CN110068836A - A kind of laser radar curb sensory perceptual system of intelligent driving electric cleaning car - Google Patents
A kind of laser radar curb sensory perceptual system of intelligent driving electric cleaning car Download PDFInfo
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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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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
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Abstract
The present invention relates to a kind of laser radar curb sensory perceptual systems of intelligent driving electric cleaning car, specifically include that the selection scheme of laser radar, using the laser radar sensor of two 16 lines, while perceiving front obstacle and right side curb；The installation site and angle of laser radar effectively avoid perception blind area, realize and detect to the robust of curb；The reception and processing of asynchronous excitation point cloud guarantee the time near-synchronous of two radar points clouds using the scheme of multithreading Asynchronous Reception；Two dimension occupies the foundation and update of grating map, is projected to point cloud information in grating map using upright projection and height difference filter method, and carries out probability updating to grating map；The segmentation and extraction of curb, the sample point of block sampling curb by Least Square Method curb model, and are differentiated curb and be whether there is；And then accurate, the reference information of robust is provided for tracking control.Compared with prior art, the present invention has many advantages, such as that perception is accurate, applied widely.
Description
Technical field
The present invention relates to intelligent driving electric cleaning car technical fields, more particularly, to a kind of intelligent driving electric cleaning car
Laser radar curb sensory perceptual system, can for sweeper can travel road area in provide robust, real-time curb detection knot
Fruit completes accurate curb and cleans task.
Background technique
There is higher requirement to the perception of curb environment for the intelligent driving electric cleaning car of special scenes.
The curb detection method of existing view-based access control model, because the textural characteristics of curb are dull, it is difficult to guarantee the accuracy of result；
Even if using the method for deep learning, on the one hand the promotion of the accuracy rate of detection will expend a large amount of processor resources, on the other hand
Visual sensor depends on light environment unduly, it is difficult to be cleaned round-the-clock.In the existing curb detection method based on laser
In, the method for directly extracting curb from point cloud data is of a high price.Therefore, the present invention propose a kind of light weight, in real time, the road of robust
Meet requirement of the intelligent driving electric cleaning car to environment sensing along detection method.
Summary of the invention
It is an object of the present invention to overcome the above-mentioned drawbacks of the prior art and provide a kind of intelligent driving is electronic
The laser radar curb sensory perceptual system of sweeper.
The purpose of the present invention can be achieved through the following technical solutions:
A kind of laser radar curb sensory perceptual system of intelligent driving electric cleaning car, comprising:
Sweeper: for the carrier platform as entire curb sensory perceptual system and the curb that is obtained according to data processing module
Offset completes the control of itself tracking, is built-in with the data processing module, bilateral laser thunder is additionally provided on the sweeper
Up to sensor；
Data processing module: it is built in the sweeper and is connected with the bilateral laser radar sensor, uses
Curb is transmitted after receiving the radar data Bao Bingjing too many levels data processing sent from the bilateral laser radar sensor
Offset completes itself tracking control of the sweeper to the sweeper；
Bilateral laser radar sensor: being set on the sweeper and is connected with the data processing module, is used for
Environment and curb relevant information are obtained in real time, generate radar data packet and multithreading is sent in the data processing module.
Further, the laser radar sensor uses the laser radar sensor of 16 lines.
Further, the laser radar sensor is set on the sweeper with the 45 ° of diagonally opposing corner directions in left and right.
Further, in the radar data packet including the laser radar sensor relative dimensional axis deflection angle,
Installation of the XY axle offset and the laser radar sensor at laser radar sensor relative vehicle center relative to ground
Highly.
Further, the measurement distance of the laser radar sensor is 20cm~150m.
Further, the laser radar sensor vertical angle of view be negative 15 °~it is 15 ° positive.
Compared with prior art, the invention has the following advantages that
(1) it is capable of barrier and the road of comprehensive perception vehicle's surroundings using the design scheme of bilateral laser radar sensor
Along information, the perception uncertainties such as blind area and noise-aware are effectively reduced.
(2) the curb detection of robust not only ensure that efficient cleaning task, while can realize tracking control to sweeper
System provides accurate reference information.
(3) height of curb and the horizontal-shift distance of sweeper and curb determine the height and angle model of laser radar
It encloses, same vehicle Direct Transfer can be directed to after determining a set of mount scheme, technology reusability is high.
(4) compared to directly to original points cloud processing, identification segmentation curb in grating map is occupied in projection, is reduced
The influence of noise simultaneously reduces storage and calculates cost, can satisfy the demand of real-time detection.
Detailed description of the invention
Fig. 1 is technical solution of the present invention configuration diagram；
Fig. 2 is the scope of activities schematic elevation view of laser radar sensor of the invention；
Fig. 3 is the scope of activities left view schematic diagram of laser radar sensor of the invention；
Fig. 4 is the practical structures schematic diagram of sweeper of the invention；
Fig. 5 is the complete frame point cloud data schematic diagram of laser radar sensor in the embodiment of the present invention；
Fig. 6 is the data transmission stream journey schematic diagram of laser radar sensor of the present invention；
Fig. 7 occupies grating map effect diagram for of the invention；
Fig. 8 is the virtual scan process effect diagram in the present invention；
Fig. 9 is that the curb detection effect in sweeper driving process of the present invention changes schematic diagram.
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 embodiment is a part of the embodiments of the present invention, rather than whole embodiments.Based on this hair
Embodiment in bright, those of ordinary skill in the art's every other reality obtained without making creative work
Example is applied, all should belong to the scope of protection of the invention.
Embodiment
It is as shown in Figure 1 the overall system architecture schematic diagram of technical solution of the present invention corresponding embodiment, comprising:
Sweeper: for the carrier platform as entire curb sensory perceptual system and the curb that is obtained according to data processing module
Offset completes the control of itself tracking, is built-in with data processing module, bilateral laser radar sensor is additionally provided on sweeper；
Data processing module: it is built in sweeper and is connected with bilateral laser radar sensor, comes for receiving
Transmission curb offset extremely cleans from after the radar data Bao Bingjing too many levels data processing that bilateral laser radar sensor is sent
Vehicle is controlled with itself tracking for completing sweeper；
Bilateral laser radar sensor: being set on sweeper and is connected with data processing module, for obtaining in real time
Environment and curb relevant information, generate radar data packet and multithreading is sent in data processing module.
Intelligent driving electric cleaning car perceives ambient enviroment barrier by mobile lidar, can be in special scenes
Such as cleaning work is completed independently according to route and fixed area in closing garden.Laser radar is wherein relied on to obtain
The three-dimensional point cloud information for taking road environment is detected and is divided to curb in occupying grating map, mentioned by upright projection
The geometric parameter model for taking and calculating curb reduces the complexity of algorithm while reducing memory consumption, can be planning module
The driving behavior offer for further controlling vehicle is safely and effectively supported.Based on technical solution of the present invention, below in conjunction with attached drawing pair
Technical solution of the present invention does more detailed introduction.
Each step is successively are as follows:
The selection of laser radar:
Laser radar has environment high-precision by the three dimensional local information of transmitting and receiving laser beam disturbance of perception object
Expressional function.Therefore it under conditions of we combine equipment cost and perception blind area, is placed in using 2 16 line laser radars
45 degree of directions of Chinese herbaceous peony or so, enable its scanning range to cover the road area of Chinese herbaceous peony and the curb on right side.
The calibration of laser radar:
The 16 main relevant parameters of line laser radar are as follows:
| Measure distance | 20cm to 150m |
| Vertical angle of view | ± 15 ° (totally 30 °) |
| Vertical angular resolution | 2° |
| Horizontal angular resolution | 0.09 ° (5Hz) to 0.36 ° (20Hz) |
| Revolving speed | 300/600/1200rpm(5/10/20/Hz) |
Sweeper all relies on the scanning area of laser radar to the reliability of the comprehensive and curb detection of environment sensing
Domain, it is contemplated that laser radar vertical angle of view is with 15 degree of range positive and negative above and below horizontal line, and vertical resolution is 2 degree, in conjunction with cleaning
The volume parameter of vehicle itself, the height mean value and vehicle body of curb and the level of curb and vertical safe distance, calculate radar peace
The height and angular configurations range of dress, are shown in Fig. 2, Fig. 3.
Hl-Hc≤s1*tan(roll+15)
Hl-Hc≤s2*tan(pitch+15)
By adjusting the different height and angular configurations of radar, so that taking into account the inspection of Chinese herbaceous peony barrier and vehicle right wing edge
It surveys, reduces perception blind area to greatest extent, the radar parameter finally obtained is as follows:
| yaw | Radar is with respect to z-axis deflection angle |
| roll | Radar is with respect to y-axis deflection angle |
| pitch | Radar is with respect to x-axis deflection angle |
| tx | The x-axis at radar relative vehicle center deviates |
| ty | The y-axis at radar relative vehicle center deviates |
| height | Mounting height of the radar relative to ground |
The installation diagram of bilateral laser radar is shown in Fig. 4:
The data processing of laser radar:
The coordinate of 3.1 initial data is converted:
After calibration step, laser radar will with fixed speed of rotation mechanical movement, by laser beam send with
The received time difference calculates the depth information of barrier, returns to position data q of the scanning element cloud under polar coordinate systemi(di, φi,
θi), the depth distance, horizontal angle, vertical angle of a cloud are represented, p under cartesian coordinate system is further converted toi(xi, yi, zi):
xi=di·cosθi·cosφi
yi=di·cosθi·sinφi
zi=di·sinθi
In order to guarantee that the point cloud data of two radars is completely overlapped, need the outer ginseng further combined with radar to point Yun Jinhang
Compensation, it is unified to arrive vehicle body coordinate system.Eulerian angles pitch is defined, the corresponding spin matrix of roll, yaw is Rx, Ry, Rz, position is inclined
Shifting amount tx, ty, the corresponding translation vector of height is t, unified that a cloud is transformed into vehicle body coordinate system p 'i(x′i, y 'i, z 'i) under:
R=RzRyRx
p′i=R*pi+t
It finally obtains and completely puts cloud frame under vehicle body coordinate system and see Fig. 5:
3.2 occupy the expression of grating map
In order to ensure the integrality of one frame data of laser radar, it is contemplated that single thread mode is difficult to realize and laser radar
Revolving speed is synchronous, causes loss of data, we realize the processing to laser radar raw data packets in such a way that multithreading is asynchronous.
One of thread is responsible for the reception to data packet and is stored, another thread is responsible for parsing and correction to data packet, by setting
Determine full identity of the starting of feathering angle with the relationship of termination as a frame point cloud, stores the frame data, the last one thread
It reads a complete newest frame data and carries out subsequent points cloud processing.Flow chart is shown in Fig. 6:
Define h=401 meters of height of two-dimensional grid map, w=151 meters of width and raster resolution fx=fy=0.2
The grid coordinate (gridR, gridC) (line number, columns) of rice, available grating map is as follows:
GridR=h ÷ fy
GridC=w ÷ fx
The grid coordinate for defining vehicle body is cx=300, cy=75, while vehicle right is the positive direction of x-axis, front side is y-axis
Front, be the positive right-handed coordinate system of z-axis above vehicle, so to the complete frame point cloud p ' of acquisitioni(x′i, y 'i, z
′i) pass through z-axis upright projection (r into the grating map of definitioni, ci):
ri=cx-floor(y′i÷fy)
ci=floor (x 'i÷fx)+cy
For all the points cloud projected in the same grid, we can calculate the medium-altitude minimum value h of the gridmin
(ri, ci) and maximum value hmax(ri, ci)。
hmin(ri, ci)=min (z 'i).st{p′i in(ri, ci)}
hmax(ri, ci)=max (z 'i).st{p′i in(ri, ci)}
Further we obtain the difference in height hdiff (r of each gridi, ci), while with given threshold value hcCompare, judges
State flag (the r of each gridi, ci)。
hdiff(ri, ci)=hmax(ri, ci)-hmin(ri, ci)
flag(ri, ci) it is the 0 status information clear for indicating the grid, barrier is indicated equal to 1, finally to complete
Whole frame point cloud projection, we obtain the corresponding grating map that occupies and see Fig. 7:
The identification of 3.3 curbs and detection
For intelligent driving electric cleaning car, the stability of curb detection is the key that complete curb to clean task one
Step.We directly occupy in two dimension and are split extraction in grating map, while considering the noncontinuity feature of curb, take
The method of piecewise fitting judges the state of curb, significantly reduces the complexity of storage cost and algorithm.
3.3.1 region of interest selects
The convenience of grating map expression is occupied in view of two dimension, while sweeper is not stringent for travel speed wants
It asks, the research of curb detection algorithm can simplify in two-dimensional environment, and the region of interest of curb search can be reduced in vehicle row
It sails in the rectangle frame of directional velocity.Definition is dx along the development length parameter of sweeper directional velocity, along vertical speed side
To development length be dy, in conjunction with position of the vehicle body in grating map, the region of interest of available curb search are as follows:
Top=cx+dx
Bottom=cx-dx
Left=cy-dy
Right=cy-dy
3.3.2 piecewise fitting
In view of the complexity of road conditions in real scene, discrete curb feature is coped with using the method for piecewise fitting,
First to two parts use virtual scan method to sample the sample data point of curb up and down in search space.Virtual scan
Method is similar to Bresenham algorithm, and each scan line is assumed to be from starting point to the investigative range contact barrier
Do not have barrier can traffic areas, virtual scan algorithm effect is shown in Fig. 8:
Therefore in the two-dimensional grid map of known vehicle body position, several scan lines are issued with vehicle body vertical speed direction
Carry out linear probing, sampled point of the barrier grid touched as curb.In order to obtain the precise position information of curb, grid
The resolution ratio of lattice map is difficult to meet required precision, therefore sample of the three-dimensional point cloud as fitting is still saved in each grid
Input finally models curb using linear function y=α x+b, passes through least-square fitting approach solving model parameter
α1, b1(stretch edge):
3.3.3 curb judges
The two-part curb model in search space or more is calculated in piecewise fitting, by comparing two sections of curb slopes
State and distance, return whether be curb device-identification information and corresponding curb model.
Flag=α1∩α2∩|α1-α2| < ε
α=(α1+α2)÷2
B=(b1+b2)÷2
Due to sweeper under curb cleaning works mode to the sampling stability and high efficiency of curb data, linear model
Outliers point is less, and the error of Least Square Method reaches cm grades, the curb parameter confidence level with higher of fitting.Clearly
The visualization result for sweeping curb in vehicle driving process is such as shown in Fig. 9.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can readily occur in various equivalent modifications or replace
It changes, these modifications or substitutions should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be with right
It is required that protection scope subject to.
Claims (6)
1. a kind of laser radar curb sensory perceptual system of intelligent driving electric cleaning car characterized by comprising
Sweeper: it is deviated for the carrier platform as entire curb sensory perceptual system and according to the curb that data processing module obtains
Amount completes the control of itself tracking, is built-in with the data processing module, and bilateral laser radar biography is additionally provided on the sweeper
Sensor；
Data processing module: it is built in the sweeper and is connected with the bilateral laser radar sensor, for connecing
It receives and transmits curb offset after the radar data Bao Bingjing too many levels data processing that the bilateral laser radar sensor is sent
It measures to the sweeper to complete itself tracking control of the sweeper；
Bilateral laser radar sensor: being set on the sweeper and is connected with the data processing module, for real-time
Environment and curb relevant information are obtained, radar data packet is generated and multithreading is sent in the data processing module.
2. a kind of laser radar curb sensory perceptual system of intelligent driving electric cleaning car according to claim 1, feature
It is, the laser radar sensor uses the laser radar sensor of 16 lines.
3. a kind of laser radar curb sensory perceptual system of intelligent driving electric cleaning car according to claim 1, feature
It is, the laser radar sensor is set on the sweeper with the 45 ° of diagonally opposing corner directions in left and right.
4. a kind of laser radar curb sensory perceptual system of intelligent driving electric cleaning car according to claim 1, feature
It is, includes deflection angle, the laser radar of the laser radar sensor relative dimensional axis in the radar data packet
Mounting height of the XY axle offset and the laser radar sensor at sensor relative vehicle center relative to ground.
5. a kind of laser radar curb sensory perceptual system of intelligent driving electric cleaning car according to claim 1, feature
It is, the measurement distance of the laser radar sensor is 20cm~150m.
6. a kind of laser radar curb sensory perceptual system of intelligent driving electric cleaning car according to claim 1, feature
Be, the laser radar sensor vertical angle of view be negative 15 °~it is 15 ° positive.
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