The invention discloses an unmanned driving system sensing method. The sensing method adopts an underground passable area detection algorithm, a lane line detection algorithm, an obstacle detection algorithm, a signal lamp detection algorithm and a signboard detection and recognition algorithm. The underground passable area detection algorithm is based on a fusion algorithm of a plurality of sensors, and comprises fusion of original data levels and fusion of sensing results of a single sensor. The driving environment of the unmanned vehicle is planned according to the positioning map data and the vehicle environment information through five types of detection algorithms, so that the unmanned vehicle senses the positioning map data, the environment and the vehicle environment information to jointly plan the driving path of the unmanned vehicle, and the number of sensors installed on the vehicle can be reduced; the influence of the environment on the precision of the sensor is reduced, so that the driving path planning cost of the unmanned driving system is reduced, and the sensing precision of the unmanned driving system is improved.
本发明公开了无人驾驶系统感知方法,感知方法采用井下可通行区域检测算法、车道线检测算法、障碍物检测算法、信号灯检测算法和标识牌检测识别算法;井下可通行区域检测算法基于多个传感器的融合算法,包括原始数据级的融合和单个传感器感知结果的融合。本发明通过五类检测算法进而根据定位地图数据和车辆环境信息规划无人驾驶车辆行驶环境,使无人驾驶车辆感知定位地图数据和环境及车辆环境信息共同规划无人驾驶车辆行驶的路径,从而可以减少车辆安装传感器的数量,降低环境对传感器精度的影响,从而降低了无人驾驶系统行驶路径规划的成本,提高无人驾驶系统感知精确度。
Perception method of unmanned driving system
无人驾驶系统感知方法
2023-04-18
Patent
Electronic Resource
Chinese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / G06K Erkennen von Daten , RECOGNITION OF DATA / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G06V |
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