CN112731451B - Method and system for detecting ground obstacle based on laser radar - Google Patents
Method and system for detecting ground obstacle based on laser radar Download PDFInfo
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- CN112731451B CN112731451B CN202110009104.9A CN202110009104A CN112731451B CN 112731451 B CN112731451 B CN 112731451B CN 202110009104 A CN202110009104 A CN 202110009104A CN 112731451 B CN112731451 B CN 112731451B
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Abstract
The invention relates to the technical field of automatic driving, in particular to a method and a system for detecting ground obstacles based on a laser radar. The method comprises the following steps: acquiring an actual detection value of an object in a target direction of the vehicle; determining an obstacle judgment threshold value according to the gradient information of the current road and the pitch angle information of the vehicle attitude; and determining whether the object in the target direction is an obstacle or not according to the actual detection value and the obstacle determination threshold value. The scheme can solve the problem that in the prior art, the included angle parameter for judging whether the object is an obstacle or the ground is an approximate threshold value provided manually, so that the judgment is inaccurate.
Description
Technical Field
The invention relates to the technical field of automatic driving, in particular to a method and a system for detecting ground obstacles based on a laser radar.
Background
The method for detecting the ground obstacle based on the laser radar judges whether an object is an obstacle or the ground or not by utilizing an included angle between a laser line beam of the laser radar and a target plane after the laser line beam is projected to the target plane, so that the aim of segmenting the obstacle and ground point cloud is fulfilled.
However, the current included angle parameter for judging whether an object is an obstacle or not or the ground is to manually provide an approximate threshold value number, and since the road condition and the vehicle condition are changed during driving, the method affects the accuracy of algorithm judgment, sometimes a smaller obstacle is judged as the ground, and sometimes a certain ground is judged as the obstacle.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a method and a system for detecting a ground obstacle based on a laser radar, which can solve the problem that in the prior art, the judgment of whether an object is an obstacle or not or the judgment of an included angle parameter of the ground is inaccurate because an approximate threshold value is manually provided.
In order to achieve the above purposes, the technical scheme adopted by the invention is as follows:
in one aspect, the invention provides a method for detecting a ground obstacle based on a laser radar, which comprises the following steps:
acquiring an actual detection value of an object in a target direction of the vehicle;
determining an obstacle judgment threshold value according to the gradient information of the current road and the pitch angle information of the vehicle attitude;
and determining whether the object in the target direction is an obstacle or not according to the actual detection value and the obstacle determination threshold value.
In some optional embodiments, the obtaining an actual detection value of the object in the target direction of the vehicle includes:
arranging a laser radar at a set position of a vehicle;
establishing a whole vehicle coordinate system by taking the central position of the laser radar as a coordinate origin O, the axis of the laser radar as a Z axis, the lateral direction of the vehicle as an X axis and the motion direction of the vehicle as a Y axis;
obtaining coordinates (x) of object in target direction by laser radar 0 ，y 0 ，z 0 )；
According to the coordinates (x) of the object in the target direction 0 ，y 0 ，z 0 ) And determining an included angle between a connecting line of the object in the target direction and the origin and the XOY plane as an actual detection value.
In some alternative embodiments, the object coordinate (x) is based on the target direction 0 ，y 0 ，z 0 ) Determining an included angle between a connecting line of the target direction object and the origin and the XOY plane as an actual detection value, specifically comprising:
according to the formula
Determining the distance r from the projection of the object with the target direction on the XOY plane to the origin O 0 ；
According to the formula z 0 ＝tanθ×r 0 And determining an included angle theta between a connecting line of the target direction object and the origin and the XOY plane as an actual detection value.
In some optional embodiments, the determining the determination threshold according to the gradient information of the current road and the pitch angle information of the vehicle attitude specifically includes:
determining pitch angle information A of the vehicle attitude by using inertial navigation data;
determining gradient information B of the current road by using high-precision map data;
and determining an obstacle judgment threshold according to the absolute value C of the difference value between the pitch angle information A and the gradient information B.
In some optional embodiments, the obtaining an actual detection value of an object in a target direction of the vehicle specifically includes:
arranging a laser radar at a set position of a vehicle;
establishing a whole vehicle coordinate system by taking the central position of the laser radar as a coordinate origin O, the axis of the laser radar as a Z axis, the lateral direction of the vehicle as an X axis and the motion direction of the vehicle as a Y axis;
obtaining coordinates (x) of object in target direction by laser radar 1 ，y 1 ，z 1 )；
According to the Z-coordinate Z of the object in the target direction 1 As an actual detection value.
In some optional embodiments, the determining the determination threshold according to the gradient information of the current road and the pitch angle information of the vehicle attitude specifically includes:
determining pitch angle information A of the vehicle attitude by using inertial navigation data;
determining gradient information B of the current road by using high-precision map data;
determining a threshold included angle alpha according to an absolute value C of a difference value between the pitch angle information A and the gradient information B;
and determining the height threshold of the obstacle as an obstacle judgment threshold according to the threshold included angle alpha.
In some optional embodiments, the determining the height of the obstacle threshold as the obstacle determination threshold according to the obstacle threshold included angle α specifically includes:
according to the formula
Determining the distance r between the object with the target direction and the origin O projected on the XOY plane 1 ；
According to the formula H = tan α × r 1 And determining the height threshold of the obstacle as an obstacle judgment threshold.
In some optional embodiments, when it is determined that the object in the target direction is the ground, and it is determined whether the next target object in the same direction is an obstacle, the method includes the following steps:
obtaining coordinates (x) of the next target object by laser radar 2 ，y 2 ，z 2 )；
According to the formula
Determining the distance r of the next target object projected to the origin O on the XOY plane 2 ；
According to the formula Δ H = tan α × (r) 2 -r 1 ) Determining a height change judgment threshold value according to the condition that the height is changed by delta z = z 2 -z 1 Determining a detection height variation value;
and when the delta H is larger than the delta z, the next target object is the ground, and when the delta H is smaller than or equal to the delta z, the next target object is the obstacle.
In another aspect, the present invention further provides a system for detecting a ground obstacle based on a laser radar, including:
the threshold value calculation module is used for determining an obstacle judgment threshold value according to the gradient information of the current road and the pitch angle information of the vehicle attitude;
an actual value detection module for acquiring an actual detection value of an object in a target direction of the vehicle;
and the judging module is used for determining whether the object in the target direction is the obstacle according to the actual detection value and the obstacle judging threshold value.
In some optional embodiments, the threshold calculation module comprises:
the pitch angle acquisition unit is used for determining pitch angle information A of the vehicle attitude by using inertial navigation data;
the gradient acquisition unit is used for determining gradient information B of the current road by using the high-precision map data;
and the calculating unit is used for determining the obstacle judgment threshold according to the absolute value C of the difference value of the pitch angle information A and the gradient information B.
Compared with the prior art, the invention has the advantages that: when the method for detecting the ground obstacle based on the laser radar is adopted, the obstacle judgment threshold value is determined according to the gradient information of the current road and the pitch angle information of the vehicle attitude, and when the actual detection value is greater than or equal to the obstacle judgment threshold value, the object in the target direction is determined to be the obstacle; when the actual detection value is smaller than the obstacle determination threshold value, it is determined that the target-direction object is not an obstacle. The method ensures that the barrier judgment threshold value is changed in real time at any time according to the vehicle condition and the road condition, is not only accurate, but also can dynamically adapt to the vehicle condition and the road condition, thereby improving the result of the algorithm and ensuring that the ground and the barrier are more accurately segmented.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a flow chart of a method for detecting ground obstacles based on lidar in an embodiment of the present invention;
FIG. 2 is a schematic diagram of the projection of the object coordinates of the target direction onto the XOY plane according to the embodiment of the invention;
FIG. 3 is a schematic vertical cross-sectional view of a lidar point cloud assuming a ray in an embodiment of the invention;
FIG. 4 is a schematic vertical cross-sectional view of a lidar point cloud assuming two rays in an embodiment of the invention;
FIG. 5 is a diagram illustrating a system for lidar-based detection of ground obstacles in an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application without making creative efforts shall fall within the protection scope of the present application.
Embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.
Implement one
As shown in fig. 1, the present invention provides a method for detecting a ground obstacle based on a laser radar, comprising the steps of:
s1: acquiring an actual detection value of an object in a target direction of the vehicle;
s2: determining an obstacle judgment threshold value according to the gradient information of the current road and the pitch angle information of the vehicle attitude;
s3: and determining whether the object in the target direction is an obstacle or not according to the actual detection value and the obstacle determination threshold value.
When the method for detecting the ground obstacle based on the laser radar is adopted, the obstacle judgment threshold value is determined according to the gradient information of the current road and the pitch angle information of the vehicle attitude, and when the actual detection value is greater than or equal to the obstacle judgment threshold value, the object in the target direction is determined to be the obstacle; when the actual detection value is smaller than the obstacle determination threshold value, it is determined that the target-direction object is not an obstacle. The method ensures that the barrier judgment threshold value is changed in real time at any time according to the vehicle condition and the road condition, is not only accurate, but also can dynamically adapt to the vehicle condition and the road condition, thereby improving the result of the algorithm and ensuring that the ground and the barrier are more accurately segmented.
In this embodiment, the steps S1 and S2 are not in backward order, and are generally performed simultaneously.
Carry out two
On the basis of the first embodiment, the actual detection value of the object in the target direction of the vehicle is acquired:
s11: arranging a laser radar at a set position of a vehicle;
s12: establishing a coordinate system of the whole vehicle by taking the central position of the laser radar as a coordinate origin O, the axis of the laser radar as a Z axis, the lateral direction of the vehicle as an X axis and the motion direction of the vehicle as a Y axis;
s13: obtaining coordinates (x) of object in target direction by laser radar 0 ，y 0 ，z 0 )；
S14: object coordinates (x) according to target direction 0 ，y 0 ，z 0 ) Determining the line connecting the target direction object and the origin and XOYAnd taking the included angle of the plane as an actual detection value.
In this embodiment, laser radar sets up in the top intermediate position of vehicle or the middle part position of locomotive, establishes the coordinate system, can send out detection signal to 360 degrees, obtains the cloud of the target direction object, coordinate point promptly with the form of ray. To calculate the angle of each point to the plane in the positive x-direction of the vehicle, the 360 degrees are differentiated into equal parts, each at an angle of a degrees, and the approximation of this differentiated part can be regarded as a ray. So a ray at this angle can detect the object coordinate (x) in that direction 0 ，y 0 ，z 0 ). The included angle between the connecting line of the object in the target direction and the origin and the XOY plane can be obtained through the detected coordinates.
In particular, according to the formula
Determining the distance r from the projection of the object with the target direction on the XOY plane to the origin O 0 (ii) a According to the formula z 0 ＝tanθ×r 0 And determining an included angle theta between a connecting line of the target direction object and the origin and the XOY plane as an actual detection value.
As shown in FIG. 2, the three-dimensional space of coordinates (x, y, z) is reduced to the (x, y) plane, i.e., the coordinates (x, y) of the object in the target direction in this example 0 ，y 0 ，z 0 ) Projected onto a plane of z =0 (XOY plane).
By the formula
The distance r of the object projected on the XOY plane to the origin O in the target direction can be determined 0 。
Fig. 3 shows a vertical cross section of a lidar point cloud assuming a ray, where a solid line is the ground, a dotted line represents a set obstacle determination threshold, and a dot-dash line is a determination threshold β set in the prior art. The radar is distributed with a plurality of lasers from bottom to top, and emits radial laser beams as shown in fig. 3, and the laser rays are represented as a ray on flat ground. According to
Namely, the angle θ between the line connecting the target direction object and the origin and the XOY plane can be obtained and used as the actual detection value.
In some optional embodiments, the determining the determination threshold according to the gradient information of the current road and the pitch angle information of the vehicle attitude specifically includes:
s21: determining pitch angle information A of the vehicle attitude by using inertial navigation data;
s22: determining gradient information B of the current road by using high-precision map data;
s23: and determining an obstacle judgment threshold according to the absolute value C of the difference value between the pitch angle information A and the gradient information B.
In this example, the obstacle determination threshold in the prior art is a manually set threshold, and if a constant value is given by manual judgment according to experience, when the given value is too small, a part of the ground is recognized as an obstacle; if the value is too large, certain obstacles will be identified as ground. The other problem is that the ground is not a constant plane in reality, the ground is fluctuated, an included angle between the ground and a coordinate system of the whole vehicle is changed at any time, a manual threshold value is constant, the ground cannot be dynamically adapted to the change, and the segmentation result of the ground and the barrier can be influenced.
In this example, the obstacle determination threshold value is an angle threshold value, and the detection value is also an angle value. The pitch angle information A and the gradient information B are consistent with the direction of a target, an obstacle judgment threshold value is set according to an absolute value C of a difference value of the pitch angle information A and the gradient information B, and the C is a value of an included angle C between a finished automobile coordinate system and a ground line and is more accordant with the actual situation between the ground and the automobile. In practical use, a safety value or an error value can be set on the basis of the value C, considering that a certain error possibly exists in the detection instrument. And under the condition that the pitch angle information A and the gradient information B are accurate enough, the absolute value C of the difference value between the pitch angle information A and the gradient information B is the obstacle judgment threshold value. The scheme enables the vehicle to dynamically adapt to the vehicle condition and the road condition for setting when the obstacle judgment threshold value is set, so that the algorithm result is improved, and the ground and the obstacle are more accurately segmented.
As shown in fig. 3, with the determination threshold β in the prior art, at this time, an angle θ between a connecting line of the target direction object and the origin and the XOY plane is smaller than θ but the target object is a slope, the slope is recognized as an obstacle, and it is obvious that the recognition is not accurate.
Implementation III
On the basis of the first embodiment, the acquiring an actual detection value of an object in a target direction of a vehicle specifically includes the following steps:
s11: arranging a laser radar at a set position of a vehicle;
s12: establishing a coordinate system of the whole vehicle by taking the central position of the laser radar as a coordinate origin O, the axis of the laser radar as a Z axis, the lateral direction of the vehicle as an X axis and the motion direction of the vehicle as a Y axis;
s13: obtaining coordinates (x) of an object in a target direction by a laser radar 1 ，y 1 ，z 1 )；
S14: according to the Z-coordinate Z of the object in the target direction 1 As an actual detection value.
In some optional embodiments, the determining the determination threshold according to the gradient information of the current road and the pitch angle information of the vehicle attitude specifically includes:
s21: determining pitch angle information A of the vehicle attitude by using inertial navigation data;
s22: determining gradient information B of the current road by using high-precision map data;
s23: determining a threshold included angle alpha according to an absolute value C of a difference value between the pitch angle information A and the gradient information B;
s24: and determining the height threshold of the obstacle as an obstacle judgment threshold according to the threshold included angle alpha.
Specifically, determining the height of the obstacle threshold as the obstacle judgment threshold according to the obstacle threshold included angle α specifically includes:
according to the formula
Determining the projection of a target directional object on the XOY planeDistance r of shadow to origin O 1 ；
According to the formula H = tan α × r 1 And determining the height threshold of the obstacle as an obstacle judgment threshold.
In this example, the obstacle determination threshold value is a height threshold value, and the detection value is also a height value. The pitch angle information A and the gradient information B are consistent with the direction of a target, a threshold included angle alpha is determined according to an absolute value C of a difference value of the pitch angle information A and the gradient information B, a certain error possibly existing in a detection instrument is considered in practical use, the threshold included angle alpha can be determined by setting a safety value or an error value on the basis of the value C, C = alpha is obtained under the condition that the pitch angle information A and the gradient information B are accurate enough, then the obstacle determination threshold is set according to the height obtained by the threshold included angle alpha, and the height threshold can better accord with the practical situation between the ground and a vehicle. The setting can dynamically adapt to the vehicle condition and the road condition when the vehicle sets the obstacle judgment threshold value, so that the algorithm result is improved, and the ground and the obstacle are more accurately segmented.
Fig. 4 is a vertical cross-section of a lidar point cloud assuming a ray, as shown in fig. 3, and in some alternative embodiments, when it is determined that an object in a target direction is the ground, and it is determined whether a next target object in the same direction is an obstacle, the method includes the following steps:
obtaining coordinates (x) of the next target object by laser radar 2 ，y 2 ，z 2 )；
According to the formula
Determining the distance r of the next target object projected to the origin O on the XOY plane 2 ；
According to the formula Δ H = tan α × (r) 2 -r 1 ) Determining a height change judgment threshold value according to the condition that the height is changed by delta z = z 2 -z 1 Determining a detection height variation value;
and when the delta H is larger than the delta z, the next target object is the ground, and when the delta H is smaller than or equal to the delta z, the next target object is the obstacle.
The scheme provides a method for judging whether an object in the target direction is an obstacle, and similarly, whether the object in the target direction is the obstacle can be judged through a threshold included angle alpha determined by an absolute value C of a difference value between pitch angle information A and gradient information B. It can be seen that when there is no previous information, the global threshold is used for determination, and when the previous information is known, the local threshold is used for determination.
As shown in fig. 5, the present invention also provides a system for detecting a ground obstacle based on a lidar, comprising: the device comprises a threshold value calculation module, an actual value detection module and a judgment module. The threshold calculation module is used for determining an obstacle judgment threshold according to the gradient information of the current road and the pitch angle information of the vehicle attitude; the actual value detection module is used for acquiring an actual detection value of an object in the target direction of the vehicle; the judging module is used for determining whether the object in the target direction is the obstacle according to the actual detection value and the obstacle judging threshold value.
In some optional embodiments, the threshold calculation module comprises: pitch angle acquisition unit, pitch angle acquisition unit and computational element. The pitch angle acquisition unit is used for determining pitch angle information A of the vehicle attitude by using inertial navigation data; the gradient acquisition unit is used for determining gradient information B of the current road by using the high-precision map data; the calculation unit is used for determining an obstacle judgment threshold according to the absolute value C of the difference value between the pitch angle information A and the gradient information B.
In this embodiment, a pitch angle acquisition unit in the threshold calculation module includes an inertial navigation device, a gradient acquisition unit includes a high-precision map, and a calculation unit is a microprocessor MPU; the actual value detection module comprises a laser radar; the judgment module is a laser radar processor lidar ECU, inertial navigation attitude data and road gradient information of a high-precision map, and after the two data are acquired through a can signal, an obstacle judgment threshold value can be obtained.
The obstacle determination threshold value is not set by a human being. But the judgment is carried out according to the slope information of the current road in the high-precision map and the pitch angle information of the vehicle posture recorded in the inertial navigation in the vehicle. The high-precision map can collect all road surface semantic information and also comprises road surface gradient information, and the information is generally regional, but is enough to accurately reflect the gradient change of the road surface. The inertial navigation sensor carried in the vehicle can record the driving posture and the accurate speed of the vehicle, and can record the deviation angle of the vehicle in the three-dimensional direction by means of a built-in gyroscope, and certainly also comprises the pitch angle on a vertical plane.
Compared with the traditional method that the judgment condition is set manually according to experience, the scheme enables the judgment threshold to be changed in real time according to the condition of the vehicle and the condition of the road at any time, is not only accurate, but also can dynamically adapt to the vehicle condition and the road condition, so that the result of the algorithm is improved, and the ground and the obstacles are more accurately segmented.
In the description of the present application, it should be noted that the terms "upper", "lower", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, which are merely for convenience of describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be configured and operated in a specific orientation, and thus, should not be construed as limiting the present application. Unless expressly stated or limited otherwise, the terms "mounted," "connected," and "connected" are intended to be inclusive and mean, for example, that they may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
It is noted that, in the present application, relational terms such as "first" and "second", and the like, are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising one of 8230; \8230;" 8230; "does not exclude the presence of additional like elements in a process, method, article, or apparatus that comprises the element.
The previous description is only an example of the present application, and is provided to enable any person skilled in the art to understand or implement the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (7)
1. A method for detecting ground obstacles based on laser radar is characterized by comprising the following steps:
acquiring an actual detection value of an object in a target direction of the vehicle;
determining an obstacle judgment threshold value according to the gradient information of the current road and the pitch angle information of the vehicle attitude; the method specifically comprises the following steps:
determining pitch angle information A of the vehicle attitude by using inertial navigation data;
determining gradient information B of the current road by using high-precision map data;
determining a threshold included angle alpha according to an absolute value C of a difference value between the pitch angle information A and the gradient information B;
determining a height threshold of the obstacle as an obstacle judgment threshold according to the threshold included angle alpha;
and determining whether the object in the target direction is an obstacle or not according to the actual detection value and the obstacle determination threshold value.
2. The lidar-based method for detecting ground obstacles of claim 1, wherein said obtaining an actual sensed value of an object in the direction of the vehicle's target comprises:
arranging a laser radar at a set position of a vehicle;
establishing a coordinate system of the whole vehicle by taking the central position of the laser radar as a coordinate origin O, the axis of the laser radar as a Z axis, the lateral direction of the vehicle as an X axis and the motion direction of the vehicle as a Y axis;
obtaining coordinates (x) of an object in a target direction by a laser radar 0 ，y 0 ，z 0 )；
Object coordinates (x) according to target direction 0 ，y 0 ，z 0 ) And determining an included angle between a connecting line of the object in the target direction and the origin and the XOY plane as an actual detection value.
3. The lidar-based method for detecting ground obstacles of claim 2, wherein the object's coordinates (x) according to target direction 0 ，y 0 ，z 0 ) Determining an included angle between a connecting line of the target direction object and the origin and the XOY plane as an actual detection value, specifically comprising:
according to the formula
Determining the distance r of the projection of the object in the target direction on the XOY plane to the origin O 0 ；
According to the formula z 0 ＝tanθ×r 0 And determining an included angle theta between a connecting line of the target direction object and the origin and the XOY plane as an actual detection value.
4. The method for detecting ground obstacles based on lidar according to claim 1, wherein the obtaining of the actual detection value of the object in the target direction of the vehicle specifically comprises:
arranging a laser radar at a set position of a vehicle;
establishing a coordinate system of the whole vehicle by taking the central position of the laser radar as a coordinate origin O, the axis of the laser radar as a Z axis, the lateral direction of the vehicle as an X axis and the motion direction of the vehicle as a Y axis;
by laser radarAcquiring the coordinates (x) of the object in the target direction 1 ，y 1 ，z 1 )；
According to the Z-coordinate Z of the object in the target direction 1 As an actual detection value.
5. The method for detecting ground obstacles based on lidar according to claim 4, wherein the determining the obstacle threshold height as the obstacle determination threshold according to the obstacle threshold included angle α specifically comprises:
according to the formula
Determining the distance r between the object with the target direction and the origin O projected on the XOY plane 1 ；
According to the formula H = tan α × r 1 And determining the height threshold of the obstacle as an obstacle judgment threshold.
6. The method for detecting a ground obstacle based on lidar according to claim 5, wherein when it is determined that the object in the target direction is the ground, and it is determined whether the next target object in the same direction is an obstacle, the method comprises the steps of:
obtaining coordinates (x) of the next target object by laser radar 2 ，y 2 ，z 2 )；
According to the formula
Determining the distance r of the next target object projected to the origin O on the XOY plane 2 ；
According to the formula Δ H = tan α × (r) 2 -r 1 ) Determining a height change judgment threshold value according to the condition that the height is changed by delta z = z 2 -z 1 Determining a detection height change value;
and when the delta H is larger than the delta z, the next target object is the ground, and when the delta H is smaller than or equal to the delta z, the next target object is the obstacle.
7. A system for detecting ground obstacles based on lidar, comprising:
the threshold value calculation module is used for determining an obstacle judgment threshold value according to the gradient information of the current road and the pitch angle information of the vehicle attitude; the threshold calculation module comprises:
the pitch angle acquisition unit is used for determining pitch angle information A of the vehicle attitude by using inertial navigation data;
the gradient acquisition unit is used for determining gradient information B of the current road by utilizing the high-precision map data;
the calculation unit is used for determining a threshold included angle alpha according to an absolute value C of a difference value between the pitch angle information A and the gradient information B; determining a height threshold of the obstacle as an obstacle judgment threshold according to the threshold included angle alpha;
an actual value detection module for acquiring an actual detection value of a vehicle target direction object;
and the judging module is used for determining whether the object in the target direction is the obstacle according to the actual detection value and the obstacle judging threshold value.
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| JP2003065740A (en) * | 2001-08-27 | 2003-03-05 | Nissan Motor Co Ltd | Device for determining slope of forward road |
| CN104950313A (en) * | 2015-06-11 | 2015-09-30 | 同济大学 | Road-surface abstraction and road gradient recognition method |
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| CN111665524A (en) * | 2020-04-29 | 2020-09-15 | 武汉光庭科技有限公司 | Method and system for ground rejection by utilizing multi-line laser radar |
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