CN110058263A - A kind of object positioning method in vehicle travel process - Google Patents
A kind of object positioning method in vehicle travel process Download PDFInfo
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- CN110058263A CN110058263A CN201910307774.1A CN201910307774A CN110058263A CN 110058263 A CN110058263 A CN 110058263A CN 201910307774 A CN201910307774 A CN 201910307774A CN 110058263 A CN110058263 A CN 110058263A
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- vehicle travel
- travel process
- laser radar
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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
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
-
- 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
- G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
-
- 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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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Electromagnetism (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Traffic Control Systems (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The embodiment of the invention discloses the object positioning methods in a kind of vehicle travel process, comprising: camera module, image data processing module, data coordinates conversion module and laser radar scanning control module；The camera module obtains the two dimensional image of road environment in vehicle travel process；Described image data processing module identifies the object in vehicle travel process according to the two dimensional image；Described image data processing module extracts the trunk portion of the object according to the characteristics of image of the object, and is demarcated, and the two-dimensional image coordinate of the object trunk portion on 2d is obtained；Described image two-dimensional coordinate progress coordinate is converted to laser radar scanning desired position parameter by the data coordinates conversion module；According to the location parameter, the laser radar scanning control module control laser radar is scanned the object, obtains range information.Use the present invention can positioning to the object in vehicle travel process with fast accurate.
Description
Technical field
The present invention relates to positioning fields, more particularly to the object positioning method in a kind of vehicle travel process.
Background technique
Vehicle needs to obtain the location information of surrounding objects in the process of moving.Image data acquired in camera is only
With two-dimensional signal, the range information of subject, the application in the field of driving are not restricted.Currently, two dimensional image
Processing technique is quite mature, and processing image temporal is fast, and accurate rate is high, can be used for the identification to object.Laser radar be with
Emit the system of the characteristic quantities such as position, the speed of laser beam detection target.Laser radar can be used for analyzing to objective emission
The laser beam reflected with reception from target, obtains the relevant information of target.Therefore, laser radar is usually applied to automobile
Control loop, building mapping etc. need to obtain the scene of object accurate location or speed.
Existing technology mainly obtains entirely tested area by laser radar to the positioning of object in vehicle travel process
The three-dimensional point cloud information in domain, then the subsequent processes of point cloud data are carried out, this way data volume is big, the processing time is long, this
It is very unfavorable to the control loop that requirement of real-time is high, it will to seriously affect the reliability of control loop.
Summary of the invention
To solve the above-mentioned problems, the present invention provides the object positioning methods in a kind of vehicle travel process, can incite somebody to action
The technology that the technology and laser radar of existing quick processing two-dimensional image information obtain object location information combines,
The defect of range information cannot be reflected by compensating for two dimensional image, and there are also the point cloud data amounts of laser radar acquisition big, the processing time
Long deficiency, the object locating speed in significant increase vehicle travel process.
Based on this, the present invention provides the object positioning methods in a kind of vehicle travel process, which comprises one
Object positioning method in kind vehicle travel process characterized by comprising
Camera module, image data processing module, data coordinates conversion module and laser radar scanning control module；
The camera module obtains the two dimensional image of road environment in vehicle travel process；
Described image data processing module identifies the object in vehicle travel process according to the two dimensional image；
The trunk portion of described image data processing module object according to the image characteristics extraction of the object, and
It is demarcated, obtains the two-dimensional image coordinate of the object trunk portion on 2d；
Described image two-dimensional coordinate is carried out coordinate conversion by the data coordinates conversion module, is converted to laser radar and is swept
Retouch laser radar scanning desired position parameter in control module；
The laser radar scanning control module controls laser radar according to the location parameter and sweeps to the object
It retouches, obtains range information.
Wherein, the characteristics of image of the object includes: the size, shape, brightness, color of image.Wherein, the extraction
The trunk portion of the object includes:
The geometrical characteristic of the object is extracted, the geometrical characteristic includes triangle, quadrangle, pentagon or its knot
The vertex of the polygon of conjunction, the geometrical characteristic constitutes anchor point.
Wherein, the trunk portion for extracting the object further include: by the luminance information of image, extract the object
Body is more than the point of default effect to radar laser source reflecting effect, as anchor point.
Wherein, the laser radar scanning control module control laser radar, which is scanned the object, includes:
Location parameter of the laser radar control module according to anchor point in each frame of the two-dimensional image data, root
According to path planning algorithm, scan path is calculated.
Wherein, it is obtained when the range information obtained when the acquisition range information includes: stationary vehicle and vehicle movement
Range information.
Wherein, the range information calculation obtained when the range information obtained when the stationary vehicle and vehicle movement
It is identical, include:
It obtains transmitting laser and receives the time difference between reflection laser, by product between the light velocity and the time difference
Range information of the half as the object.
Wherein, the regional scope of the laser radar scanning is identical as the range that the camera is captured.
Wherein, the coordinate parameters conversion includes the coordinate parameters in the lower progress of the stationary vehicle or driving status
Conversion.
Wherein, the camera module, image data processing module, data coordinates conversion module and laser radar scanning
Control module carries out simultaneously.
Present invention utilizes the technologies of existing quick processing two-dimensional image information and laser radar to obtain object position
The ability of confidence breath.Camera, laser radar are combined, the defect of range information cannot be reflected by compensating for two dimensional image,
And the deficiency that the point cloud data amount of laser radar acquisition is big, the processing time is long.It can be quickly obtained and drive automatically through the invention
The range information of object near during sailing, the significant increase response speed of automated driving system.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, below will to embodiment or
Attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is only
Some embodiments of the present invention, for those of ordinary skill in the art, without creative efforts, also
Other drawings may be obtained according to these drawings without any creative labor.
Fig. 1 is the schematic diagram of the object positioning method in vehicle travel process provided in an embodiment of the present invention；
Fig. 2 is the flow chart of the object positioning method in vehicle travel process provided in an embodiment of the present invention；
Fig. 3 is in vehicle travel process provided in an embodiment of the present invention to the schematic diagram of object positioning；
Obtained when the range information obtained when Fig. 4 is the stationary vehicle provided in an embodiment of the present invention and vehicle movement away from
Schematic diagram identical from information calculation.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts it is all its
His embodiment, shall fall within the protection scope of the present invention.
Fig. 1 is the schematic diagram of the object positioning method in vehicle travel process provided in an embodiment of the present invention, the vehicle
The localization method of object includes: in driving process
Camera module 101, image data processing module 102, data coordinates conversion module 103 and laser radar scanning
Control module 104；
The camera module 101 obtains the two dimensional image of road environment in vehicle travel process；
Described image data processing module 102 identifies the object in vehicle travel process according to the two dimensional image；
The trunk portion of the object according to the image characteristics extraction of the object of described image data processing module 102,
And demarcated, obtain the two-dimensional image coordinate of the object trunk portion on 2d；
Described image two-dimensional coordinate is carried out coordinate conversion by the data coordinates conversion module 103, is converted to laser radar
Laser radar scanning desired position parameter in scan control module 104；
The laser radar scanning control module 104 according to the location parameter control laser radar to the object into
Row scanning, obtains range information.
The camera module 101 includes camera, and is with vehicle viewing angles road environment image, the road
Road ambient image is two dimensional image, and two dimensional image has the defect that cannot reflect range information between object.
The characteristics of image of the object includes: color characteristic, textural characteristics, shape feature and spatial relationship.
Color characteristic is a kind of global characteristics, describes the surface nature of scenery corresponding to image or image-region.
Textural characteristics are also a kind of global characteristics, it also illustrates the superficiality of scenery corresponding to image or image-region
Matter.But since texture is a kind of characteristic of body surface, it can not reflect the essential attribute of object completely, so only
High-level picture material can not be obtained using textural characteristics.Different from color characteristic, textural characteristics are not based on pixel
Feature, it need statistics calculating is carried out in the region comprising multiple pixels.
Shape feature has two class representation methods, and one kind is contour feature, and another kind of is provincial characteristics.The profile of image is special
The outer boundary mainly for object is levied, and the provincial characteristics of image is then related to entire shape area.
So-called spatial relationship refers to the mutual spatial position or opposite between the multiple targets split in image
Direction relations, these relationships can also be divided into connection or syntople, overlapping or overlapping relation and comprising or containment relationship etc..It is logical
Normal spatial positional information can be divided into two classes: relative tertiary location information and absolute spatial position information.Former relationship is emphasized
Be relative case between target, such as upper and lower left-right relation, latter relationship is it is emphasised that the distance between target is big
Small and orientation.
Wherein, the characteristics of image of the object specifically includes that the size, shape, brightness, color of image.
Wherein, the trunk portion for extracting the object includes:
The geometrical characteristic of the object is extracted, the geometrical characteristic includes triangle, quadrangle, pentagon or its knot
The vertex of the polygon of conjunction, the geometrical characteristic constitutes anchor point.
The trunk portion for extracting the object further include: by the luminance information of image, extract the object to thunder
It is more than the point of default effect up to laser source reflecting effect, as anchor point.
Wherein, the laser radar scanning control module 104, which controls laser radar and is scanned to the object, includes:
Location parameter of the laser radar control module according to anchor point in each frame of the two-dimensional image data, root
According to path planning algorithm, scan path is calculated.
It is described to obtain the distance obtained when the range information obtained when range information includes: stationary vehicle and vehicle movement
Information.
Wherein, the range information calculation obtained when the range information obtained when the stationary vehicle and vehicle movement
It is identical, include:
It obtains transmitting laser and receives the time difference between reflection laser, by product between the light velocity and the time difference
Range information of the half as the object.
The regional scope of the laser radar scanning is identical as the range that the camera is captured.
The coordinate parameters conversion includes the coordinate parameters conversion in the lower progress of the stationary vehicle or driving status.
And the camera module 101, image data processing module 102, data coordinates conversion module 103 and laser radar scanning
Control module 104 can carry out simultaneously.
Fig. 2 is the flow chart of the object positioning method in vehicle travel process provided in an embodiment of the present invention, the method
Include:
S201, the camera module obtain the two dimensional image of road environment in vehicle travel process；
The camera module includes camera, and is with vehicle viewing angles road environment image, the road ring
Border image is two dimensional image, and two dimensional image has the defect that cannot reflect range information between object.
The characteristics of image of the object includes: color characteristic, textural characteristics, shape feature and spatial relationship.
Color characteristic is a kind of global characteristics, describes the surface nature of scenery corresponding to image or image-region.
Textural characteristics are also a kind of global characteristics, it also illustrates the superficiality of scenery corresponding to image or image-region
Matter.But since texture is a kind of characteristic of body surface, it can not reflect the essential attribute of object completely, so only
High-level picture material can not be obtained using textural characteristics.Different from color characteristic, textural characteristics are not based on pixel
Feature, it need statistics calculating is carried out in the region comprising multiple pixels.
Shape feature has two class representation methods, and one kind is contour feature, and another kind of is provincial characteristics.The profile of image is special
The outer boundary mainly for object is levied, and the provincial characteristics of image is then related to entire shape area.
So-called spatial relationship refers to the mutual spatial position or opposite between the multiple targets split in image
Direction relations, these relationships can also be divided into connection or syntople, overlapping or overlapping relation and comprising or containment relationship etc..It is logical
Normal spatial positional information can be divided into two classes: relative tertiary location information and absolute spatial position information.Former relationship is emphasized
Be relative case between target, such as upper and lower left-right relation, latter relationship is it is emphasised that the distance between target is big
Small and orientation.
Wherein, the characteristics of image of the object specifically includes that the size, shape, brightness, color of image.
S202, described image data processing module identify the object in vehicle travel process according to the two dimensional image；
Object present in the two dimensional image such as trees, pedestrian, other vehicles etc. can be by described image data processing
Module identifies.
The stem portion of S203, told image data processing module object according to the image characteristics extraction of the object
Point, and demarcated, obtain the two-dimensional image coordinate of the object trunk portion on 2d；
Described image data processing module will identify that the object object according to the image characteristics extraction of the object come
The trunk portion of body.
The trunk portion for extracting the object includes:
The geometrical characteristic of the object is extracted, the geometrical characteristic includes triangle, quadrangle, pentagon or its knot
The vertex of the polygon of conjunction, the geometrical characteristic constitutes anchor point.
Wherein, the trunk portion for extracting the object further include: by the luminance information of image, extract the object
Body is more than the point of default effect to radar laser source reflecting effect, as anchor point.
For example, if the object is trees, the trees can regard a triangle as and a quadrangle is spelled up and down
It connects, four vertex on three vertex of triangle, quadrangle are used as anchor point, can also regard the quadrangle as
Straight line is indicated with several points, as shown in Fig. 3.
The anchor point is demarcated, the anchor point is marked, and obtains the anchor point in X-Y scheme
Two-dimensional image coordinate as in.
Described image two-dimensional coordinate is carried out coordinate conversion by S204, the data coordinates conversion module, is converted to laser thunder
Up to laser radar scanning desired position parameter in scan control module；
Described image two-dimensional coordinate is carried out coordinate conversion by the data coordinates conversion module, i.e., by planar two dimensional coordinate
3 d space coordinate is converted to, the laser radar strafes the radar in control module according to the 3 d space coordinate to object
Body is scanned.
S205, the laser radar scanning control module control laser radar to the object according to the location parameter
It is scanned, obtains range information.
Location parameter of the laser radar control module according to anchor point in each frame of the two-dimensional image data, root
According to path planning algorithm, scan path is calculated.
Wherein, it is obtained when the range information obtained when the acquisition range information includes: stationary vehicle and vehicle movement
Range information.
Wherein, the range information calculation obtained when the range information obtained when the stationary vehicle and vehicle movement
It is identical, include:
It obtains transmitting laser and receives the time difference between reflection laser, by product between the light velocity and the time difference
Range information of the half as the object.
Referring to FIG. 4, the range information obtained when the range information obtained when the stationary vehicle and vehicle movement calculates
The identical reason of mode are as follows:
Figure (1) and figure (2) are the schematic diagram that vehicle carries out laser radar scanning in a stationary situation, the vehicle emissions
Laser, the reflection through the object, the vehicle receive reflected light, and the object is at a distance from the vehicle through mathematical reasoning
It is easy to get are as follows:
It obtains transmitting laser and receives the time difference between reflection laser, by product between the light velocity and the time difference
Range information of the half as the object and vehicle.
Figure (3) and figure (4) are the schematic diagrames that vehicle carries out laser radar scanning under motion conditions, and the vehicle is at certain
One position emit laser, the reflection through the object, the vehicle another location receive reflected light, the object with it is described
The distance of vehicle is easy to get through mathematical reasoning are as follows:
It obtains transmitting laser and receives the time difference between reflection laser, the speed difference of the light velocity and speed is obtained, by institute
State range information of the half of product between difference and the time difference as the object and vehicle, but the light velocity with
Speed is compared, and speed is far smaller than the light velocity, therefore speed can be ignored, i.e., the described object is light at a distance from the vehicle
The half of the fast product between the time difference.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the technical principles of the invention, several improvement and replacement can also be made, these improve and replace
It changes and also should be regarded as protection scope of the present invention.
Claims (10)
1. the object positioning method in a kind of vehicle travel process characterized by comprising
Camera module, image data processing module, data coordinates conversion module and laser radar scanning control module；
The camera module obtains the two dimensional image of road environment in vehicle travel process；
Described image data processing module identifies the object in vehicle travel process according to the two dimensional image；
The trunk portion of described image data processing module object according to the image characteristics extraction of the object, rower of going forward side by side
It is fixed, obtain the two-dimensional image coordinate of the object trunk portion on 2d；
Described image two-dimensional coordinate is carried out coordinate conversion by the data coordinates conversion module, is converted to laser radar scanning control
Laser radar scanning desired position parameter in module；
The laser radar scanning control module controls laser radar according to the location parameter and is scanned to the object, obtains
Obtain range information.
2. the object positioning method in vehicle travel process as described in claim 1, which is characterized in that the image of the object
Feature includes: the size, shape, brightness, color of image.
3. the object positioning method in vehicle travel process as described in claim 1, which is characterized in that described to extract the object
The trunk portion of body includes:
The geometrical characteristic of the object is extracted, the geometrical characteristic includes the more of triangle, quadrangle, pentagon or its combination
The vertex of side shape, the geometrical characteristic constitutes anchor point.
4. the object positioning method in vehicle travel process as claimed in claim 1 or 3, which is characterized in that the extraction institute
State the trunk portion of object further include: by the luminance information of image, it is super to radar laser source reflecting effect to extract the object
The point for crossing default effect, as anchor point.
5. the object positioning method in vehicle travel process as described in claim 1, which is characterized in that the laser radar is swept
It retouches control module control laser radar and the object is scanned and include:
The laser radar control module is according to the location parameter of anchor point in each frame of the two-dimensional image data, according to path
Planning algorithm calculates scan path.
6. the object positioning method in vehicle travel process as described in claim 1, which is characterized in that the acquisition distance letter
The range information obtained when the range information obtained when breath includes: stationary vehicle and vehicle movement.
7. the object positioning method in vehicle travel process as claimed in claim 6, which is characterized in that when the stationary vehicle
The range information calculation obtained when the range information of acquisition and vehicle movement is identical, comprising:
It obtains transmitting laser and receives the time difference between reflection laser, by two of product between the light velocity and the time difference/
One range information as the object.
8. the object positioning method in vehicle travel process as described in claim 1, which is characterized in that the laser radar is swept
The regional scope retouched is identical as the range that the camera is captured.
9. the object positioning method in vehicle travel process as described in claim 1, which is characterized in that the coordinate parameters turn
It changes including in the stationary vehicle or the conversion of the coordinate parameters of the lower progress of driving status.
10. the object positioning method in vehicle travel process as described in claim 1, which is characterized in that the camera mould
Block, image data processing module, data coordinates conversion module and laser radar scanning control module carry out simultaneously.
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