Intersection obstacle identification method based on multiple paths of laser radars

• Main Authors: SUN ZHENGLIANG, SONG FENGKUN, LIU XIAOLEI, ZHANG XINGLIN, ZHAO ZUTENG, LIN PENG, WEI ZHENGXIAO
• Format: Patent
• Language: Chinese; English
• Published: 25.06.2024
• Subjects: ANALOGOUS ARRANGEMENTS USING OTHER WAVES; CALCULATING; COMPUTING; COUNTING; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION ORRERADIATION OF RADIO WAVES; MEASURING; PHYSICS; RADIO DIRECTION-FINDING; RADIO NAVIGATION; SIGNALLING; TESTING; TRAFFIC CONTROL SYSTEMS

The invention relates to the technical field of intelligent traffic control, in particular to an intersection obstacle recognition method based on multiple paths of laser radars, which comprises the following steps of: S1, acquiring original laser radar point cloud data in each entrance lane direction and performing registration fusion to obtain point cloud data orgcloud; s2, carrying out target identification on the point cloud data orgcloud through a point cloud neural network target identification technology, and obtaining a residual point cloud obscloud; s3, performing clustering analysis on the residual point cloud obscloud to obtain target obstacle information; s4, performing tracking calculation on the target obstacle, judging whether the occurrence frequency and the size of the target obstacle in the period are greater than a threshold value or not, and if so, entering the next step; and S5, reporting the target obstacle information and the latitude and longitude coordinates to a cloud control center