CN113158864A - Method and device for determining included angle between truck head and trailer - Google Patents
Method and device for determining included angle between truck head and trailer Download PDFInfo
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Abstract
The application provides a method and a device for determining an included angle between a truck head and a trailer. The method comprises the steps of obtaining first point cloud data obtained by scanning of a laser radar, wherein the laser radar is installed on a truck head; screening second point cloud data from the first point cloud data, wherein the second point cloud data is point cloud data in a sector area including the boundary of the trailer; screening out third point cloud data from the second point cloud data, wherein the third point cloud data are point cloud data which are hit on the boundary of the trailer; fitting a trailer boundary line according to the third point cloud data; and determining an included angle between the truck head and the trailer according to the boundary line of the trailer and the central axis of the truck head. According to the scheme, the included angle between the truck head and the trailer is accurately determined, the trailer boundary line is fitted from the third point cloud data, compared with the scheme that the trailer boundary line is fitted directly from the first point cloud data, the number of point cloud data needing to be processed is greatly reduced, and the extraction speed of the trailer boundary line is accelerated.
Description
Technical Field
The application relates to the technical field of automatic driving, in particular to a method and a device for determining an included angle between a truck head and a trailer, a truck, a computer-readable storage medium, a processor and electronic equipment.
Background
Automotive technology has begun to be applied in the field of trucks. In the case of a truck, the truck comprises a truck head and a trailer, and the truck head and the trailer are connected through a saddle on the truck head and a towing pin on the trailer, the saddle can rotate around the towing pin, and the truck head drives and tows the trailer to run.
In the running process of the truck, under the working conditions of turning, turning around, changing lanes, parking and the like, the trailer has a certain steering angle relative to the head of the truck. The steering angle is critical to the calibration of the autopilot sensor and the decision of path planning.
In the prior art, a method for calculating an included angle between a truck head and a trailer by using laser point cloud is adopted, the detected trailer angle is low in accuracy, and the influence of extreme weather (such as rainy days, snowy days and the like) on the trailer angle (equivalent to a steering angle) cannot be eliminated.
Disclosure of Invention
The present application mainly aims to provide a method and a device for determining an angle between a truck head and a trailer, a truck, a computer-readable storage medium, a processor, and an electronic device, so as to solve the problem that in the prior art, a method for calculating an angle between a truck head and a trailer by using a laser point cloud, the detected trailer angle has low accuracy.
In order to achieve the above object, according to one aspect of the present application, there is provided a method for determining an angle between a truck head and a trailer, including: acquiring first point cloud data obtained by scanning of a laser radar, wherein the laser radar is installed on a truck head; screening second point cloud data from the first point cloud data, wherein the second point cloud data is point cloud data in a sector area including the boundary of the trailer; screening out third point cloud data from the second point cloud data, wherein the third point cloud data are point cloud data which are hit on the boundary of the trailer; fitting a trailer boundary line according to the third point cloud data; and determining an included angle between the truck head and the trailer according to the trailer boundary line and the truck head central axis.
Further, fitting out a trailer boundary line according to the third point cloud data includes: extracting a predetermined number of point clouds from the third point cloud data by adopting histogram sampling; processing the point clouds in the preset number by adopting a Hough voting algorithm to obtain candidate point clouds; and fitting the trailer boundary line according to the candidate point cloud.
Further, extracting a predetermined number of point clouds from the third point cloud data by using histogram sampling, including: projecting the third point cloud data to a two-dimensional plane to obtain a beam of point set; dividing the region where the point set is located into a plurality of rectangular subregions which are sequentially arranged by adopting the histogram sampling; establishing a two-dimensional coordinate system, wherein the two-dimensional coordinate system comprises a first coordinate axis and a second coordinate axis, and the origin of the two-dimensional coordinate system is a point on the central axis of the truck head; and extracting a point corresponding to the minimum value of the second coordinate axis in each rectangular sub-region or extracting a point corresponding to the maximum value of the second coordinate axis in each rectangular sub-region based on the two-dimensional coordinate system.
Further, the method further comprises: acquiring a historical included angle, wherein the historical included angle is an included angle acquired before the current moment; and predicting the current included angle by adopting a Hough voting algorithm according to the historical included angle.
Further, the method further comprises: and under the condition that an effective included angle cannot be obtained at the current moment and at least one effective included angle is obtained according to the first three frames of point cloud data, predicting the current included angle by adopting a linear Kalman filtering algorithm, wherein the difference value between the effective included angle and the real included angle is smaller than a preset value.
Further, the laser radar comprises a left laser radar and a right laser radar, the left laser radar is installed on the left side of the truck head, and the right laser radar is installed on the right side of the truck head.
Further, the distance between the transmitter of the left laser radar and the left side boundary of the truck head in the horizontal direction is larger than a preset value, and the distance between the transmitter of the right laser radar and the right side boundary of the truck head in the horizontal direction is larger than the preset value.
Further, there are a plurality of left lidar and a plurality of right lidar.
According to another aspect of the present application, there is provided a device for determining an angle between a truck head and a trailer, comprising: the system comprises a first acquisition unit, a second acquisition unit and a control unit, wherein the first acquisition unit is used for acquiring first point cloud data obtained by scanning of a laser radar, and the laser radar is arranged on a truck head; the first screening unit is used for screening second point cloud data from the first point cloud data, wherein the second point cloud data is point cloud data in a sector area including a trailer boundary; the second screening unit is used for screening third point cloud data from the second point cloud data, wherein the third point cloud data is point cloud data which is played on the boundary of the trailer; the fitting unit is used for fitting a trailer boundary line according to the third point cloud data; and the determining unit is used for determining an included angle between the truck head and the trailer according to the trailer boundary line and the truck head central axis.
According to yet another aspect of the application, a truck is provided comprising a truck head, a trailer and means for determining the angle between the truck head and the trailer.
Further, the truck also comprises a storage device, and the storage device is used for storing point cloud data obtained by scanning of the laser radar.
Further, the truck further comprises a display device for displaying the included angle.
According to a further aspect of the present application, a computer-readable storage medium is provided, which comprises a stored program, wherein the program when executed controls an apparatus in which the computer-readable storage medium is located to perform any one of the methods for determining an angle between a truck head and a trailer.
According to a further aspect of the application, a processor is provided for running a program, wherein the program is run to perform any one of the methods for determining an angle between a truck head and a trailer.
According to still another aspect of the present application, there is provided an electronic device including: one or more processors, memory, a display device, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs including instructions for performing any of the methods of determining an angle between a truck head and a trailer.
By applying the technical scheme, the second point cloud data are screened out from the first point cloud data, the third point cloud data are screened out from the second point cloud data, the third point cloud data are the point cloud data on the trailer boundary, so that a relatively accurate trailer boundary line can be fitted out from the third point cloud data, then the accurate determination of the included angle between the trailer head and the trailer is realized according to the trailer boundary line and the axle line of the trailer head, the trailer boundary line is fitted out from the third point cloud data, compared with the scheme of directly fitting the trailer boundary line from the first point cloud data, the quantity of the point cloud data needing to be processed is greatly reduced, and the extraction speed of the trailer boundary line is accelerated.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application. In the drawings:
fig. 1 shows a flow chart of a method for determining an angle between a truck head and a trailer according to an embodiment of the present application;
FIG. 2 shows a schematic diagram of scan filtering according to an embodiment of the present application;
FIG. 3 shows a schematic diagram of point filtering according to an embodiment of the present application;
FIG. 4 illustrates a schematic diagram of processing third point cloud data using histogram sampling according to an embodiment of the present application;
FIG. 5 shows a schematic view of an installation location of a lidar according to an embodiment of the application;
fig. 6 shows a schematic diagram of a device for determining the angle between the truck head and the trailer according to an embodiment of the application.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
In order to make the technical solutions better understood by those skilled in the art, 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 only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the application described herein may be used. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
It will be understood that when an element such as a layer, film, region, or substrate is referred to as being "on" another element, it can be directly on the other element or intervening elements may also be present. Also, in the specification and claims, when an element is described as being "connected" to another element, the element may be "directly connected" to the other element or "connected" to the other element through a third element.
As described in the background art, in the method for calculating the angle between the truck head and the trailer by using the laser point cloud in the prior art, the accuracy of the detected trailer angle is low, and in order to solve the problem that the accuracy of the detected trailer angle is low in the method for calculating the angle between the truck head and the trailer by using the laser point cloud as described above, embodiments of the present application provide a method for determining the angle between the truck head and the trailer, a determination apparatus, a truck, a computer-readable storage medium, a processor, and an electronic device.
According to an embodiment of the application, a method for determining an included angle between a truck head and a trailer is provided.
Fig. 1 is a flow chart of a method of determining an angle between a truck head and a trailer according to an embodiment of the present application. As shown in fig. 1, the method comprises the steps of:
step S101, acquiring first point cloud data obtained by scanning of a laser radar, wherein the laser radar is installed on a truck head;
step S102, screening out second point cloud data from the first point cloud data, wherein the second point cloud data is point cloud data in a sector area including a trailer boundary;
step S103, screening out third point cloud data from the second point cloud data, wherein the third point cloud data are point cloud data on the boundary of the trailer;
step S104, fitting a trailer boundary line according to the third point cloud data;
and S105, determining an included angle between the truck head and the trailer according to the trailer boundary line and the truck head central axis.
Specifically, the trailer boundary may be a left side boundary or a right side boundary, and fig. 2 shows point cloud data within a sector area including the left side boundary of the trailer.
Specifically, a laser radar installed on the head of the truck transmits radar waves to the trailer, and the laser radar receives reflected waves after the radar waves are transmitted by the trailer. In order to obtain more first point cloud data, the laser radar can be installed at the tail of the truck head.
Specifically, the second point cloud data is screened from the first point cloud data in a scanning filtering manner, as shown in fig. 2, fig. 2(a) is the first point cloud data (i.e., original point cloud data), fig. 2(b) is the second point cloud data obtained after scanning filtering, and it can be clearly seen from fig. 2(b) that the second point cloud data is the point cloud data in a sector area including the trailer boundary.
Specifically, a specific implementation manner of screening out the second point cloud data from the first point cloud data in a scanning filtering manner includes: the maximum included angle between the truck head and the trailer is not more than 90 degrees, and the angle between the truck head and the trailer obtained at the last moment is utilized, and meanwhile, according to the preset maximum change angle of the trailer at two moments of the truck, the first point cloud data which cannot contain the trailer is filtered, so that the calculation amount is reduced. Finally, a small-angle sector area (namely, an area formed by the second point cloud data) is reserved.
Specifically, third point cloud data is screened out from the second point cloud data in a point filtering manner, as shown in fig. 3, the third point cloud data is point cloud data which is hit on a trailer boundary, fig. 3(a) is second point cloud data which is obtained after scanning and filtering, fig. 3(b) is a top view of the third point cloud data which is obtained after point filtering, and fig. 3(c) is a side view of the third point cloud data which is obtained after point filtering. This scheme adopts the mode of scanning filtering and point filtering to get rid of the noise point, can eliminate rainy day, have the influence of dust etc. to detecting the trailer angle to promote the rate of accuracy. Of course, the influence of raining, dust and the like on the detection of the angle of the trailer is further eliminated by combining the scanning filtering, the point filtering and the Hough voting.
Specifically, the specific implementation manner of screening the third point cloud data from the second point cloud data through the point filtering manner is that according to the relative poses of the vehicle and the sensor and the angle detected at the previous moment, points with lower height, higher height or farther height, points in front of the truck and points in the trailer can be filtered, useless points are further reduced through the point filtering, and the third point cloud data are obtained.
In the scheme, the second point cloud data are screened out from the first point cloud data, the third point cloud data are screened out from the second point cloud data, the third point cloud data are point cloud data on the trailer boundary, so that a more accurate trailer boundary line can be fitted out from the third point cloud data, then the included angle between the trailer head and the trailer is accurately determined according to the trailer boundary line and the axle line of the trailer head, the trailer boundary line is fitted out from the third point cloud data, compared with the scheme of directly fitting the trailer boundary line from the first point cloud data, the number of the point cloud data needing to be processed is greatly reduced, and the extraction speed of the trailer boundary line is accelerated.
It should be noted that the steps illustrated in the flowcharts of the figures may be performed in a computer system such as a set of computer-executable instructions and that, although a logical order is illustrated in the flowcharts, in some cases, the steps illustrated or described may be performed in an order different than presented herein.
In an embodiment of the present application, fitting out a trailer boundary line according to the third point cloud data includes: extracting a predetermined number of point clouds from the third point cloud data by adopting histogram sampling; processing the point clouds in the preset number by adopting a Hough voting algorithm to obtain candidate point clouds; and fitting the trailer boundary line according to the candidate point cloud. As can be seen from fig. 3(c), the number of data points in the third point cloud data is large, and the trailer boundary line cannot be directly fitted, a predetermined number of point clouds are extracted from the third point cloud data through histogram sampling, then the predetermined number of point clouds are processed by using a hough voting algorithm to obtain candidate point clouds, and a more accurate trailer boundary line can be fitted according to the candidate point clouds.
In an embodiment of the present application, extracting a predetermined number of point clouds from the third point cloud data by using histogram sampling includes: as shown in fig. 4, projecting the third point cloud data to a two-dimensional plane to obtain a bundle of point sets; dividing the region where the point set is located into a plurality of rectangular subregions which are sequentially arranged by adopting the histogram sampling; establishing a two-dimensional coordinate system, wherein the two-dimensional coordinate system comprises a first coordinate axis and a second coordinate axis, and the origin of the two-dimensional coordinate system is a point on the central axis of the truck head; based on the two-dimensional coordinate system, a point corresponding to the minimum value of the second coordinate axis in each of the rectangular sub-regions (corresponding to the left-side boundary) is extracted, or a point corresponding to the maximum value of the second coordinate axis in each of the rectangular sub-regions (corresponding to the right-side boundary, not shown in fig. 4) is extracted. As can be seen from fig. 4, the point cloud data after histogram sampling processing can be approximately connected into a straight line, candidate point clouds are selected by a hough voting algorithm, and an accurate trailer boundary line can be fitted by using the candidate point clouds, so that an included angle between the truck head and the trailer is accurately determined.
In a specific implementation manner of the application, candidate point clouds are selected through a Hough voting algorithm, and a specific implementation manner that accurate trailer boundary lines can be fitted by using the candidate point clouds is to fit a linear equation to the reserved candidate point clouds in a nonlinear least square manner.
In an embodiment of the present application, the method further includes: acquiring a historical included angle, wherein the historical included angle is an included angle acquired before the current moment; and predicting the current included angle by adopting a Hough voting algorithm according to the historical included angle. Of course, the current angle may also be predicted according to the angle acquired before the current time, so as to reduce the scope of the hough voting.
According to the historical included angle, a concrete implementation mode of predicting the current included angle by adopting a Hough voting algorithm is that according to the hypothesis that angles at two moments before and after are not changed greatly, the angles around the detected angle at the last moment are sampled, then a straight line (in a polar coordinate mode) can be determined for each angle and the half width of a trailer, then the distance from a point cloud to the straight lines is calculated in sequence, the point cloud is considered to belong to the straight line when the distance is smaller than a certain distance, then the straight lines containing the most point clouds are counted, and the angle corresponding to the straight line is the best angle obtained by Hough voting.
In an embodiment of the present application, the method further includes: and under the condition that an effective included angle cannot be obtained at the current moment and at least one effective included angle is obtained according to the first three frames of point cloud data, predicting the current included angle by adopting a linear Kalman filtering algorithm, wherein the difference value between the effective included angle and the real included angle is smaller than a preset value. Generally speaking, the real included angle is within a predetermined range, and if the calculated included angle is not within the predetermined range, it is indicated that the included angle is an invalid included angle, specifically, a specific implementation manner for predicting the current included angle by using a linear kalman filter algorithm is as follows: and updating the internal state of the linear Kalman filter once every time a new included angle is acquired, and if an effective included angle is not acquired currently, the linear Kalman filter infers the current included angle by using the previously stored included angle, the angular speed and the time change information before and after the angular speed. (specifically, the current angle is the last time angle + angular velocity × time).
In an embodiment of this application, above-mentioned laser radar includes left laser radar and right laser radar, and above-mentioned left laser radar installs the left side at above-mentioned truck locomotive, and the right side at above-mentioned truck locomotive is installed to above-mentioned right laser radar.
In an embodiment of the present application, a distance between the transmitter of the left laser radar and the left boundary of the truck head in the horizontal direction is greater than a predetermined value, as shown in fig. 5, a distance between the transmitter of the right laser radar and the right boundary of the truck head in the horizontal direction is greater than the predetermined value, so that a radar wave emitted by the right laser radar can be transmitted to a trailer, and further, an included angle can be accurately determined.
In an embodiment of this application, above-mentioned left lidar has a plurality ofly, and above-mentioned right lidar has a plurality ofly, realizes the accurate definite to the contained angle.
The embodiment of the present application further provides a device for determining an included angle between a truck head and a trailer, and it should be noted that the device for determining an included angle between a truck head and a trailer according to the embodiment of the present application may be used to execute the method for determining an included angle between a truck head and a trailer according to the embodiment of the present application. The following describes a device for determining an included angle between a truck head and a trailer according to an embodiment of the present application.
Fig. 6 is a schematic diagram of a device for determining an angle between a truck head and a trailer according to an embodiment of the present application. As shown in fig. 6, the apparatus includes:
the system comprises a first acquisition unit 10, a second acquisition unit and a control unit, wherein the first acquisition unit is used for acquiring first cloud data obtained by scanning of a laser radar, and the laser radar is arranged on a truck head;
a first screening unit 20, configured to screen second point cloud data from the first point cloud data, where the second point cloud data is point cloud data in a sector area including a trailer boundary;
a second screening unit 30, configured to screen third point cloud data from the second point cloud data, where the third point cloud data is point cloud data hit on a trailer boundary;
the fitting unit 40 is used for fitting a trailer boundary line according to the third point cloud data;
and the determining unit 50 is used for determining an included angle between the truck head and the trailer according to the trailer boundary line and the truck head central axis.
In the scheme, the first screening unit screens out second point cloud data from the first point cloud data, the second screening unit screens out third point cloud data from the second point cloud data, the third point cloud data are point cloud data on the trailer boundary, so that a relatively accurate trailer boundary line can be fitted from the third point cloud data, the determining unit realizes accurate determination of an included angle between the trailer head and the trailer according to the trailer boundary line and the central axis of the trailer head, the trailer boundary line is fitted from the third point cloud data, compared with a scheme of directly fitting the trailer boundary line from the first point cloud data, the quantity of the point cloud data needing to be processed is greatly reduced, and the extraction speed of the trailer boundary line is accelerated.
In an embodiment of the application, the fitting unit includes an extraction module, a processing module, and a fitting module, where the extraction module is configured to extract a predetermined number of point clouds from the third point cloud data by using histogram sampling; the processing module is used for processing the point clouds in the preset number by adopting a Hough voting algorithm to obtain candidate point clouds; and the fitting module is used for fitting the trailer boundary line according to the candidate point cloud. As can be seen from fig. 3(c), the number of data points in the third point cloud data is large, and the trailer boundary line cannot be directly fitted, a predetermined number of point clouds are extracted from the third point cloud data through histogram sampling, then the predetermined number of point clouds are processed by using a hough voting algorithm to obtain candidate point clouds, and a more accurate trailer boundary line can be fitted according to the candidate point clouds.
In an embodiment of the application, the extraction module is further configured to project the cloud data of the third point onto a two-dimensional plane to obtain a bundle of point sets; dividing the region where the point set is located into a plurality of rectangular subregions which are sequentially arranged by adopting the histogram sampling; establishing a two-dimensional coordinate system, wherein the two-dimensional coordinate system comprises a first coordinate axis and a second coordinate axis, and the origin of the two-dimensional coordinate system is a point on the central axis of the truck head; based on the two-dimensional coordinate system, a point corresponding to the minimum value of the second coordinate axis in each of the rectangular sub-regions (corresponding to the left-side boundary) is extracted, or a point corresponding to the maximum value of the second coordinate axis in each of the rectangular sub-regions (corresponding to the right-side boundary, not shown in fig. 4) is extracted. As can be seen from fig. 4, the point cloud data after histogram sampling processing can be approximately connected into a straight line, candidate point clouds are selected by a hough voting algorithm, and an accurate trailer boundary line can be fitted by using the candidate point clouds, so that an included angle between the truck head and the trailer is accurately determined.
In an embodiment of the present application, the apparatus further includes a first obtaining unit and a first predicting unit, where the first obtaining unit is configured to obtain a historical included angle, and the historical included angle is an included angle obtained before a current time; and the first prediction unit is used for predicting the current included angle by adopting a Hough voting algorithm according to the historical included angle. Of course, the current angle may also be predicted according to the angle acquired before the current time, so as to reduce the scope of the hough voting.
In an embodiment of the application, the apparatus further includes a second prediction unit, where the second prediction unit is configured to predict the current included angle by using a linear kalman filter algorithm under a condition that at least one effective included angle cannot be obtained at the current time according to the previous three frames of point cloud data, and a difference between the effective included angle and a real included angle is smaller than a preset value. Generally speaking, the real included angle is within a predetermined range, and if the calculated included angle is not within the predetermined range, it is indicated that the included angle is an invalid included angle, specifically, a specific implementation manner for predicting the current included angle by using a linear kalman filter algorithm is as follows: and updating the internal state of the linear Kalman filter once every time a new included angle is acquired, and if an effective included angle is not acquired currently, the linear Kalman filter infers the current included angle by using the previously stored included angle, the angular speed and the time change information before and after the angular speed. (specifically, the current angle is the last time angle + angular velocity × time).
The device for determining the included angle between the truck head and the trailer comprises a processor and a memory, wherein the first acquiring unit, the first screening unit, the second screening unit, the fitting unit, the determining unit and the like are stored in the memory as program units, and the processor executes the program units stored in the memory to realize corresponding functions.
The processor comprises a kernel, and the kernel calls the corresponding program unit from the memory. The kernel can be set to be one or more than one, and the accurate determination of the included angle between the truck head and the trailer is realized by adjusting the kernel parameters.
The memory may include volatile memory in a computer readable medium, Random Access Memory (RAM) and/or nonvolatile memory such as Read Only Memory (ROM) or flash memory (flash RAM), and the memory includes at least one memory chip.
The embodiment of the invention provides a computer-readable storage medium, which comprises a stored program, wherein when the program runs, a device where the computer-readable storage medium is located is controlled to execute a method for determining an included angle between a head of a truck and a trailer.
The embodiment of the invention provides a processor, which is used for running a program, wherein the program executes a method for determining an included angle between a head of a truck and a trailer when running.
The embodiment of the invention provides a truck, which comprises a truck head, a trailer and a device for determining an included angle between the truck head and the trailer.
In an embodiment of the application, the truck further includes a storage device, and the storage device is used for storing point cloud data obtained by scanning the laser radar.
In an embodiment of the application, the truck further comprises a display device, and the display device is used for displaying the included angle.
An embodiment of the present invention provides an electronic device, including: one or more processors, memory, a display device, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs including instructions for performing any of the above-described methods of determining an angle between a truck head and a trailer.
The embodiment of the invention provides equipment, which comprises a processor, a memory and a program which is stored on the memory and can run on the processor, wherein when the processor executes the program, at least the following steps are realized:
step S101, acquiring first point cloud data obtained by scanning of a laser radar, wherein the laser radar is installed on a truck head;
step S102, screening out second point cloud data from the first point cloud data, wherein the second point cloud data is point cloud data in a sector area including a trailer boundary;
step S103, screening out third point cloud data from the second point cloud data, wherein the third point cloud data are point cloud data on the boundary of the trailer;
step S104, fitting a trailer boundary line according to the third point cloud data;
and S105, determining an included angle between the truck head and the trailer according to the trailer boundary line and the truck head central axis.
The device herein may be a server, a PC, a PAD, a mobile phone, etc.
The present application further provides a computer program product adapted to perform a program of initializing at least the following method steps when executed on a data processing device:
step S101, acquiring first point cloud data obtained by scanning of a laser radar, wherein the laser radar is installed on a truck head;
step S102, screening out second point cloud data from the first point cloud data, wherein the second point cloud data is point cloud data in a sector area including a trailer boundary;
step S103, screening out third point cloud data from the second point cloud data, wherein the third point cloud data are point cloud data on the boundary of the trailer;
step S104, fitting a trailer boundary line according to the third point cloud data;
and S105, determining an included angle between the truck head and the trailer according to the trailer boundary line and the truck head central axis.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that 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 phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.
From the above description, it can be seen that the above-described embodiments of the present application achieve the following technical effects:
1) according to the method for determining the included angle between the truck head and the trailer, second point cloud data are screened out from the first point cloud data, third point cloud data are screened out from the second point cloud data, the third point cloud data are the point cloud data on the trailer boundary, so that a more accurate trailer boundary line can be fitted out from the third point cloud data, then according to the trailer boundary line and the central axis of the truck head, accurate determination of the included angle between the truck head and the trailer is achieved, the trailer boundary line is fitted out from the third point cloud data, compared with a scheme of directly fitting the trailer boundary line from the first point cloud data, the number of the point cloud data needing to be processed is greatly reduced, and the extraction speed of the trailer boundary line is accelerated.
2) The device for determining the included angle between the truck head and the trailer comprises a first screening unit, a second screening unit, a third screening unit, a trailer boundary line and a trailer boundary line, wherein the first screening unit screens out second point cloud data from the first point cloud data, the second screening unit screens out third point cloud data from the second point cloud data, and the third point cloud data are point cloud data on the trailer boundary.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (15)
1. A method for determining an included angle between a truck head and a trailer is characterized by comprising the following steps:
acquiring first point cloud data obtained by scanning of a laser radar, wherein the laser radar is installed on a truck head;
screening second point cloud data from the first point cloud data, wherein the second point cloud data is point cloud data in a sector area including the boundary of the trailer;
screening out third point cloud data from the second point cloud data, wherein the third point cloud data are point cloud data which are hit on the boundary of the trailer;
fitting a trailer boundary line according to the third point cloud data;
and determining an included angle between the truck head and the trailer according to the trailer boundary line and the truck head central axis.
2. The method of determining of claim 1, wherein fitting a trailer boundary line from the third point cloud data comprises:
extracting a predetermined number of point clouds from the third point cloud data by adopting histogram sampling;
processing the point clouds in the preset number by adopting a Hough voting algorithm to obtain candidate point clouds;
and fitting the trailer boundary line according to the candidate point cloud.
3. The method of claim 2, wherein extracting a predetermined number of point clouds from the third point cloud data using histogram sampling comprises:
projecting the third point cloud data to a two-dimensional plane to obtain a beam of point set;
dividing the region where the point set is located into a plurality of rectangular subregions which are sequentially arranged by adopting the histogram sampling;
establishing a two-dimensional coordinate system, wherein the two-dimensional coordinate system comprises a first coordinate axis and a second coordinate axis, and the origin of the two-dimensional coordinate system is a point on the central axis of the truck head;
and extracting a point corresponding to the minimum value of the second coordinate axis in each rectangular sub-region or extracting a point corresponding to the maximum value of the second coordinate axis in each rectangular sub-region based on the two-dimensional coordinate system.
4. The method of determining according to claim 1, further comprising:
acquiring a historical included angle, wherein the historical included angle is an included angle acquired before the current moment;
and predicting the current included angle by adopting a Hough voting algorithm according to the historical included angle.
5. The method of determining according to claim 1, further comprising:
and under the condition that an effective included angle cannot be obtained at the current moment and at least one effective included angle is obtained according to the first three frames of point cloud data, predicting the current included angle by adopting a linear Kalman filtering algorithm, wherein the difference value between the effective included angle and the real included angle is smaller than a preset value.
6. The method of determining according to any one of claims 1 to 5, wherein the lidar comprises a left lidar mounted on a left side of the truck head and a right lidar mounted on a right side of the truck head.
7. The determination method according to claim 6, wherein a distance in a horizontal direction between a transmitter of the left lidar and a left side boundary of the truck head is greater than a predetermined value, and a distance in the horizontal direction between a transmitter of the right lidar and a right side boundary of the truck head is greater than the predetermined value.
8. The method of claim 6, wherein there are a plurality of left lidar and a plurality of right lidar.
9. A device for determining the angle between a truck head and a trailer, comprising:
the system comprises a first acquisition unit, a second acquisition unit and a control unit, wherein the first acquisition unit is used for acquiring first point cloud data obtained by scanning of a laser radar, and the laser radar is arranged on a truck head;
the first screening unit is used for screening second point cloud data from the first point cloud data, wherein the second point cloud data is point cloud data in a sector area including a trailer boundary;
the second screening unit is used for screening third point cloud data from the second point cloud data, wherein the third point cloud data is point cloud data which is played on the boundary of the trailer;
the fitting unit is used for fitting a trailer boundary line according to the third point cloud data;
and the determining unit is used for determining an included angle between the truck head and the trailer according to the trailer boundary line and the truck head central axis.
10. A truck comprising a truck head, a trailer and means for determining the angle between the truck head and the trailer, said means for determining being as claimed in claim 9.
11. The truck of claim 10, further comprising a storage device for storing point cloud data from the lidar scanning.
12. The truck of claim 10, further comprising a display device for displaying the included angle.
13. A computer-readable storage medium, characterized in that the computer-readable storage medium comprises a stored program, wherein the program, when running, controls an apparatus in which the computer-readable storage medium is located to perform the method of determining an angle between a truck head and a trailer according to any one of claims 1 to 8.
14. A processor, characterized in that the processor is adapted to run a program, wherein the program is run to perform the method of determining an angle between a truck head and a trailer according to any one of claims 1 to 8.
15. An electronic device, comprising: one or more processors, a memory, a display device, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs comprising instructions for performing the method of determining the angle between the truck head and the trailer of any of claims 1-8.
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| CN113158864B (en) | 2024-07-05 |
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