The invention discloses a road condition information acquisition method. The method comprises the following steps: acquiring front road condition data point information through a sensor; according toroad edge data point characteristics; establishing a fitting function of the road edge; establishing a grid map, and dividing a drivable area and a non-drivable area in the grid map; detecting a dynamic obstacle in the drivable area; processing operationand information acquisition are carried out on the dynamic obstacle. After the grid map is divided by the process road edge fitting function, theprocessing range is limited in the drivable area, the data processing amount is greatly reduced, interference information is reduced, meanwhile, the dynamic obstacle is detected according to the conflict coefficient rule, the detection accuracy of the dynamic obstacle is improved, and the obtained grid map and the dynamic obstacle information in the grid map are more stable and accurate. The method is applied to the driverless vehicle, and therefore the driverless vehicle can obtain good surrounding environment perception capability; the method plays a crucial role in autonomous cruise control, collision early warning and path planning.
本发明公开了一种路况信息获取方法,该方法通过传感器获取前方路况数据点信息,根据路沿数据点特征,建立路沿的拟合函数,进而建立栅格地图,在栅格地图中划分出可行驶区域和不可行驶区域,检测可行驶区域中的动态障碍物,对其进行处理和信息获取,该过程路沿拟合函数分割栅格地图后,将处理范围限定在可行驶区域,极大减少了数据处理量,减少了干扰信息,同时根据冲突系数规则检测动态障碍物,提高了动态障碍物检测的正确率,获得的栅格地图及其中动态障碍物信息更加稳定准确。运用于无人驾驶车中,使其可以获得很好的周围环境感知能力,对自主巡航控制、碰撞预警和路径规划起到至关重要的作用。
Road condition information acquisition method
一种路况信息获取方法
2020-09-08
Patent
Electronic Resource
Chinese
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