摘要
当前自动驾驶技术中所用到的多线激光雷达成本高,数据处理复杂。针对低速车辆的运行工况特点,提出了一种基于单线激光雷达的低速车辆前向地形构建系统。利用单线激光雷达、陀螺仪、轮速测量仪、单片机和步进电机搭建系统实验平台,通过小波变换以及坐标系变换进行数据处理后在Surfer 8.0软件中生成三维地形图。将系统进行了实验验证,实验中测量结果与实际目标物体有3 cm的误差,表明该系统能够实现低速车辆的前向地形构建的功能。
The multi-line LiDAR used in current autonomous driving technology has high cost and complex data processing.Aiming at the characteristics of low-speed vehicle operating conditions, a low-speed vehicle forward terrain construction system based on single-line LiDAR is proposed. Using single-line LiDAR, gyroscope, wheel speed measuring instrument, single-chip microcomputer and stepper motor to build a system experiment platform, through wavelet transformation and coordinate system transformation for data processing, a three-dimensional topographic map is generated in Surfer 8.0 software.This system is tested and verified. In the test, there is a 3 cm error between the measurement result and the actual target object, indicating that the system can realize the function of building forward terrain for low-speed vehicles.
作者
杨淑君
李忠利
贾方
高永升
杨永军
韦宇豪
YANG Shujun;LI Zhongli;JIA Fang;GAO Yongsheng;YANG Yongjun;WEI Yuhao(School of Vehicle and Traffic Engineering,Henan University of Science and Technology,Luoyang 471003,China;State Key Laboratory of Power System of Tractor,Luoyang 471003,China)
出处
《传感器与微系统》
CSCD
北大核心
2022年第12期55-58,共4页
Transducer and Microsystem Technologies
基金
国家科技部专项项目(2016YFD070100-2)。
关键词
低速车辆
单线激光雷达
小波变换
坐标系变换
三维地形图
low-speed vehicles
single-line LiDAR
wavelet transformation
coordinate system transformation
three-dimensional topographic map
