CN111562591B - Automobile position measuring method and device based on laser radar - Google Patents
Automobile position measuring method and device based on laser radar Download PDFInfo
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
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- G01S17/06—Systems determining position data of a target
- G01S17/46—Indirect determination of position data
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
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Abstract
The invention discloses a method and a device for measuring the position of an automobile based on a laser radar, wherein the method comprises the following steps: pre-calibrating laser radars arranged at two sides of an entrance of a garage in advance, scanning and acquiring data through the laser radars and dividing a data set, if the tire data sets are four groups, performing traversal calculation on each group of tire data sets, and taking data with the maximum linear fitting degree as side line data of each group of tires; performing linear fitting on each group of sideline data to calculate eight groups of linear equations; if the inner edge line and the side edge line of the same group of tire data are in a vertical relation, and the side edge lines of the front wheels and the side edge lines of the rear wheels of the tires on the two sides are in a parallel relation, dividing the four groups of side edge line data into two groups according to the data on the two sides of the automobile, calculating a parallel line fitting formula, fitting the two groups of data to obtain a linear equation of the edges of the tires on the two sides, and obtaining an equation of the central axis of the automobile; and calculating the position of the automobile in the global coordinate system according to the geometric relation of the arrangement of the measurement scene. The method can accurately measure the position of the automobile.
Description
Technical Field
The invention relates to the technical field of intelligent parking, in particular to an automobile position measuring method and device based on a laser radar.
Background
In recent years, the contradiction between the sharp increase of the number of automobiles and the scarcity of urban parking spaces in China is increasingly prominent, and the 'difficulty in parking' becomes a common urban disease. In order to be able to utilize the limited parking space in the city as much as possible and park the vehicle safely and efficiently, the intelligent parking system is suitable for the delivery, and the parking comfort of the driver can be improved while the land utilization rate of the parking garage is improved. The intelligent parking system has the main functions of parking space planning and automobile carrying and parking, the automobile carrying relates to an automobile position measuring technology, and due to the inaccuracy of manual parking of a driver, the actual position of the automobile is often required to be measured, and the automobile carrying is completed after the accurate position is obtained, so that the damage to the automobile, equipment and the like caused by an accident is avoided.
In the related art, the alignment method of the unmanned parking transfer robot based on the vehicle-mounted sensor is characterized in that the robot is provided with a plurality of groups of laser radars, the two stages of pre-alignment and accurate alignment are adopted to complete automobile position measurement and robot alignment, however, in the alignment mode, the laser radars are installed on the robot body, vibration generated during robot movement can affect the measurement precision of the radars, the alignment precision is reduced, and the method needs to arrange a plurality of groups of high-precision single-line laser radars and single-point laser radars on the robot, so that the cost is high.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art.
Therefore, one object of the present invention is to provide a method for measuring a position of an automobile based on a laser radar, which accurately measures the position of the automobile by arranging the laser radar on both sides of a parking space at an entrance of a garage.
Another object of the present invention is to provide a vehicle position measuring device based on lidar.
In order to achieve the above object, an embodiment of the invention provides an automobile position measuring method based on a laser radar, which includes:
s1, scanning and acquiring data through two laser radars, and clustering and dividing a data set through an improved DBSCAN algorithm;
s2, filtering the side tire data set of each laser radar through a preset distance and an angle limiting condition;
s3, judging the number of sets of the tire data sets, if the number of the sets of the tire data sets is four, executing S4, otherwise, prompting that the automobile tires cannot be found and returning to execute S1;
s4, traversing calculation is carried out in the middle data direction in a mode of adding new data points from the starting data and the last data in each group of tire data set, and the data with the maximum linear fitting degree is used as the side line data of each group of tires, wherein the side line data comprises four groups of inner line data and four groups of side line data;
s5, performing linear fitting on each group of side line data by adopting a least square method, and calculating eight groups of linear equations;
s6, if the inner edge line and the side edge line of the same group of tire data are in a vertical relation, executing S7, otherwise, prompting that the automobile tire cannot be found and returning to the step S1;
s7, if the front wheel side line and the rear wheel side line of the two side tires of the automobile are in a parallel relation, executing S8, otherwise, prompting that the front wheels of the automobile are not aligned and returning to the step S1;
s8, dividing the four groups of side line data into two groups according to the data on the two sides of the automobile, calculating a parallel line fitting formula according to a least square method, fitting the two groups of data to obtain a linear equation of the edges of the tires on the two sides of the automobile, and further obtaining an equation of the central axis of the automobile;
and S9, calculating the position of the automobile in the global coordinate system according to the geometric relationship of the automobile measurement scene arrangement.
In order to achieve the above object, an embodiment of another aspect of the present invention provides an automobile position measuring device based on a laser radar, including:
the dividing module is used for scanning and acquiring data through two laser radars and clustering and dividing a data set through an improved DBSCAN algorithm;
the filtering module is used for filtering the side tire data set of each laser radar through a preset distance and an angle limiting condition;
the first judgment module is used for judging the number of groups of the tire data sets, if the number of the groups of the tire data sets is four, the first calculation module is executed, otherwise, the first judgment module prompts that the automobile tires cannot be found and returns to the execution division module;
the first calculation module is used for performing traversal calculation on the middle data direction in a new data point adding mode from the starting data and the last data in each group of tire data set, and taking the data with the maximum linear fitting degree as the side line data of each group of tires, wherein the side line data comprises four groups of inner line data and four groups of side line data;
the second calculation module is used for performing linear fitting on each group of sideline data by adopting a least square method and calculating eight groups of linear equations;
the second judgment module is used for executing the third judgment module if the inner edge line and the side edge line of the same group of tire data are in a vertical relation, otherwise, prompting that the automobile tires cannot be found and returning to the division module;
the third judgment module is used for executing the third calculation module if the front wheel side lines and the rear wheel side lines of the tires on the two sides of the automobile are in a parallel relation, otherwise, prompting that the front wheels of the automobile are not aligned and returning to the division module;
the third calculation module is used for dividing the four groups of side line data into two groups according to the data on the two sides of the automobile, calculating a parallel line fitting formula according to a least square method, fitting the two groups of data to obtain a linear equation of the edges of the tires on the two sides of the automobile and further obtain an equation of the central axis of the automobile;
and the fourth calculation module is used for calculating the position of the automobile in the global coordinate system according to the geometric relation of the automobile measurement scene arrangement.
The automobile position measuring method and device based on the laser radar in the embodiment of the invention have the following advantages:
(1) the single-line laser radar is used as the information acquisition device, so that the angle precision and the distance measurement precision are high, the automobile position information obtained by final measurement and calculation also has high precision, and the application requirements can be met.
(2) The laser radars are arranged on two sides of the entrance parking space instead of being carried on the parking robot, are not influenced by the motion of the parking robot, and have high measurement accuracy and stability. And the number of parking spaces at the entrance in the intelligent garage is smaller than that of the parking robots, so the cost is reduced.
(3) The automobile position measurement only involves two laser radars, and the two laser radars are independently arranged in the entrance parking space, and compared with other sensors arranged on the robot, the automobile position measurement is easier to arrange and maintain.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
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The foregoing and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a flow diagram of a lidar pre-calibration process according to one embodiment of the invention;
FIG. 2 is a schematic diagram of a laser radar position pre-calibration scenario according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a radar point cloud for laser radar position pre-calibration according to one embodiment of the present invention;
FIG. 4 is a flow chart of a method for lidar based vehicle position measurement according to one embodiment of the present invention;
FIG. 5 is a schematic view of a scene layout for scanning and identifying the location of a vehicle according to an embodiment of the present invention;
FIG. 6 is a schematic view of a radar point cloud for vehicle location scanning identification according to one embodiment of the present invention;
FIG. 7 is a flow chart of the improved DBSCAN algorithm according to one embodiment of the present invention;
fig. 8 is a schematic structural diagram of an automobile position measuring device based on a laser radar according to an embodiment of the invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
The following describes a method and an apparatus for measuring a position of an automobile based on a lidar according to an embodiment of the present invention with reference to the accompanying drawings.
First, a laser radar-based vehicle position measuring method according to an embodiment of the present invention will be described with reference to the accompanying drawings.
Before the measurement is performed, the lidar is arranged and pre-calibrated. The pre-calibration only requires an initial operation to be performed initially. The initialization operation can be repeated all the time after the initialization operation is completed.
As shown in fig. 1, the pre-calibration includes:
and S01, arranging a laser radar position pre-calibration scene, and arranging a calibration plane at the center line of the parking space at the entrance of the garage. The laser radar position pre-calibration scene is arranged as shown in fig. 2, and the data point cloud is obtained as shown in fig. 3.
In the embodiment of the invention, the adopted laser radar can be a single-line laser radar, and has higher angle precision and ranging precision.
And S02, arranging the two laser radars on two sides of the calibration plane respectively for adjustment, and adjusting the two laser radars to the greatest extent that the angles of the calibration plane in the two laser radar coordinate systems are 0, wherein the two laser radars are symmetrical about the calibration plane.
Preferably, the two laser radars are arranged on two sides of the calibration plane, and the distance between the two laser radars and the plane is approximately half of the width of the parking space plus 50cm-1 m. If the distance is too short, parking and warehousing of the automobile can be influenced, and if the distance is too long, the occupied area is too large and the distance measurement precision is influenced.
S03, collecting scanning data of the laser radar, and Clustering and dividing the data set by improving the DBSCAN (sensitivity-Based Spatial Clustering of Applications with Noise) algorithm S131.
The improved DBSCAN algorithm S131 is improved based on the variable density data characteristic of the radar on the fixed density property of the DBSCAN algorithm. Two parameters of the DBSCAN algorithm are given: the neighborhood Eps and the minimum sample number MinPts are adaptively adjusted through the distance parameter of the data point, the neighborhood Eps of the algorithm is in direct proportion to the distance parameter of the data, the minimum sample number MinPts is in inverse proportion to the distance parameter, and the longer the data distance is, the larger the neighborhood Eps is, and the smaller the minimum sample number MinPts is.
And S04, finding the data set of the calibration plane through the preset distance and angle limit conditions.
And S05, fitting the data set of the calibration plane by adopting a least square method to obtain a linear equation of the plane.
And S06, calculating the angle and the distance of the calibration plane relative to each laser radar through a linear equation.
And S07, if the angle of each laser radar is equal to 0 degree, the distance between the two laser radars is equal and is within the ideal distance range, the operation is finished. Otherwise, the "calibration not completed" is prompted to return to step S02.
And after the laser radar is pre-calibrated, measuring the position of the automobile.
Fig. 4 is a flowchart of a method for laser radar-based vehicle position measurement according to an embodiment of the present invention.
As shown in fig. 4, the specific steps are as follows:
and S1, as shown in figure 5, scanning and acquiring data by the laser radar to obtain data point clouds as shown in figure 6, and clustering and dividing the data sets by using an improved DBSCAN algorithm.
And S2, filtering out the side tire data set of each laser radar through preset distance and angle limiting conditions.
And S3, judging the number of the sets of the tire data sets, if the number of the sets of the tire data sets is four, executing S4, otherwise, prompting that the automobile tires cannot be found, and returning to execute S1.
And S4, traversing calculation is carried out from the end data of the two ends of each group of tire data sets, namely the start data and the last data of each group of data sets to the middle data direction in a new data point adding mode, the data with the maximum linear fitting degree is used as the side line data of each group of tires, eight groups of side line data are provided, and the side line data comprise four groups of inner line data and four groups of side line data.
And S5, performing linear fitting on each group of side line data by adopting a least square method, and calculating eight groups of linear equations.
S6, if the inner edge line and the side edge line of the same tire data set are in a vertical relationship, execute S7, otherwise, indicate "no vehicle tire found" and return to S1.
S7, if the front wheel side line and the rear wheel side line of the two side tires of the automobile are in parallel, S8 is executed, otherwise, the method indicates that the front wheel of the automobile is not aligned, and the method returns to step S1.
And S8, dividing the four groups of side line data into two groups according to the data on the two sides of the automobile, calculating a parallel line fitting formula according to a least square method, fitting the two groups of data to obtain a linear equation of the edges of the tires on the two sides of the automobile, and further obtaining an equation of the central axis of the automobile.
And S9, calculating the position of the automobile in the global coordinate system according to the geometric relationship of the automobile measurement scene arrangement.
In one embodiment of the present invention, in the present embodiment, more specifically, the flow chart of the improved DBSCAN algorithm S131 based on radar data characteristics is shown in fig. 7, where diFor the distance parameter of each data point, the distance parameter d of the neighborhood Eps and the minimum sample number MinPts passing the data pointiAnd carrying out self-adaptive adjustment, and finally classifying to obtain a plurality of data clusters.
More specifically, the equation for fitting the straight line y — a · x + B by the least squares method in step S05 and step S5 is:
more specifically, the linear degree of fit employed in step S4 is r2Wherein the calculation formula of r is as follows:
more specifically, the calculation formula of the least square method fitting of the parallel straight line y ═ a · x + B and y ═ a · x + C in step S8 is:
according to the automobile position measuring method based on the laser radar, which is provided by the embodiment of the invention, the laser radar is arranged on two sides of the garage entrance to pre-calibrate the laser radar, and the automobile position is accurately measured through the pre-calibrated laser radar. Adopt single line laser radar as information acquisition device, have higher angle precision and range finding precision, laser radar arranges in entry parking stall both sides, has higher measurement accuracy and stability, arranges more easily and maintains.
Next, a laser radar-based vehicle position measuring apparatus according to an embodiment of the present invention will be described with reference to the accompanying drawings.
Fig. 8 is a schematic structural diagram of an automobile position measuring device based on a laser radar according to an embodiment of the invention.
As shown in fig. 8, the laser radar-based vehicle position measuring apparatus includes:
and the dividing module 100 is used for scanning and acquiring data through two laser radars and clustering and dividing the data set through an improved DBSCAN algorithm.
And the filtering module 200 is used for filtering the side tire data set of each laser radar through a preset distance and an angle limiting condition.
The first judging module 300 is used for judging the number of sets of the tire data sets, if the number of the sets of the tire data sets is four, the first calculating module is executed, otherwise, the first calculating module prompts that the automobile tires cannot be found and returns to the execution of the dividing module.
The first calculation module 400 is configured to perform traversal calculation in the middle data direction by adding new data points from the start data and the last data in each set of tire data, and use the data with the highest linear fitting degree as the edge line data of each set of tires, where the edge line data includes four sets of inner edge line data and four sets of side edge line data.
And the second calculating module 500 is configured to perform linear fitting on each group of edge line data by using a least square method, and calculate eight groups of linear equations.
And the second judging module 600 is configured to execute the third judging module if the inner edge line and the side edge line of the same group of tire data are in a vertical relationship, otherwise, prompt that the automobile tire cannot be found and return to the dividing module.
And a third determining module 700, configured to execute the third calculating module if there is a parallel relationship between the front wheel side lines and the rear wheel side lines of the tires on the two sides of the automobile, otherwise, prompt "the front wheel of the automobile is not aligned back" and return to the dividing module.
The third calculation module 800 is configured to divide the four sets of side line data into two sets according to the data on the two sides of the vehicle, calculate a parallel line fitting formula according to a least square method, fit the two sets of data, obtain a linear equation of the tire edges on the two sides of the vehicle, and further obtain an equation of the central axis of the vehicle.
And a fourth calculating module 900, configured to calculate a position of the automobile in the global coordinate system according to the geometric relationship of the automobile measurement scene arrangement.
In one embodiment of the present invention, further comprising: and the arrangement module is used for arranging the laser radar and performing pre-calibration.
The arrangement module is specifically configured to:
arranging a laser radar position pre-calibration scene, and arranging a calibration plane at the center line of a parking space at the entrance of the garage;
respectively arranging two laser radars at two sides of a calibration plane for adjustment until the angle of the calibration plane in two laser radar coordinate systems is 0, wherein the two laser radars are symmetrical about the calibration plane;
collecting scanning data of a laser radar, and clustering and dividing a data set by improving a DBSCAN algorithm S131;
finding a data set of a calibration plane according to a preset distance and an angle limiting condition;
fitting the data set of the calibration plane by adopting a least square method to obtain a linear equation of the calibration plane;
calculating the angle and the distance of the calibration plane relative to each laser radar through a linear equation of the calibration plane;
if the obtained angle of each laser radar is equal to 0 degree, the distance between the two laser radars is equal and smaller than the preset ideal distance, the laser radar position pre-calibration is finished, otherwise, the laser radar position pre-calibration is prompted to be unfinished, and the pre-calibration is carried out again.
Further, in one embodiment of the invention, the lidar is a single line lidar.
Further, in one embodiment of the invention, two laser radars are arranged on two sides of the calibration plane, the distance from the calibration plane is half of the width of the vehicle body plus a set distance, and the set distance is greater than or equal to 50cm and smaller than or equal to 1 m.
Further, in an embodiment of the present invention, the modified DBSCAN algorithm S131 is to adaptively adjust two parameters of a neighborhood Eps and a minimum sample number MinPts of the DBSCAN algorithm through a distance parameter of the data point, where the neighborhood Eps is proportional to the distance parameter of the data, and the minimum sample number MinPts is inversely proportional to the distance parameter.
It should be noted that the foregoing explanation of the method embodiment is also applicable to the apparatus of this embodiment, and is not repeated herein.
According to the automobile position measuring device based on the laser radar, which is provided by the embodiment of the invention, the laser radar is arranged on two sides of the garage entrance to pre-calibrate the laser radar, and the automobile position is accurately measured through the pre-calibrated laser radar. Adopt single line laser radar as information acquisition device, have higher angle precision and range finding precision, laser radar arranges in entry parking stall both sides, has higher measurement accuracy and stability, arranges more easily and maintains.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (10)
1. A vehicle position measuring method based on laser radar is characterized by comprising the following steps:
s1, scanning and acquiring data through two laser radars, clustering and dividing a data set through an improved DBSCAN algorithm, wherein the two laser radars are respectively arranged on two sides of a calibration plane; the calibration plane is arranged at the center line of the parking space at the entrance of the garage;
s2, filtering the side tire data set of each laser radar through a preset distance and an angle limiting condition;
s3, judging the number of sets of the tire data sets, if the number of the sets of the tire data sets is four, executing S4, otherwise, prompting that the automobile tires cannot be found and returning to execute S1;
s4, traversing calculation is carried out in the middle data direction in a mode of adding new data points from the starting data and the last data in each group of tire data set, and the data with the maximum linear fitting degree is used as the side line data of each group of tires, wherein the side line data comprises four groups of inner line data and four groups of side line data;
s5, performing linear fitting on each group of side line data by adopting a least square method, and calculating eight groups of linear equations;
s6, if the inner edge line and the side edge line of the same group of tire data are in a vertical relation, executing S7, otherwise, prompting that the automobile tire cannot be found and returning to the step S1;
s7, if the front wheel side line and the rear wheel side line of the two side tires of the automobile are in a parallel relation, executing S8, otherwise, prompting that the front wheels of the automobile are not aligned and returning to the step S1;
s8, dividing the four groups of side line data into two groups according to the data on the two sides of the automobile, calculating a parallel line fitting formula according to a least square method, fitting the two groups of data to obtain a linear equation of the edges of the tires on the two sides of the automobile, and further obtaining an equation of the central axis of the automobile;
and S9, calculating the position of the automobile in the global coordinate system according to the geometric relationship of the automobile measurement scene arrangement.
2. The lidar-based vehicle position measuring method of claim 1, further comprising, before the S1:
s0, arranging a laser radar and performing pre-calibration;
the method specifically comprises the following steps:
s01, arranging a laser radar position pre-calibration scene, and arranging a calibration plane at the center line of a parking space at the entrance of the garage;
s02, arranging two laser radars on two sides of the calibration plane respectively for adjustment until the angle of the calibration plane in two laser radar coordinate systems is 0, and the double laser radars are symmetrical about the calibration plane;
s03, collecting scanning data of the laser radar, and clustering and dividing a data set through an improved DBSCAN algorithm S131;
s04, finding out the data set of the calibration plane through a preset distance and an angle limiting condition;
s05, fitting the data set of the calibration plane by adopting a least square method to obtain a linear equation of the calibration plane;
s06, calculating the angle and the distance of the calibration plane relative to each laser radar through the linear equation of the calibration plane;
and S07, if the obtained angle of each laser radar is equal to 0 degree, the distance between the two laser radars is equal and is smaller than the preset ideal distance, ending the laser radar position pre-calibration, otherwise, prompting that the calibration is not finished, and returning to the step S02.
3. The lidar-based vehicle position measuring method of claim 1, wherein the lidar is a single line lidar.
4. The lidar-based vehicle position measuring method according to claim 1, wherein the two lidar are disposed on both sides of the calibration plane, and the distance from the calibration plane is half of the vehicle body width plus a set distance, and the set distance is greater than or equal to 50cm and less than or equal to 1 m.
5. The lidar based vehicle position measuring method according to claim 1,
the improved DBSCAN algorithm S131 is to adaptively adjust two parameter neighborhoods Eps of the DBSCAN algorithm and the minimum sample number MinPts through the distance parameter of the data point, where the neighborhood Eps is in direct proportion to the distance parameter of the data, and the minimum sample number MinPts is in inverse proportion to the distance parameter.
6. A laser radar-based automobile position measuring device is characterized by comprising:
the dividing module is used for scanning and acquiring data through two laser radars and clustering and dividing a data set through an improved DBSCAN algorithm, wherein the two laser radars are respectively arranged on two sides of a calibration plane; the calibration plane is arranged at the center line of the parking space at the entrance of the garage;
the filtering module is used for filtering the side tire data set of each laser radar through a preset distance and an angle limiting condition;
the first judgment module is used for judging the number of groups of the tire data sets, if the number of the groups of the tire data sets is four, the first calculation module is executed, otherwise, the first judgment module prompts that the automobile tires cannot be found and returns to the execution division module;
the first calculation module is used for performing traversal calculation on the middle data direction in a new data point adding mode from the starting data and the last data in each group of tire data set, and taking the data with the maximum linear fitting degree as the side line data of each group of tires, wherein the side line data comprises four groups of inner line data and four groups of side line data;
the second calculation module is used for performing linear fitting on each group of sideline data by adopting a least square method and calculating eight groups of linear equations;
the second judgment module is used for executing the third judgment module if the inner edge line and the side edge line of the same group of tire data are in a vertical relation, otherwise, prompting that the automobile tires cannot be found and returning to the division module;
the third judgment module is used for executing the third calculation module if the front wheel side lines and the rear wheel side lines of the tires on the two sides of the automobile are in a parallel relation, otherwise, prompting that the front wheels of the automobile are not aligned and returning to the division module;
the third calculation module is used for dividing the four groups of side line data into two groups according to the data on the two sides of the automobile, calculating a parallel line fitting formula according to a least square method, fitting the two groups of data to obtain a linear equation of the edges of the tires on the two sides of the automobile and further obtain an equation of the central axis of the automobile;
and the fourth calculation module is used for calculating the position of the automobile in the global coordinate system according to the geometric relation of the automobile measurement scene arrangement.
7. The lidar based vehicle position measuring apparatus of claim 6, further comprising: the arrangement module is used for arranging the laser radar and performing pre-calibration;
the arrangement module is specifically configured to:
arranging a laser radar position pre-calibration scene, and arranging a calibration plane at the center line of a parking space at the entrance of the garage;
respectively arranging two laser radars on two sides of the calibration plane for adjustment until the angle of the calibration plane in two laser radar coordinate systems is 0, wherein the two laser radars are symmetrical about the calibration plane;
collecting scanning data of a laser radar, and clustering and dividing a data set by improving a DBSCAN algorithm S131;
finding out a data set of the calibration plane according to a preset distance and an angle limiting condition;
fitting the data set of the calibration plane by adopting a least square method to obtain a linear equation of the calibration plane;
calculating the angle and the distance of the calibration plane relative to each laser radar through a linear equation of the calibration plane;
if the obtained angle of each laser radar is equal to 0 degree, the distance between the two laser radars is equal and smaller than the preset ideal distance, the laser radar position pre-calibration is finished, otherwise, the laser radar position pre-calibration is prompted to be unfinished, and the pre-calibration is carried out again.
8. The lidar-based vehicle position measuring device of claim 6, wherein the lidar is a single line lidar.
9. The lidar-based vehicle position measuring device according to claim 6, wherein the two lidar are disposed on both sides of the calibration plane, and the distance from the calibration plane is half of the vehicle body width plus a set distance, and the set distance is greater than or equal to 50cm and less than or equal to 1 m.
10. The lidar based vehicle position measuring device of claim 6, wherein the modified DBSCAN algorithm S131 is adaptive to adjust two parameters of a neighborhood Eps of the DBSCAN algorithm and a minimum sample number MinPts through a distance parameter of a data point, the neighborhood Eps is proportional to the distance parameter of the data, and the minimum sample number MinPts is inversely proportional to the distance parameter.
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