinate of the center of gravity of (m, n, q) individual space box, z _{m, n, q}be the Z axis coordinate of the center of gravity of (m, n, q) individual space box, be the X-axis coordinate of the center of gravity of (m, n+1, q+1) individual space box, be the Y-axis coordinate of the center of gravity of (m, n+1, q+1) individual space box, it is the Z axis coordinate of the center of gravity of (m, n+1, q+1) individual space box.

After calculate the Grad between two space boxes through previous step, if this Grad is greater than the first setting threshold value (such as 0.8), then (m, n+1, q+1) individual space box is labeled as non-security running region, represent with " l ", if this Grad is less than the first setting threshold value, then by (m, n+1, q+1) individual space box is labeled as safety traffic region, represents with " 0 ".

Then continue in x-axis forward, find out (m+1, n, q) individual space box, use said method to find (m+1, n, q) the adjacent forward and space box that z-axis direction sequence number is maximum of the y-axis at individual space box place, namely (m+1, n+1, q) individual space box, calculates the Grad between these two space boxes by above-mentioned formula (8) equally.Again Grad and first are set threshold value to compare, the result according to comparing marks (m+1, n+1, q) individual space box.Repeat above-mentioned steps, until to calculate between all space boxes in the unit of data acquisition section Grad in the y-axis direction completely, and the space box those being greater than the first setting threshold value is labeled as 1.

Further, be labeled as in the space at space box place of non-security running region, it may be the smooth concave-convex road surface shape caused of Uneven road, also may be the border of the nearlyer side of distance vehicle of the barrier of the various shapes on road surface, therefore, space box markers step 305 can also comprise: the space box that Z axis coordinate in the barycentric coordinates data of multiple space box is greater than the second setting threshold value is labeled as non-security running region.

Concrete, check the Z axis coordinate of the barycentric coordinates of all space boxes in barycentric coordinates data genaration step 304, Z axis coordinate is greater than the space box of the second setting threshold value (such as 0.3), is all labeled as non-security running region.In the space at these space box places, be exactly the various barriers on road surface, as pedestrian, vehicle, trees, railing etc. have the object of certain altitude.

Further, vehicle safe driving Area generation step 306 can specifically comprise: the space box after mark is projected to XY plane, generates the plane domain be made up of the multiple square lattices being labeled as non-security running region or safety traffic region;

In this plane domain, starting point is projected as in XY plane with the center of circle of rectangular coordinate system in space, the square lattice of every a line is all handled as follows: search along the positive and negative both direction of X-axis from the midline position of every a line, the square lattice being labeled as non-security running region that first finds is marked;

Connect the barycentric coordinates of space box corresponding to all square lattices be labeled, generate two connecting lines in Y-axis both sides, by the Area generation vehicle safe driving region between these two connecting lines.

Concrete, Fig. 6 is the principle schematic of vehicle safe driving Area generation step in Fig. 3.With reference to Fig. 6, through previous step, according to the Grad between barycentric coordinates data computer memory box, and mark multiple space box according to Grad, obtain multiple space box being labeled " 1 " or " 0 ", then the space box after mark is projected to XY plane, just can generate the plane domain be made up of multiple square lattice as shown in Figure 6, in formed plane, along the Y-axis forward at place at zero point, from the midline position of every a line to the positive and negative both direction growth of X-axis.Namely check each space box one by one, then stop until running into the space box being labeled as " 1 ", first that the both direction being simultaneously marked at every a line the runs into space box being labeled as " 1 ", Here it is vehicle can the frontier point in safety traffic region, according to the method described above the space box of every a line is all checked, find all frontier points.Finally connect the barycentric coordinates of space box corresponding to all square lattices be labeled, then generate two connecting lines in Y-axis both sides, the region between these two connecting lines is exactly vehicle safe driving region.

In actual applications, the information in this vehicle safe driving region just can give the central control unit of autonomous driving vehicle (or unmanned vehicle), controls vehicle safety and advances.For non-autonomous driving vehicle, this information can be used as vehicle active safety and assists the important information source driving function, when vehicle is close to non-security running region, reports to the police to human pilot, even ACTIVE CONTROL vehicle brake and turning.

Embodiment two

As shown in Figure 7, it is the structural representation of the vehicle safe driving regional detection device of the inertial measuring unit correction of the embodiment of the present invention two, it comprises: data acquisition module 701, for gathering the coordinate data of the sampled point that the laser radar be fixed on vehicle exports; Road surface profile data generation module 702, for the road surface outline data according to coordinate data span Cartesian form; Data correction module 703, for gathering the laser radar angle changing value in the pitch direction that the inertial measuring unit that links with laser radar exports, utilizes angle changing value to correct coordinate data or road surface outline data; Barycentric coordinates data generation module 704, processes for road pavement outline data, obtains the barycentric coordinates data of multiple space box; Space box mark module 705, for according to the Grad between barycentric coordinates data computer memory box, and marks multiple space box according to Grad; Vehicle safe driving Area generation module 706, for the space box after mark is carried out projection process, and carries out center line growth to projection process result, generates vehicle safe driving region.

The vehicle safe driving regional detection device that inertial measuring unit of the present invention corrects, by laser radar coordinate acquisition data, process is carried out to coordinate data and generates road surface profile characteristic, utilize the laser radar angle changing value in the pitch direction that the inertial measuring unit linked with laser radar collected exports, coordinate data or road surface profile characteristic are corrected, and the road surface outline data after correcting is processed, obtain multiple space box and barycentric coordinates data thereof, based on the plurality of space box of barycentric coordinates data markers, according to the multiple space boxes after mark, just can generate vehicle safe driving region, compared with prior art, can detect vehicle safe driving region, got rid of the measuring error that laser radar up-down vibration in vehicle travel process produces simultaneously, thus improve the accuracy rate of pavement detection.

Further, barycentric coordinates data generation module 704 can comprise:

Space box generation unit, for the center of circle of rectangular coordinate system in space for starting point, generate multiple space boxes of the setting length of side, multiple space box is axially closely connected three of rectangular coordinate system in space;

Sampled point divides puts unit, for all sampled points all being put into corresponding space box according to road surface outline data, and removes the space box not comprising any sampled point;

Space box barycentric coordinates computing unit, for identifying the sequence number of each space box, and calculating the barycentric coordinates of each space box, utilizing following formula to realize:

$x_{m,n,q}=\frac{1}{p}\underset{1}{\overset{p}{\mathrm{\Σ}}}{x}_p,y_{m,n,q}=\frac{1}{p}\underset{1}{\overset{p}{\mathrm{\Σ}}}{y}_p,z_{m,n,q}=\frac{1}{p}\underset{1}{\overset{p}{\mathrm{\Σ}}}{z}_p$

Wherein, m is the sequence number of space box in X-direction, and n is the sequence number of space box in Y-axis, and q is the sequence number of space box in Z-direction, x _{m, n, q}for the X-axis coordinate of the center of gravity of space box, y _{m, n, q}for the Y-axis coordinate of the center of gravity of space box, z _{m, n, q}for the Z axis coordinate of the center of gravity of space box, p is the number of the sampled point comprised in space box, x _pfor the X-axis coordinate of sampled point comprised in space box, y _pfor the Y-axis coordinate of sampled point comprised in space box, z _pfor the Z axis coordinate of sampled point comprised in space box.

The above; be only the specific embodiment of the present invention, but protection scope of the present invention is not limited thereto, is anyly familiar with those skilled in the art in the technical scope that the present invention discloses; change can be expected easily or replace, all should be encompassed within protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with the protection domain of described claim.

Claims (10)

1. a vehicle safe driving method for detecting area for inertial measuring unit correction, it is characterized in that, described method comprises:

Data collection steps: the coordinate data gathering the sampled point that the laser radar be fixed on vehicle exports;

Road surface profile data genaration step: according to the road surface outline data of described coordinate data span Cartesian form;

Data correcting step: the described laser radar angle changing value in the pitch direction that the inertial measuring unit that collection and described laser radar link exports, utilizes described angle changing value to correct described coordinate data or described road surface outline data;

Barycentric coordinates data genaration step: process described road surface outline data, obtains the barycentric coordinates data of multiple space box;

Space box markers step: calculate the Grad between described space box according to described barycentric coordinates data, and according to the described multiple space box of described Grad mark;

Vehicle safe driving Area generation step: the space box after mark is carried out projection process, and carries out center line growth to projection process result, generates vehicle safe driving region.

2. detection method according to claim 1, it is characterized in that, the coordinate data of the sampled point that described laser radar exports is polar form, and in the profile data genaration step of described road surface, the described road surface outline data according to described coordinate data span Cartesian form is specially:

The coordinate data of described sampled point is changed into rectangular space coordinate form by polar form, utilizes following formula to realize:

x _i＝r _isin(η _i)， $y_i=r_i\cos \left({\mathrm{\η}}_i\right)\cos \left({\mathrm{\θ}}_i\right)+\frac{1}{f}\underset{1}{\overset{j}{\mathrm{\Σ}}}{v}_j,$ z _i＝r _icos(η _i)sin(θ _i)，

Wherein, i is the sequence number of the sampled point of laser radar, and j is the sequence number of the sweep trace of laser radar, r _ifor the polar data of the sampled point of laser radar, the laser emission point that the center of circle is located in a data acquisition section unit, vehicle travels the laser radar of section start of rectangular coordinate system in space, X-axis is the direction parallel with road surface, Y-axis is vehicle heading, Z axis is the direction perpendicular to road surface, laser emission point obtains the first intersection point to XY plane as vertical line, the second intersection point obtained to the sweep trace at sampled point place as vertical line by described first intersection point, η _ifor the angle between laser beam and the line of laser emission point and described second intersection point, θ _ibe the angle of pitch of the laser beam of i-th sampled point, v _jbe the car speed that the jth bar sweep trace at i-th sampled point place is corresponding, f is the sweep frequency of laser radar, x _ifor the X-axis coordinate of sampled point, y _ifor the Y-axis coordinate of sampled point, z _ifor the Z axis coordinate of sampled point.

3. detection method according to claim 2, is characterized in that, described barycentric coordinates data genaration step is specially:

With the center of circle of rectangular coordinate system in space for starting point, generate multiple space boxes of the setting length of side, described multiple space box is axially closely connected three of rectangular coordinate system in space;

All sampled points are all put into corresponding space box according to road surface outline data, and remove the space box not comprising any sampled point;

Identify the sequence number of each space box, and calculate the barycentric coordinates of each space box, utilize following formula to realize:

$x_{m,n,q}=\frac{1}{p}\underset{1}{\overset{p}{\mathrm{\Σ}}}{x}_p,y_{m,n,q}=\frac{1}{p}\underset{1}{\overset{p}{\mathrm{\Σ}}}{y}_p,z_{m,n,q}=\frac{1}{p}\underset{1}{\overset{p}{\mathrm{\Σ}}}{z}_p,$

Wherein, m is the sequence number of space box in X-direction, and n is the sequence number of space box in Y-axis, and q is the sequence number of space box in Z-direction, x _{m, n, q}for the X-axis coordinate of the center of gravity of described space box, y _{m, n, q}for the Y-axis coordinate of the center of gravity of described space box, z _{m, n, q}for the Z axis coordinate of the center of gravity of described space box, p is the number of the sampled point comprised in described space box, x _pfor the X-axis coordinate of sampled point comprised in described space box, y _pfor the Y-axis coordinate of sampled point comprised in described space box, z _pfor the Z axis coordinate of sampled point comprised in described space box.

4. detection method according to claim 3, it is characterized in that, described barycentric coordinates data genaration step also comprises: check the number comprising sampled point in each space box, the number comprising sampled point is less than the sampled point that the space box of predetermined threshold and described space box comprise and removes in the lump.

5. the detection method according to claim 3 or 4, is characterized in that, described space box markers step is specially:

Described each space box is handled as follows:

Search with described space box at adjacent forward at least one space box of Y-axis, the sequence number of the Z-direction of at least one space box relatively more described, chooses the space box of the sequence number of maximum Z-direction;

Grad between the space box calculating the sequence number of described space box and described maximum Z-direction, if described Grad is greater than the first setting threshold value, then the space box of the sequence number of described maximum Z-direction is labeled as non-security running region, if Grad is less than the first setting threshold value, then the space box of the sequence number of described maximum Z-direction is labeled as safety traffic region.

6. detection method according to claim 5, is characterized in that, the step of the Grad between the space box of the sequence number of the described space box of described calculating and described maximum Z-direction, utilizes following formula to realize:

$g_{m,n+1,q+1}=\frac{|z_{m,n+1,q+1}-z_{m,n,q}|}{\sqrt{{(x_{m,n,q}-x_{m,n+1,q+1})}^2+{(y_{m,n,q}-y_{m,n+1,q+1})}^2+{(z_{m,n,q}-z_{m,n+1,q+1})}^2}},$

Wherein, (m, n, q) is described space box, and (m, n+1, q+1) is the space box of the sequence number of described maximum Z-direction, for the gradient between described (m, n, q) individual space box and described (m, n+1, q+1) individual space box, x _{m, n, q}for the X-axis coordinate of the center of gravity of described (m, n, q) individual space box, y _{m, n, q}for the Y-axis coordinate of the center of gravity of described (m, n, q) individual space box, z _{m, n, q}for the Z axis coordinate of the center of gravity of described (m, n, q) individual space box, for the X-axis coordinate of the center of gravity of described (m, n+1, q+1) individual space box, for the Y-axis coordinate of the center of gravity of described (m, n+1, q+1) individual space box, for the Z axis coordinate of the center of gravity of described (m, n+1, q+1) individual space box.

7. detection method according to claim 6, is characterized in that, described space box markers step also comprises: the space box that Z axis coordinate in the barycentric coordinates data of described multiple space box is greater than the second setting threshold value is labeled as non-security running region.

8. detection method according to claim 7, is characterized in that, described vehicle safe driving Area generation step is specially:

Space box after mark is projected to XY plane, generates the plane domain be made up of the multiple square lattices being labeled as non-security running region or safety traffic region;

In described plane domain, starting point is projected as in XY plane with the center of circle of rectangular coordinate system in space, the square lattice of every a line is all handled as follows: search along the positive and negative both direction of X-axis from the midline position of every a line, the square lattice being labeled as non-security running region that first finds is marked;

Connect the barycentric coordinates of space box corresponding to all square lattices be labeled, generate two connecting lines in Y-axis both sides, by the Area generation vehicle safe driving region between described connecting line.

9. a vehicle safe driving regional detection device for inertial measuring unit correction, it is characterized in that, described device comprises:

Data acquisition module, for gathering the coordinate data of the sampled point that the laser radar be fixed on vehicle exports;

Road surface profile data generation module, for the road surface outline data according to described coordinate data span Cartesian form;

Data correction module, for gathering the described laser radar angle changing value in the pitch direction that the inertial measuring unit that links with described laser radar exports, utilizes described angle changing value to correct described coordinate data or described road surface outline data;

Barycentric coordinates data generation module, for processing described road surface outline data, obtains the barycentric coordinates data of multiple space box;

Space box mark module, for calculating the Grad between described space box, and according to the described multiple space box of described Grad mark according to described barycentric coordinates data;

Vehicle safe driving Area generation module, for the space box after mark is carried out projection process, and carries out center line growth to projection process result, generates vehicle safe driving region.

10. pick-up unit according to claim 9, is characterized in that, described barycentric coordinates data generation module comprises:

Space box generation unit, for the center of circle of rectangular coordinate system in space for starting point, generate multiple space boxes of the setting length of side, described multiple space box is axially closely connected three of rectangular coordinate system in space;

Sampled point divides puts unit, for all sampled points all being put into corresponding space box according to road surface outline data, and removes the space box not comprising any sampled point;

Space box barycentric coordinates computing unit, for identifying the sequence number of each space box, and calculating the barycentric coordinates of each space box, utilizing following formula to realize:

$x_{m,n,q}=\frac{1}{p}\underset{1}{\overset{p}{\mathrm{\Σ}}}{x}_p,y_{m,n,q}=\frac{1}{p}\underset{1}{\overset{p}{\mathrm{\Σ}}}{y}_p,z_{m,n,q}=\frac{1}{p}\underset{1}{\overset{p}{\mathrm{\Σ}}}{z}_p,$

Wherein, m is the sequence number of space box in X-direction, and n is the sequence number of space box in Y-axis, and q is the sequence number of space box in Z-direction, x _{m, n, q}for the X-axis coordinate of the center of gravity of described space box, y _{m, n, q}for the Y-axis coordinate of the center of gravity of described space box, z _{m, n, q}for the Z axis coordinate of the center of gravity of described space box, p is the number of the sampled point comprised in described space box, x _pfor the X-axis coordinate of sampled point comprised in described space box, y _pfor the Y-axis coordinate of sampled point comprised in described space box, z _pfor the Z axis coordinate of sampled point comprised in described space box.