CN104597453B - The vehicle safe driving method for detecting area and device of inertial measuring unit correction - Google Patents
The vehicle safe driving method for detecting area and device of inertial measuring unit correction Download PDFInfo
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- CN104597453B CN104597453B CN201510041605.XA CN201510041605A CN104597453B CN 104597453 B CN104597453 B CN 104597453B CN 201510041605 A CN201510041605 A CN 201510041605A CN 104597453 B CN104597453 B CN 104597453B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
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Abstract
The invention provides the vehicle safe driving method for detecting area and device of a kind of correction of inertial measuring unit, methods described includes：Collection is fixed on the coordinate data of the sampled point of the laser radar output on vehicle；The road surface outline data of rectangular space coordinate form is generated according to coordinate data；The laser radar that collection is exported with the inertial measuring unit of laser radar linkage angle change value in the pitch direction, is corrected using angle change value to coordinate data or road surface outline data；Road pavement outline data is processed, and obtains the barycentric coodinates data of multiple space boxes；The Grad between space box is calculated according to barycentric coodinates data, and multiple space boxes are marked according to Grad；Space box after mark is carried out into projection process, and center line growth is carried out to projection process result, generation vehicle safe driving region.Detection method and device compared with prior art, are capable of detecting when vehicle safe driving region, improve the accuracy rate of pavement detection.
Description
Technical field
The present invention relates to pavement detection technology, more particularly to the vehicle safe driving region that a kind of inertial measuring unit is corrected
Detection method and device.
Background technology
Continuous improvement with people to security requirement during car steering, it is desirable to which vehicle being capable of active probe road
On barrier, and identify which region on road surface can be safety traffic, these information are for automatic driving vehicle
It is very crucial, simultaneously for pilot steering vehicle, can also play a part of the active safe driving of abundant vehicle.
In the prior art, mainly use the sensors such as millimetre-wave radar or imageing sensor is carried out to vehicle front road surface
Detection.Wherein, the detection method detection zone using sensors such as millimetre-wave radars is narrow and small, and small size target cannot be examined
Survey, while the details such as None- identified road gradient information.In addition, showing recognizer using the detection method of imageing sensor
Function is not perfect enough, and the correct recognition rata of target only has 60%-70% in visual field, and what is produced in vehicular motion jolts,
Camera imaging can be made to thicken, so as to cause recognition accuracy further to decline, also, camera imaging quality receives ambient lighting
Influence is huge, and night can not work completely.Therefore above two method Detection results are extremely limited.
The content of the invention
Embodiments of the invention provide a kind of the vehicle safe driving method for detecting area and dress of inertial measuring unit correction
Put, be capable of detecting when vehicle safe driving region, to improve the accuracy rate of pavement detection.
To reach above-mentioned purpose, the invention provides a kind of vehicle safe driving region detection of inertial measuring unit correction
Method, including：Data collection steps：Collection is fixed on the coordinate data of the sampled point of the laser radar output on vehicle；Road surface
Outline data generation step：The road surface outline data of rectangular space coordinate form is generated according to the coordinate data；Data correction
Step：Gather the laser radar exported with the inertial measuring unit of laser radar linkage angle in the pitch direction
Changing value, is corrected using the angle change value to the coordinate data or the road surface outline data；Barycentric coodinates
Data genaration step：The road surface outline data is processed, the barycentric coodinates data of multiple space boxes are obtained；Space box mark
Note step：The Grad between the space box is calculated according to the barycentric coodinates data, and institute is marked according to the Grad
State multiple space boxes；Vehicle safe driving Area generation step：Space box after mark is carried out into projection process, and to projection at
Reason result carries out center line growth, generation vehicle safe driving region.
Present invention also offers a kind of vehicle safe driving regional detection device of inertial measuring unit correction, including：Number
According to acquisition module, the coordinate data of the sampled point for gathering the laser radar being fixed on vehicle output；Road surface outline data
Generation module, the road surface outline data for generating rectangular space coordinate form according to the coordinate data；Data correction module,
For gathering the laser radar exported with the inertial measuring unit of laser radar linkage angle in the pitch direction
Changing value, is corrected using the angle change value to the coordinate data or the road surface outline data；Barycentric coodinates
Data generation module, for processing the road surface outline data, obtains the barycentric coodinates data of multiple space boxes；Space
Box mark module, for calculating the Grad between the space box according to the barycentric coodinates data, and according to the gradient
The multiple space box of value mark；Vehicle safe driving Area generation module, for the space box after mark to be carried out at projection
Reason, and center line growth is carried out to projection process result, generation vehicle safe driving region.
The vehicle safe driving method for detecting area and device of inertial measuring unit correction of the invention, by laser radar
Coordinate acquisition data, treatment generation road surface profile characteristic is carried out to coordinate data, is joined with laser radar using collecting
The laser radar of dynamic inertial measuring unit output angle change value in the pitch direction, it is special to coordinate data or road surface profile
Levy data to be corrected, and the road surface outline data after correction is processed, obtain multiple space boxes and its barycentric coodinates number
According to, based on the plurality of space box of barycentric coodinates data markers, according to mark after multiple space boxes, it becomes possible to generate vehicle safety
Running region, while measurement error of the laser radar in the vehicle travel process produced by up-down vibration has been got rid of, so as to carry
The accuracy rate of pavement detection high.
Brief description of the drawings
Fig. 1 is one of operation principle schematic diagram of laser radar of the embodiment of the present invention；
Fig. 2 is the two of the operation principle schematic diagram of the laser radar of the embodiment of the present invention；
The flow of the vehicle safe driving method for detecting area that Fig. 3 is corrected for the inertial measuring unit of the embodiment of the present invention one
Schematic diagram；
Fig. 4 is the transfer principle schematic diagram of the coordinate data of the sampled point of laser radar output；
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；
The structure of the vehicle safe driving regional detection device that Fig. 7 is corrected for the inertial measuring unit of the embodiment of the present invention two
Schematic diagram.
Label declaration：
1：Laser radar；2：Laser beam；3：Sampled point.
Specific embodiment
Below in conjunction with the accompanying drawings to the vehicle safe driving method for detecting area of embodiment of the present invention inertial measuring unit correction
And device is 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 of inertial measuring unit correction of the invention is using sharp
Optical radar is scanned to the road surface ahead that vehicle is travelled, the coordinate data of the sampled point of collection laser radar output, using adopting
The laser radar exported with the inertial measuring unit that laser radar links for collecting angle change value in the pitch direction, to institute
Coordinate data is stated to be corrected, and coordinate data to sampled point is processed, and then generate vehicle safe driving region.
Embodiment one
As depicted in figs. 1 and 2, it is the operation principle schematic diagram of the laser radar of the embodiment of the present invention, by laser radar 1
Vehicle up direction is fixed on, but is not limited to the mounting means shown in Fig. 1 and Fig. 2, can also be arranged on the other positions of vehicle, for example
At vehicle front bumper, the investigative range of the mounting means will reduce.Slope slightly downward laser radar 1 during installation, make
In ground formed certain angle be laser beam pitch angle θ to road surface ahead be scanned generation laser beam 2, that is,
The sampled point 3 continuously found range can in the direction of the x axis be obtained.
Will be in a data acquisition section unit (such as vehicle runs over L meters of distance), vehicle travels swashing for section start
The laser emission point of optical radar is set as the round dot (0,0,0) of rectangular coordinate system in space, and X-axis is the direction parallel with road surface, Y-axis
It is vehicle heading, Z axis are perpendicular to the direction on road surface.The polar coordinates of such as sampled point are (ri,ηi), its corresponding space
Rectangular co-ordinate is (xi,yi,zi), i is the sequence number of the sampled point of laser radar.For example vehicle is travelled along the y-axis direction, then laser thunder
Danone is enough to be scanned with fixed scan frequency to road surface ahead, largely discrete with spatial coordinated information so as to obtain
Sampled point, these sampled points are the spatial information of reducible road surface.In actual applications, laser radar can provide sampling
Point polar data, it is also possible to directly give sampled point through the rectangular co-ordinate data after conversion.
Based on the operation principle of Fig. 1 and Fig. 2, and refering to Fig. 3, the car of the inertial measuring unit correction of the embodiment of the present invention one
Safety traffic method for detecting area include：
Data collection steps 301：Collection is fixed on the coordinate data of the sampled point of the laser radar output on vehicle.Specifically
Ground, the operation principle according to laser radar can know the coordinate data of the exportable sampled point of laser radar, in addition, according to laser
The model of radar is different, the polar coordinates η of sampled pointiMaximum magnitude be probably between 30~90 degree.
Road surface profile data genaration step 302：The road surface number of contours of rectangular space coordinate form is generated according to coordinate data
According to.Specifically, if the coordinate data of the sampled point of laser radar output is polar form, it is necessary to by the coordinate of sampled point
Data 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 that collection is exported with the inertial measuring unit of laser radar linkage is in pitching
Angle change value on direction, is corrected using angle change value to coordinate data or road surface outline data.Here, it is necessary to
What is illustrated is that the pitch angle of laser beam is fixed value in stationary vehicle, in vehicle travel process due to occur vibration so as to
Produce error, it is therefore desirable to which it is corrected.Specifically, inertial measuring unit can be tightened together with laser radar,
Because vehicle can produce vibration in the process of moving, the angle in tri- coordinate axle accelerations of XYZ and each reference axis can be measured
Acceleration, the angle change σ that can be calculated in the pitch orientation of laser radar is calculated by above-mentioned dataj, then utilizing should
Angle change value is corrected to coordinate data or road surface outline data.For example, the after correction can be calculated using following formula (1)
The i pitching angle theta of the laser beam of sampled pointi：
θi=θ-σj... ... ... ... ... ... ... ... ... formulas (1)
Wherein, i is the sequence number of the sampled point of laser radar, the flexion-extension of the laser beam of laser radar when θ is stationary vehicle
Angle, σjIt is the laser radar angle change value in the pitch direction of inertial measuring unit output, θiAdopt for i-th after for correction
The angle of pitch of the laser beam of sampling point.
Barycentric coodinates data genaration step 304：Road pavement outline data is processed, and the center of gravity for obtaining multiple space boxes is sat
Mark data.
Space box markers step 305：The Grad between space box is calculated according to barycentric coodinates data, and according to Grad
The multiple space boxes of mark.In embodiments of the present invention, the implication of space box be by Spacial domain decomposition for fixed dimension unit
Box body, is easy to be put into the sampled point in area of space in corresponding unit box body, thus intuitively, simple must calculate box body
Barycentric coodinates, data basis are provided for the Grad of this step is calculated.
Vehicle safe driving Area generation step 306：Space box after mark is carried out into projection process, and to projection process
Result carries out center line growth, generation vehicle safe driving region.It should be noted that in the embodiment of the present invention, center line growth
Implication is that in the plane domain being made up of the square lattice of fixed dimension, the midline position from every a line is positive and negative along trunnion axis
Searched in both direction, the boundary point in the region that can be driven safely according to lookup result acquisition vehicle.
The vehicle safe driving method for detecting area of inertial measuring unit correction of the invention, is gathered by laser radar and sat
Mark data, treatment generation road surface profile characteristic is carried out to coordinate data, used with what laser radar linked using collecting
Property measurement apparatus output laser radar angle change value in the pitch direction, to coordinate data or road surface profile characteristic
It is corrected, and the road surface outline data after correction is processed, obtain multiple space boxes and its barycentric coodinates data, is based on
The plurality of space box of barycentric coodinates data markers, according to mark after multiple space boxes, it becomes possible to generate vehicle safe driving area
Domain, compared with prior art, the detection method in vehicle safe driving region of the invention can be entered to vehicle safe driving region
Row detection, while measurement error of the laser radar in the vehicle travel process produced by up-down vibration has been got rid of, so as to improve
The accuracy rate of pavement detection.
Further, the coordinate data of the sampled point of laser radar output can be polar form, as shown in figure 4, its
It is the transfer principle schematic diagram of the coordinate data of the sampled point of laser radar output, the principle with reference to shown in Fig. 4, road surface number of contours
Can be specifically included according to generation step 302：The coordinate data of sampled point is changed into Cartesian form by polar form, can
X-axis coordinate value x of the sampled point under rectangular coordinate system is calculated with using following formula (2), formula (3) and formula (4)i, Y-axis coordinate value yiAnd Z
Axial coordinate value zi：
xi=ri sin(ηi) ... ... ... ... ... ... ... ... formula (2)
... ... ... ... ... ... formulas (3)
zi=ri cos(ηi)sin(θi) ... ... ... ... ... ... ... .. formulas (4)
Wherein, i is the sequence number of the sampled point of laser radar, and j is the sequence number of the scan line of laser radar, riIt is laser radar
Sampled point polar data, the center of circle of rectangular coordinate system in space is located in a data acquisition section unit, vehicle row
The laser emission point of the laser radar of section start is sailed, X-axis is the direction parallel with road surface, and Y-axis is vehicle heading, and Z axis are
Perpendicular to the direction on road surface, laser emission point obtains the first intersection point to X/Y plane as vertical line, from the first intersection point to where sampled point
The second intersection point for being obtained as vertical line of scan line, ηiIt is the folder between the line of laser beam and laser emission point and the second intersection point
Angle, θiIt is the angle of pitch of the laser beam of ith sample point, vjThe corresponding car of j-th strip scan line where ith sample point
Speed, f is the scan frequency of laser radar, xiIt is the X-axis coordinate of sampled point, yiIt is the Y-axis coordinate of sampled point, ziIt is sampling
The Z axis coordinate of point.
Here, it is necessary to explanation is that the vehicle speed sensor such as such as photoelectric encoder can be used to obtain accurate speed letter
Breath.Under normal circumstances, the sample frequency of vehicle speed sensor is less than the scan frequency of laser radar, here can be to vehicle speed data
Carry out difference operation so that each scan line of laser radar can correspond to a vehicle speed data in the same time.Namely due to
Each sweep speed of laser radar is very fast, but the time interval of every twice sweep is relatively long, therefore can be approximately considered this
What all sampled points were obtained is the vehicle speed data at same moment in bar scan line.
Further, barycentric coodinates data genaration step 304 can be specifically included：The center of circle with rectangular coordinate system in space is
Starting point, multiple space boxes of the generation setting length of side, multiple space boxes are closely coupled on three axial directions 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 not comprising any sampled point
Box；The sequence number of each space box is identified, and calculates the barycentric coodinates of each space box, it is real using following formula (5), formula (6) and formula (7)
It is existing：
... ... ... ... ... ... ... ... ... ... ... ... ... formula
(5)
... ... ... ... ... ... ... ... ... ... ... ... ... formula
(6)
... ... ... ... ... ... ... ... ... ... ... ... ... formula
(7)
Wherein, m is sequence number of the space box in X-direction, and n is sequence number of the space box in Y-axis, and q is space box in Z-direction
Sequence number, xm,n,qIt is the X-axis coordinate of the center of gravity of space box, ym,n,qIt is the Y-axis coordinate of the center of gravity of space box, zm,n,qIt is space box
Center of gravity Z axis coordinate, p is the number of sampled point included in space box, xpFor the X-axis of the sampled point included in space box is sat
Mark, ypIt is the Y-axis coordinate of sampled point included in space box, zpIt is the Z axis coordinate of sampled point included in space box.Therefore, it is right
After road surface outline data is processed, the multiple space boxes and its barycentric coodinates data after sequence are just obtained identifying, so as to be
Next step space box markers step provides data basis.
Further, it is contemplated that the possible detection error of laser radar, and in detection space the small winged insect that may be flown over
Etc. the presence of minimum chaff interference, the sampled point of some relative discretes is got rid of, barycentric coodinates data genaration step 304 may be used also
To include：The number comprising sampled point in each space box is checked, the space by the number comprising sampled point less than predetermined threshold
The sampled point that box and space box are included is removed in the lump.Specifically, assuming that predetermined threshold is 2, all space boxes are checked, for only wrapping
Containing 1 or 2 space box of sampled point, so that it may by above-mentioned space box and its comprising sampled point abandon together.
Further, space box markers step 305 can be specifically included：Each space box is handled as follows：
Search with space box at least one adjacent forward space box of Y-axis, compare the Z axis side of at least one space box
To sequence number, choose the space box of the sequence number of maximum Z-direction；
Grad between the space box of the sequence number for calculating space box and maximum Z-direction, if Grad is more than first
Given threshold, then be labeled as non-security running region by the space box of the sequence number of maximum Z-direction, if Grad is less than first
Given threshold, then by the space box of the sequence number of maximum Z-direction labeled as safety traffic region.
Specifically, Fig. 5 be Fig. 3 in space box markers step principle schematic, reference picture 5, it is assumed that from space box (m, n,
Q) start, find the positive adjacent space box of y-axis where the space box, there is two spaces box as can be seen from Figure 5, compare this two
The sequence number of the Z-direction of individual space box, chooses the space box of the sequence number of maximum Z-direction, that is, space box (m, n+1, q+
1) Grad between the two space boxes, is then calculated, is realized using following formula (8)：
... ... ... 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, gm,n+1,q+1For
Gradient between (m, n, q) individual space box and (m, n+1, q+1) individual space box, xm,n,qIt is (m, n, q) individual space box
The X-axis coordinate of center of gravity, ym,n,qIt is the Y-axis coordinate of the center of gravity of (m, n, q) individual space box, zm,n,qIt is (m, n, q) individual space box
Center of gravity Z axis coordinate,It is the X-axis coordinate of the center of gravity of (m, n+1, q+1) individual space box,It is (m, n
+ 1, q+1) individual space box center of gravity Y-axis coordinate,It is the Z axis coordinate of the center of gravity of (m, n+1, q+1) individual space box.
After the Grad between being calculated two spaces box by previous step, if the Grad is more than first
Given threshold (such as 0.8), then be labeled as non-security running region by (m, n+1, q+1) individual space box, is represented with " l ",
If the Grad is less than the first given threshold, by (m, n+1, q+1) individual space box labeled as safety traffic region, use
" 0 " represents.
Then proceed in x-axis forward, find out (m+1, n, q) individual space box, find using the above method (m+1, n,
Q) space box that the y-axis where individual space box is adjacent forward and z-axis direction sequence number is maximum, that is, the (m+1, n+1, it is q) individual
Space box, the Grad between the two space boxes is calculated again by above-mentioned formula (8).Again by Grad and the first given threshold
Be compared, according to result of the comparison to (m+1, n+1, q) individual space box be marked.Repeat the above steps, until complete
Grad in the y-axis direction between all space boxes in the unit of data acquisition section is calculated, and those are more than first
The space box of given threshold is labeled as 1.
Further, labeled as in the space where the space box of non-security running region, it may be possible to which Uneven road is smooth to be made
Into concave-convex road surface shape, it is also possible to the border apart from the nearlyer side of vehicle of the variously-shaped barrier on road surface, because
This, space box markers step 305 can also include：Z axis coordinate in the barycentric coodinates data of multiple space boxes is set more than second
The space box for determining threshold value is labeled as non-security running region.
Specifically, the Z axis coordinate of the barycentric coodinates of all space boxes in barycentric coodinates data genaration step 304 is checked,
Space box by Z axis coordinate more than the second given threshold (such as 0.3), all mark is running region.These spaces
It is exactly the various barriers on road surface in space where box, if pedestrian, vehicle, trees, railing etc. are with certain altitude
Object.
Further, vehicle safe driving Area generation step 306 can be specifically included：By the space box projection after mark
To X/Y plane, the plane area that generation is made up of the multiple square lattices labeled as non-security running region or safety traffic region
Domain；
In the plane domain, starting point is projected as in X/Y plane with the center of circle of rectangular coordinate system in space, to every a line
Square lattice is all handled as follows：Searched in the positive and negative both direction of X-axis from the midline position of every a line, to first
The individual mark for finding is marked for the square lattice of running region；
The barycentric coodinates of the corresponding space box of all labeled square lattices are connected, two companies are generated in Y-axis both sides
Wiring, by the Area generation vehicle safe driving region between this two connecting lines.
Specifically, Fig. 6 is the principle schematic of vehicle safe driving Area generation step in Fig. 3.Reference picture 6, by upper
One step, the Grad between space box is calculated according to barycentric coodinates data, and marks multiple space boxes according to Grad, is obtained
Multiple is marked with the space box of " 1 " or " 0 ", then the space box after mark is projected to X/Y plane, so that it may which generation is such as Fig. 6 institutes
The plane domain being made up of multiple square lattices for showing, it is positive along the Y-axis where zero point in the plane for being formed, from
Midline position per a line grows to the positive and negative both direction of X-axis.Each space box is namely checked one by one, is labeled as until running into
The space box of " 1 " then stops, while it is 1 to be marked at run into the both direction of every a line first mark " space box,
The boundary point in region here it is vehicle can drive safely, according to the method described above all checks the space box of every a line, finds institute
There is boundary point.The barycentric coodinates of the corresponding space box of all labeled square lattices are finally connected, is then generated in Y-axis both sides
Two connecting lines, the region between this two connecting lines is exactly vehicle safe driving region.
In actual applications, the information in this vehicle safe driving region can just give autonomous driving vehicle (or nobody
Car) central control unit, control vehicle safety advance.For non-autonomous driving vehicle, this information can be used as vehicle
Active safety auxiliary drives the important information source of function, when vehicle is close to non-security running region, is alarmed to human pilot,
Even active control vehicle brake and turning.
Embodiment two
As shown in fig. 7, it is the vehicle safe driving region detection of the inertial measuring unit correction of the embodiment of the present invention two
The structural representation of device, it includes：Data acquisition module 701, for gathering the laser radar being fixed on vehicle output
The coordinate data of sampled point；Road surface profile data generation module 702, for generating rectangular space coordinate form according to coordinate data
Road surface outline data；Data correction module 703, for gathering the laser with the inertial measuring unit output of laser radar linkage
Radar angle change value in the pitch direction, school is carried out using angle change value to coordinate data or road surface outline data
Just；Barycentric coodinates data generation module 704, is processed for road pavement outline data, and the center of gravity for obtaining multiple space boxes is sat
Mark data；Space box mark module 705, for calculating the Grad between space box according to barycentric coodinates data, and according to ladder
The multiple space boxes of angle value mark；Vehicle safe driving Area generation module 706, for the space box after mark to be carried out at projection
Reason, and center line growth is carried out to projection process result, generation vehicle safe driving region.
The vehicle safe driving regional detection device of inertial measuring unit correction of the invention, is gathered by laser radar and sat
Mark data, treatment generation road surface profile characteristic is carried out to coordinate data, used with what laser radar linked using collecting
Property measurement apparatus output laser radar angle change value in the pitch direction, to coordinate data or road surface profile characteristic
It is corrected, and the road surface outline data after correction is processed, obtain multiple space boxes and its barycentric coodinates data, is based on
The plurality of space box of barycentric coodinates data markers, according to mark after multiple space boxes, it becomes possible to generate vehicle safe driving area
Domain, compared with prior art, can detect to vehicle safe driving region, while having got rid of laser radar in vehicle row
Measurement error during sailing produced by up-down vibration, so as to improve the accuracy rate of pavement detection.
Further, barycentric coodinates data generation module 704 can include：
Space box generation unit, for the center of circle of rectangular coordinate system in space as starting point, the multiple of the generation setting length of side to be empty
Between box, multiple space boxes are closely coupled on three axial directions of rectangular coordinate system in space；
Sampled point point puts unit, for all sampled points to be all put into corresponding space box according to road surface outline data, and
Space box of the removal not comprising any sampled point；
Space box barycentric coodinates computing unit, for identifying the sequence number of each space box, and calculates the weight of each space box
Heart coordinate, is realized using following formula：
Wherein, m is sequence number of the space box in X-direction, and n is sequence number of the space box in Y-axis, and q is space box in Z-direction
Sequence number, xm,n,qIt is the X-axis coordinate of the center of gravity of space box, ym,n,qIt is the Y-axis coordinate of the center of gravity of space box, zm,n,qIt is space box
Center of gravity Z axis coordinate, p is the number of sampled point included in space box, xpFor the X-axis of the sampled point included in space box is sat
Mark, ypIt is the Y-axis coordinate of sampled point included in space box, zpIt is the Z axis coordinate of sampled point included in space box.
The above, specific embodiment only of the invention, but protection scope of the present invention is not limited thereto, and it is any
Those familiar with the art the invention discloses technical scope in, change or replacement can be readily occurred in, should all contain
Cover within protection scope of the present invention.Therefore, protection scope of the present invention should be based on the protection scope of the described claims.
Claims (7)
1. the vehicle safe driving method for detecting area that a kind of inertial measuring unit is corrected, it is characterised in that methods described includes：
Data collection steps：Collection is fixed on the coordinate data of the sampled point of the laser radar output on vehicle, the number of coordinates
According to being polar form；
Road surface profile data genaration step：The coordinate data of the sampled point is changed into rectangular space coordinate by polar form
Form, is realized using following formula：
xi=risin(ηi)
zi=ricos(ηi)sin(θi),
Wherein, i is the sequence number of the sampled point of laser radar, and j is the sequence number of the scan line of laser radar, riIt is adopting for laser radar
The polar data of sampling point, the center of circle of rectangular coordinate system in space is located in a data acquisition section unit, vehicle is travelled
The laser emission point of the laser radar at the beginning, X-axis is the direction parallel with road surface, and Y-axis is vehicle heading, and Z axis are vertical
In the direction on road surface, laser emission point obtains the first intersection point to X/Y plane as vertical line, from first intersection point to where sampled point
The second intersection point for being obtained as vertical line of scan line, ηiFor between the line of laser beam and laser emission point and second intersection point
Angle, θiIt is the angle of pitch of the laser beam of ith sample point, vjJ-th strip scan line correspondence where ith sample point
Car speed, f for laser radar scan frequency, xiIt is the X-axis coordinate of sampled point, yiIt is the Y-axis coordinate of sampled point, ziFor
The Z axis coordinate of sampled point；
Data correcting step：The laser radar of the inertial measuring unit output linked with the laser radar is gathered in pitching
Angle change value on direction, school is carried out using the angle change value to the coordinate data or the road surface outline data
Just；
Barycentric coodinates data genaration step：The road surface outline data is processed, the barycentric coodinates of multiple space boxes are obtained
Data；
Space box markers step：The center of circle with rectangular coordinate system in space is as starting point, and multiple space boxes of the generation setting length of side are described
Multiple space boxes are closely coupled on three axial directions of rectangular coordinate system in space；According to road surface outline data by all sampled points all
Corresponding space box is put into, and removes the space box not comprising any sampled point；The sequence number of each space box is identified, and calculates every
The barycentric coodinates of individual space box, are realized using following formula：
Wherein, m is sequence number of the space box in X-direction, and n is sequence number of the space box in Y-axis, and q is sequence of the space box in Z-direction
Number, xm,n,qIt is the X-axis coordinate of the center of gravity of the space box, ym,n,qIt is the Y-axis coordinate of the center of gravity of the space box, zm,n,qFor institute
The Z axis coordinate of the center of gravity of space box is stated, p is the number of the sampled point included in the space box, xpTo be wrapped in the space box
The X-axis coordinate of the sampled point for containing, ypIt is the Y-axis coordinate of sampled point included in the space box, zpTo be included in the space box
Sampled point Z axis coordinate；
Vehicle safe driving Area generation step：Space box after mark is carried out into projection process, and projection process result is entered
Row center line grows, generation vehicle safe driving region.
2. detection method according to claim 1, it is characterised in that the barycentric coodinates data genaration step also includes：
The number comprising sampled point in each space box is checked, by the number comprising sampled point less than the space box of predetermined threshold and described
The sampled point that space box is included is removed in the lump.
3. detection method according to claim 1 and 2, it is characterised in that the space box markers step is specially：
Described each space box is handled as follows：
Search with the space box at least one adjacent forward space box of Y-axis, the Z of relatively more described at least one space box
The sequence number of direction of principal axis, chooses the space box of the sequence number of maximum Z-direction；
Grad between the space box of the sequence number for calculating the space box and the maximum Z-direction, if the Grad
More than the first given threshold, then the space box of the sequence number of the maximum Z-direction is labeled as non-security running region, if terraced
Angle value is less than the first given threshold, then by the space box of the sequence number of the maximum Z-direction labeled as safety traffic region.
4. detection method according to claim 3, it is characterised in that the calculating space box and the maximum Z axis
The step of Grad between the space box of the sequence number in direction, realized using following formula：
Wherein, (m, n, q) is the space box, and (m, n+1, q+1) is the space box of the sequence number of the maximum Z-direction,
gm,n+1,q+1It is the gradient between (m, the n, q) individual space box and (m, n+1, the q+1) individual space box, xm,n,qFor institute
State the X-axis coordinate of the center of gravity of (m, n, q) individual space box, ym,n,qFor the Y-axis of the center of gravity of (m, the n, q) individual space box is sat
Mark, zm,n,qIt is the Z axis coordinate of the center of gravity of (m, the n, q) individual space box, xm,n+1,q+1It is (m, n+1, the q+1) individual sky
Between box center of gravity X-axis coordinate, ym,n+1,q+1It is the Y-axis coordinate of the center of gravity of (m, n+1, the q+1) individual space box, zm,n+1,q+1
It is the Z axis coordinate of the center of gravity of (m, n+1, the q+1) individual space box.
5. detection method according to claim 4, it is characterised in that the space box markers step also includes：Will be described
Z axis coordinate is labeled as non-security traveling area more than the space box of the second given threshold in the barycentric coodinates data of multiple space boxes
Domain.
6. detection method according to claim 5, it is characterised in that the vehicle safe driving Area generation step is specific
For：
Space box after mark is projected to X/Y plane, generation is by labeled as non-security running region or the more of region that drive safely
The plane domain of individual square lattice composition；
In the plane domain, starting point is projected as in X/Y plane with the center of circle of rectangular coordinate system in space, to every a line just
Square grid is all handled as follows：Searched in the positive and negative both direction of X-axis from the midline position of every a line, to first
The mark for finding is marked for the square lattice of running region；
The barycentric coodinates of the corresponding space box of all labeled square lattices are connected, two connecting lines are generated in Y-axis both sides,
By the Area generation vehicle safe driving region between the connecting line.
7. the vehicle safe driving regional detection device that a kind of inertial measuring unit is corrected, it is characterised in that described device includes：
Data acquisition module, the coordinate data of the sampled point for gathering the laser radar being fixed on vehicle output；
Road surface profile data generation module, the road surface number of contours for generating rectangular space coordinate form according to the coordinate data
According to；
Data correction module, exists for gathering the laser radar that the inertial measuring unit linked with the laser radar is exported
Angle change value in pitch orientation, is entered using the angle change value to the coordinate data or the road surface outline data
Row correction；
Barycentric coodinates data generation module, for processing the road surface outline data, obtains the center of gravity of multiple space boxes
Coordinate data；
Space box mark module, for calculating the Grad between the space box according to the barycentric coodinates data, and according to
The Grad marks the multiple space box；
Vehicle safe driving Area generation module, for the space box after mark to be carried out into projection process, and to projection process knot
Fruit carries out center line growth, generation vehicle safe driving region；
The barycentric coodinates data generation module includes：
Space box generation unit, for the center of circle of rectangular coordinate system in space as starting point, generation to set multiple space boxes of the length of side,
The multiple space box is closely coupled on three axial directions of rectangular coordinate system in space；
Sampled point point puts unit, for all sampled points to be all put into corresponding space box according to road surface outline data, and removes
Space box not comprising any sampled point；
Space box barycentric coodinates computing unit, for identifying the sequence number of each space box, and calculates the center of gravity seat of each space box
Mark, is realized using following formula：
Wherein, m is sequence number of the space box in X-direction, and n is sequence number of the space box in Y-axis, and q is sequence of the space box in Z-direction
Number, xm,n,qIt is the X-axis coordinate of the center of gravity of the space box, ym,n,qIt is the Y-axis coordinate of the center of gravity of the space box, zm,n,qFor institute
The Z axis coordinate of the center of gravity of space box is stated, p is the number of the sampled point included in the space box, xpTo be wrapped in the space box
The X-axis coordinate of the sampled point for containing, ypIt is the Y-axis coordinate of sampled point included in the space box, zpTo be included in the space box
Sampled point Z axis coordinate.
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| US10502819B2 (en) * | 2017-12-21 | 2019-12-10 | GM Global Technology Operations LLC | Systems and methods for aligning an inertial measurement unit in a vehicle |
| CN109725303B (en) * | 2018-12-04 | 2021-07-02 | 北京万集科技股份有限公司 | Coordinate system correction method and device, and storage medium |
| CN109657628B (en) * | 2018-12-24 | 2023-06-23 | 驭势（上海）汽车科技有限公司 | Method and device for determining a drivable region of a vehicle |
| JP7257814B2 (en) * | 2019-02-21 | 2023-04-14 | 日立Astemo株式会社 | Driving path recognition device |
| CN113484872B (en) * | 2021-06-16 | 2024-01-09 | 国能榆林能源有限责任公司 | Laser radar underground slope depth detection method and detection vehicle |
| CN115356747B (en) * | 2022-10-19 | 2023-01-24 | 成都朴为科技有限公司 | Multi-line laser radar obstacle identification method and device |
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