CN109212555A - Based on three-dimensional laser radar can traffic areas detection method - Google Patents
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- CN109212555A CN109212555A CN201811189838.4A CN201811189838A CN109212555A CN 109212555 A CN109212555 A CN 109212555A CN 201811189838 A CN201811189838 A CN 201811189838A CN 109212555 A CN109212555 A CN 109212555A
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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
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
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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
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
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- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
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- Radar, Positioning & Navigation (AREA)
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- Traffic Control Systems (AREA)
Abstract
The present invention relates to unmanned, more particularly to based on three-dimensional laser radar can traffic areas detection method, three-dimensional laser radar obtains barrier grating map image, barrier is clustered using distance function, calculate the Euclidean distance in barrier grating map between any two barrier point, if Euclidean distance is less than cluster threshold value T, then this two barrier points are connected with straight line, point on straight line is considered barrier, inversion operation is carried out after completing distance cluster, obtain free area, remove the corner for being not suitable for vehicle pass-through in free area, reachable region is obtained on free area from vehicle location, reachable region is carried out in the down-sampled barrier grating map back to original size, and reachable region is optimized；Technical solution provided by the present invention can effectively overcome the defect that boundary is difficult to be utilized present in the prior art and puts cloud flatness feature division safety traffic region.
Description
Technical field
The present invention relates to unmanned, and in particular to based on three-dimensional laser radar can traffic areas detection method.
Background technique
Automatic driving vehicle as it is a kind of can the autonomous mobile robot of traveling and safe avoidance in environment outdoors, energy
Traffic accident rate is enough reduced, casualties and economic loss are reduced, has great grind in civilian and defense military
Study carefully value and wide application prospect.As soon as the most important function of automatic driving vehicle is can be with independent navigation, this needs it
With environment sensing understandability, guarantee that it can drive safely in correct region.But in face of complicated outdoor environment, especially
It is unstructured road environment, and the environment understanding ability of automatic driving vehicle faces lot of challenges.
In unstructured moving grids, it may appear that no roadmarking, surface relief jolt, road boundary is irregular, road is had a lot of social connections
The problems such as degree variation is big, GPS signal is lost, can be utilized without map prior information, therefore the simple side for relying on road edge identification
Method is no longer applicable in.Can traffic areas become replace border detection, for automatic driving vehicle provide safe driving region one kind compared with
Good method.Can traffic areas define that the driving range of automatic driving vehicle, sensory perceptual system want the barrier in real-time detection environment
Hinder object, searching can avoid colliding with barrier with the section of safety, realize the safe independent navigation of unmanned vehicle.
64 line laser radars can provide accurately object distance information, and not be illuminated by the light influence, in precision and abundant information
The increasingly complicated application scenarios requirement of automatic driving vehicle is sufficient in degree, which promote can be in the detection of traffic areas
Research and application.
Summary of the invention
(1) the technical issues of solving
For disadvantages mentioned above present in the prior art, the present invention provides based on three-dimensional laser radar can traffic areas
Detection method can effectively overcome and boundary and point cloud flatness feature division safety traffic are difficult to be utilized present in the prior art
The defect in region.
(2) technical solution
In order to achieve the above object, the present invention is achieved by the following technical programs:
Based on three-dimensional laser radar can traffic areas detection method, comprising the following steps:
S1, three-dimensional laser radar obtain barrier grating map image；
S2, barrier is clustered using distance function, calculate barrier grating map in any two barrier point it
Between Euclidean distance, if Euclidean distance be less than cluster threshold value T, this two barrier points are connected with straight line, the point on straight line is equal
It is considered barrier；
S3, it completes to carry out inversion operation after distance cluster in S2, obtains free area, remove and be not suitable for vehicle in free area
Current corner obtains reachable region from vehicle location on free area；
S4, reachable region is carried out in the down-sampled barrier grating map back to original size, and to reachable
Region optimizes, from vehicle front 1m the pixel in reachable region is judged line by line upwards, can be arrived within 1m
Directly retain up to area pixel point, the reachable area pixel point of residue meets discriminate reservation, otherwise removes；
S5, remaining area are the reachable region after optimization, as can traffic areas.
Preferably, the cluster threshold value T is arranged according to vehicle itself size.
Preferably, the cluster can carry out down-sampled processing to barrier grating map, reasonable according to real-time and precision
Down-sampled number is set.
Preferably, the distance function of the Euclidean distance is calculated are as follows:
Preferably, the reachable region obtains in such a way that 8 neighborhood regions increase.
Preferably, the reachable region is optimized by the way of searching support up and down.
Preferably, the discriminate are as follows:
50 indicate 50 rows in discriminate.
Preferably, reachable area pixel point gray value f (x, y)=0 of reservation, the reachable region of removal
Pixel gray value f (x, y)=150.
Preferably, the three-dimensional laser radar is 64 line three-dimensional laser radars.
(3) beneficial effect
Compared with prior art, it is provided by the present invention based on three-dimensional laser radar can traffic areas detection method have
Below the utility model has the advantages that
1, it can be used in cross-country road environment, travel vehicle in safety zone in responsible country；
2, on barrier grating map carry out can traffic areas detection, overcome because irregularity boundary leads to border detection
Algorithm failure, and original point cloud is unsmooth, leads to the non-serviceable disadvantage of original point cloud feature caused by rising and falling because of road ground；
3, the present invention is clustered using distance, mode and the image drop sampling processing that obstacle object point is connected with straight line
Mode, ensure that can traffic areas detection real-time and preferable detection effect；
4, the present invention using up and down rely on policy optimization can traffic areas, solve because barrier rear information loss bring
Can traffic areas diverging the problem of.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described.It should be evident that the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is flow diagram of the present invention.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described.Obviously, described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without creative efforts, shall fall within the protection scope of the present invention.
Based on three-dimensional laser radar can traffic areas detection method, as shown in Figure 1, comprising the following steps:
S1, three-dimensional laser radar obtain barrier grating map image；
S2, barrier is clustered using distance function, calculate barrier grating map in any two barrier point it
Between Euclidean distance, if Euclidean distance be less than cluster threshold value T, this two barrier points are connected with straight line, the point on straight line is equal
It is considered barrier；
S3, it completes to carry out inversion operation after distance cluster in S2, obtains free area, remove and be not suitable for vehicle in free area
Current corner obtains reachable region from vehicle location on free area；
S4, reachable region is carried out in the down-sampled barrier grating map back to original size, and to reachable
Region optimizes, from vehicle front 1m the pixel in reachable region is judged line by line upwards, can be arrived within 1m
Directly retain up to area pixel point, the reachable area pixel point of residue meets discriminate reservation, otherwise removes；
S5, remaining area are the reachable region after optimization, as can traffic areas.
Threshold value T is clustered to be arranged according to vehicle itself size.
Cluster can carry out down-sampled processing to barrier grating map, be rationally arranged down-sampled time according to real-time and precision
Number.
Calculate the distance function of Euclidean distance are as follows:
Reachable region obtains in such a way that 8 neighborhood regions increase.
Reachable region is optimized by the way of searching support up and down.
Discriminate are as follows:
50 indicate 50 rows in discriminate.
Reachable area pixel point gray value f (x, y)=0 retained, the reachable area pixel point gray value f of removal
(x, y)=150.
Three-dimensional laser radar is 64 line three-dimensional laser radars.
The present invention carries out on the barrier grating map of 64 line three-dimensional laser radars can traffic areas detection.First with
Distance function clusters barrier.In order to reduce calculation amount, the present invention carries out barrier cluster using down-sampled image, so
After negate and obtain free area, using the connectivity with vehicle location, get vehicle and reach region, i.e., tentatively can FOH
Domain, and the reachable region using the algorithm relied on up and down, after getting optimization.
Firstly, the Euclidean distance of any two barrier point in barrier grating map is calculated using formula (1), if this distance
Less than cluster threshold value T, then this two o'clock is connected with straight line, the point on straight line is considered as barrier.This operation hinders two o'clock
Object is hindered to be clustered into a target.
Wherein T is arranged according to vehicle itself size.When barrier point is more, this cluster operation is more time-consuming, can be right
Barrier grating map carries out down-sampled processing, and is only clustered within the scope of area-of-interest.Primary down-sampled processing is several
The cluster time of half can be saved, but equally will cause the decline of resolution ratio, so as to cause the increasing of barrier occupied area
Add.Down-sampled number rationally can be set according to real-time and required precision.The present invention only carries out primary down-sampled.
After the completion of clustering in down-sampled image, it is carried out to inversion operation in the region of interest, obtains free area
Domain.Some corners can be contained in free area, these boundaries are not appropriate for vehicle pass-through due to being excessively narrow, we by its from
It is removed in free area, some remaining regions are not connected to vehicle location, and vehicle cannot reach.Therefore we are from vehicle location
It sets out, obtains its connected region in such a way that 8 neighborhood regions increase on free area, i.e., reachable region.
Reachable region is carried out in the down-sampled barrier grating map back to original size, due to three-dimensional laser thunder
Up to the subsequent information of barrier cannot be obtained, clear region is considered on barrier grid map.It tentatively obtains in this way
Reachable region can treat as the region at barrier rear can traffic areas.For this purpose, we above and below searching in the way of relying on
Go to optimize reachable region, the pixel in reachable region judged line by line upwards since the position vehicle front 1m, 1m with
Interior reachable area pixel point directly retains, and remaining reachable area pixel meets formula (2) and then retains, and otherwise removes.
Set it is non-can traffic areas grey scale pixel value f (x, y)=0, can traffic areas grey scale pixel value be f (x, y)=150.It is public
50 in formula (2) indicate 50 rows, and a pixel indicates that 20cm is looked for not that is, within the scope of each 20cm in left and right, lower section 1m in grid map
To can traffic areas point, then be removed.
Remaining area is the reachable region after optimization, as can traffic areas.The method can solve can traffic areas hair
Scattered problem.
It is provided by the present invention based on three-dimensional laser radar can traffic areas detection method have the advantages that
1, it can be used in cross-country road environment, travel vehicle in safety zone in responsible country；
2, on barrier grating map carry out can traffic areas detection, overcome because irregularity boundary leads to border detection
Algorithm failure, and original point cloud is unsmooth, leads to the non-serviceable disadvantage of original point cloud feature caused by rising and falling because of road ground；
3, the present invention is clustered using distance, mode and the image drop sampling processing that obstacle object point is connected with straight line
Mode, ensure that can traffic areas detection real-time and preferable detection effect；
4, the present invention using up and down rely on policy optimization can traffic areas, solve because barrier rear information loss bring
Can traffic areas diverging the problem of.
The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although with reference to the foregoing embodiments
Invention is explained in detail, those skilled in the art should understand that: it still can be to aforementioned each implementation
Technical solution documented by example is modified or equivalent replacement of some of the technical features；And these modification or
Replacement, can't be such that the essence of corresponding technical solution departs from the spirit and scope of the technical scheme of various embodiments of the present invention.
Claims (9)
1. based on three-dimensional laser radar can traffic areas detection method, it is characterised in that: the following steps are included:
S1, three-dimensional laser radar obtain barrier grating map image；
S2, barrier is clustered using distance function, is calculated in barrier grating map between any two barrier point
This two barrier points are connected, the point on straight line is thought by Euclidean distance if Euclidean distance is less than cluster threshold value T with straight line
It is barrier；
S3, it completes to carry out inversion operation after distance cluster in S2, obtains free area, it is logical to remove unsuitable vehicle in free area
Capable corner obtains reachable region from vehicle location on free area；
S4, reachable region is carried out in the down-sampled barrier grating map back to original size, and to reachable region
Optimize, from vehicle front 1m the pixel in reachable region is judged line by line upwards, within 1m reach area
Domain pixel directly retains, and the reachable area pixel point of residue meets discriminate reservation, otherwise removes；
S5, remaining area are the reachable region after optimization, as can traffic areas.
2. it is according to claim 1 based on three-dimensional laser radar can traffic areas detection method, it is characterised in that: it is described
Threshold value T is clustered to be arranged according to vehicle itself size.
3. it is according to claim 1 based on three-dimensional laser radar can traffic areas detection method, it is characterised in that: it is described
Cluster can carry out down-sampled processing to barrier grating map, and down-sampled number is rationally arranged according to real-time and precision.
4. it is according to claim 1 based on three-dimensional laser radar can traffic areas detection method, it is characterised in that: calculate
The distance function of the Euclidean distance are as follows:
5. it is according to claim 1 based on three-dimensional laser radar can traffic areas detection method, it is characterised in that: it is described
Reachable region obtains in such a way that 8 neighborhood regions increase.
6. it is according to claim 1 based on three-dimensional laser radar can traffic areas detection method, it is characterised in that: it is described
Reachable region is optimized by the way of searching support up and down.
7. it is according to claim 1 based on three-dimensional laser radar can traffic areas detection method, it is characterised in that: it is described
Discriminate are as follows:
50 indicate 50 rows in discriminate.
8. it is according to claim 1 based on three-dimensional laser radar can traffic areas detection method, it is characterised in that: retain
Reachable area pixel point gray value f (x, y)=0, the reachable area pixel point gray value f (x, y) of removal
=150.
9. it is according to claim 1 based on three-dimensional laser radar can traffic areas detection method, it is characterised in that: it is described
Three-dimensional laser radar is 64 line three-dimensional laser radars.
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| CN109917418A (en) * | 2019-03-28 | 2019-06-21 | 安徽理工大学 | A kind of measurement method in laser radar areflexia region |
| CN110045376A (en) * | 2019-04-28 | 2019-07-23 | 森思泰克河北科技有限公司 | It can travel area obtaining method, computer readable storage medium and terminal device |
| CN110244321A (en) * | 2019-04-22 | 2019-09-17 | 武汉理工大学 | A kind of road based on three-dimensional laser radar can traffic areas detection method |
| CN110502011A (en) * | 2019-08-16 | 2019-11-26 | 湖南格兰博智能科技有限责任公司 | A kind of sweeper obstacles borders detection method |
| CN110766979A (en) * | 2019-11-13 | 2020-02-07 | 奥特酷智能科技(南京)有限公司 | Parking space detection method for automatic driving vehicle |
| CN111308499A (en) * | 2020-03-09 | 2020-06-19 | 中振同辂(江苏)机器人有限公司 | Obstacle detection method based on multi-line laser radar |
| CN111505652A (en) * | 2020-04-08 | 2020-08-07 | 惠州拓邦电气技术有限公司 | Map establishing method, device and operation equipment |
| CN113222025A (en) * | 2021-05-18 | 2021-08-06 | 浙江大学 | Feasible region label generation method based on laser radar |
| CN113420687A (en) * | 2021-06-29 | 2021-09-21 | 三一专用汽车有限责任公司 | Method and device for acquiring travelable area and vehicle |
| CN113703460A (en) * | 2021-08-31 | 2021-11-26 | 上海木蚁机器人科技有限公司 | Method, device and system for identifying vacancy of navigation vehicle |
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| CN109917418B (en) * | 2019-03-28 | 2023-04-07 | 安徽理工大学 | Method for measuring non-reflection area of laser radar |
| CN109917418A (en) * | 2019-03-28 | 2019-06-21 | 安徽理工大学 | A kind of measurement method in laser radar areflexia region |
| CN110244321A (en) * | 2019-04-22 | 2019-09-17 | 武汉理工大学 | A kind of road based on three-dimensional laser radar can traffic areas detection method |
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| CN110045376A (en) * | 2019-04-28 | 2019-07-23 | 森思泰克河北科技有限公司 | It can travel area obtaining method, computer readable storage medium and terminal device |
| CN110502011A (en) * | 2019-08-16 | 2019-11-26 | 湖南格兰博智能科技有限责任公司 | A kind of sweeper obstacles borders detection method |
| CN110766979A (en) * | 2019-11-13 | 2020-02-07 | 奥特酷智能科技(南京)有限公司 | Parking space detection method for automatic driving vehicle |
| CN111308499A (en) * | 2020-03-09 | 2020-06-19 | 中振同辂(江苏)机器人有限公司 | Obstacle detection method based on multi-line laser radar |
| CN111505652A (en) * | 2020-04-08 | 2020-08-07 | 惠州拓邦电气技术有限公司 | Map establishing method, device and operation equipment |
| CN111505652B (en) * | 2020-04-08 | 2024-04-30 | 惠州拓邦电气技术有限公司 | Map building method and device and operation equipment |
| CN113222025A (en) * | 2021-05-18 | 2021-08-06 | 浙江大学 | Feasible region label generation method based on laser radar |
| CN113420687A (en) * | 2021-06-29 | 2021-09-21 | 三一专用汽车有限责任公司 | Method and device for acquiring travelable area and vehicle |
| CN113703460A (en) * | 2021-08-31 | 2021-11-26 | 上海木蚁机器人科技有限公司 | Method, device and system for identifying vacancy of navigation vehicle |
| CN113703460B (en) * | 2021-08-31 | 2024-02-09 | 上海木蚁机器人科技有限公司 | Method, device and system for identifying vacant position of navigation vehicle |
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