The invention relates to a road edge post-processing method and device based on a laser radar, a vehicle and a storage medium. The method comprises the steps that a road edge point set output by the laser radar is acquired; performing clustering segmentation on the road edge point set to obtain different road edge sub-point sets; sorting the road edge points in each road edge sub-point set, and connecting the road edge points with the adjacent road edge points; the area in front of the vehicle is divided into a plurality of fan-shaped areas with a preset point as the circle center, and the preset point is a point on the vehicle or a point with the distance to the vehicle smaller than a first preset distance; filtering road edge points which are not on the innermost side in each fan-shaped area to obtain A-type road edge points; and combining the filtered road edge sub-point sets to obtain a processed road edge point set. According to the invention, multi-level road edge point sets and noisy points output by a road edge detection algorithm of the laser radar can be filtered out, and input information which can be used as modules for vehicle track prediction, target detection, travelable areas and the like can be obtained.
本发明涉及一种基于激光雷达的路沿后处理方法、装置、车辆及存储介质,包括:获取激光雷达输出的路沿点集;对路沿点集进行聚类分割,得到不同的路沿子点集;将每个路沿子点集中的各路沿点进行排序,并将路沿点与其相邻的路沿点相连接;以预设点为圆心,将车辆前方的区域,划分为多个扇形区域,所述预设点为车辆上的点,或为与车辆的距离小于第一预设距离的点;对每个扇形区域内非最内侧的路沿点进行过滤处理,得到A类路沿点;将滤除后的各路沿子点集进行合并处理,得到处理后的路沿点集。本发明能够对激光雷达的路沿检测算法输出的多层次的路沿点集及噪点进行滤除,得到能够作为车辆轨迹预测、目标检测和可行驶区域等模块的输入信息。
Road edge post-processing method and device based on laser radar, vehicle and storage medium
基于激光雷达的路沿后处理方法、装置、车辆及存储介质
2024-04-12
Patent
Electronic Resource
Chinese
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 / G01S RADIO DIRECTION-FINDING , Funkpeilung / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung |
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