The invention discloses an unmanned sweeper active safety method and system based on a three-dimensional grid map, and the method comprises the steps: obtaining laser radar point cloud data information in real time, and constructing a real-time three-dimensional grid map according to the laser radar point cloud data information of a current frame; the method comprises the following steps: acquiring vehicle gear and front wheel steering angle data information fed back by a vehicle chassis in real time, presetting a vehicle pushing prediction speed, sampling time and the number of pushing track points, constructing a vehicle pushing prediction track according to a vehicle kinematics model, and determining the position of the vehicle according to a vehicle three-dimensional model and the vehicle pushing prediction track. Generating a vehicle three-dimensional prediction position frame based on the prediction track points; according to the vehicle three-dimensional prediction position frame and the real-time three-dimensional grid map, whether each grid in the vehicle three-dimensional prediction position frame is occupied or not is judged; and if the vehicle is occupied, calculating the distance between the vehicle three-dimensional prediction position frame and the actual position of the vehicle, outputting the distance as obstacle distance information, and performing corresponding active safety braking according to the output obstacle distance information.
本申请公开了一种基于三维栅格地图的无人清扫车主动安全方法及系统,包括:实时获取激光雷达点云数据信息,根据当前帧的激光雷达点云数据信息构建实时三维栅格地图;实时获取车辆底盘反馈的车辆挡位和前轮转角数据信息,并对车辆推位预测速度、采样时间及推位轨迹点数量进行预设置,根据车辆运动学模型构建车辆推位预测轨迹,并根据车辆三维模型和车辆推位预测轨迹,生成基于预测轨迹点的车辆三维预测位置框;根据车辆三维预测位置框和实时三维栅格地图,判断车辆三维预测位置框中的每个栅格是否被占据;若被占据,计算车辆三维预测位置框与车辆实际位置之间的距离,作为障碍物距离信息输出,根据输出的障碍物距离信息进行相对应的主动安全制动。
Unmanned sweeper active safety method and system based on three-dimensional grid map
一种基于三维栅格地图的无人清扫车主动安全方法及系统
25.04.2025
Patent
Elektronische Ressource
Chinesisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
Sweeping method and sweeping system of unmanned sweeper
Europäisches Patentamt | 2023
|Unmanned garbage sweeper active defense system based on multi-sensor fusion and application
Europäisches Patentamt | 2024
|