CN113158864B - Method and device for determining included angle between truck head and trailer - Google Patents
Method and device for determining included angle between truck head and trailer Download PDFInfo
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- CN113158864B CN113158864B CN202110397100.2A CN202110397100A CN113158864B CN 113158864 B CN113158864 B CN 113158864B CN 202110397100 A CN202110397100 A CN 202110397100A CN 113158864 B CN113158864 B CN 113158864B
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Abstract
The application provides a method and a device for determining an included angle between a truck head and a trailer. The method comprises the steps of obtaining first point cloud data obtained by laser radar scanning, wherein the laser radar is arranged on a truck head; screening second point cloud data from the first point cloud data, wherein the second point cloud data are point cloud data in a sector area including a trailer boundary; screening third point cloud data from the second point cloud data, wherein the third point cloud data is the point cloud data hit on the boundary of the trailer; fitting a trailer boundary line according to the third point cloud data; and determining an included angle between the truck head and the trailer according to the boundary line of the trailer and the central axis of the truck head. According to the method, the included angle between the truck head and the trailer is accurately determined, and the trailer boundary line is fitted from the third point cloud data, so that compared with the scheme of directly fitting the trailer boundary line from the first point cloud data, the number of point cloud data to be processed is greatly reduced, and the extraction speed of the trailer boundary line is increased.
Description
Technical Field
The application relates to the technical field of automatic driving, in particular to a method and a device for determining an included angle between a truck head and a trailer, a truck, a computer readable storage medium, a processor and electronic equipment.
Background
Autopilot technology has begun to be applied in the truck field. For trucks, a truck head and a trailer are included, and the truck head and the trailer are connected by a saddle on the truck head and a traction pin on the trailer, the saddle being rotatable about the traction pin, the truck head driving and towing the trailer.
In the running process of the truck, the trailer has a certain steering angle relative to the truck head under the working conditions of turning, turning around, changing lanes, parking and the like. The steering angle is critical to automatic driving sensor calibration and path planning decisions.
In the prior art, a method for calculating an included angle between a truck head and a trailer by using a laser point cloud is adopted, the detected trailer angle is low in accuracy, and the influence of extreme weather (such as rainy days, snowy days and the like) on the trailer angle (equivalent to a steering angle) cannot be eliminated.
Disclosure of Invention
The application mainly aims at providing a method and a device for determining an included angle between a truck head and a trailer, a truck, a computer readable storage medium, a processor and electronic equipment, so as to solve the problem that the accuracy of the detected trailer angle is lower in the method for calculating the included angle between the truck head and the trailer by using laser point cloud in the prior art.
In order to achieve the above object, according to one aspect of the present application, there is provided a method for determining an angle between a truck head and a trailer, including: acquiring first point cloud data obtained by laser radar scanning, wherein the laser radar is arranged on a truck head; screening second point cloud data from the first point cloud data, wherein the second point cloud data are point cloud data in a sector area including a trailer boundary; screening third point cloud data from the second point cloud data, wherein the third point cloud data is the point cloud data hit on the boundary of the trailer; fitting a trailer boundary line according to the third point cloud data; and determining an included angle between the truck head and the trailer according to the boundary line of the trailer and the central axis of the truck head.
Further, fitting a trailer boundary line according to the third point cloud data includes: extracting a predetermined number of point clouds from the third point cloud data using histogram sampling; processing the predetermined number of point clouds by adopting a Hough voting algorithm to obtain candidate point clouds; and fitting out the trailer boundary line according to the candidate point cloud.
Further, extracting a predetermined number of point clouds from the third point cloud data using histogram sampling includes: projecting the third point cloud data into a two-dimensional plane to obtain a set of points; dividing the area where the point set is located into a plurality of rectangular subareas which are sequentially arranged by adopting the histogram sampling; establishing a two-dimensional coordinate system, wherein the two-dimensional coordinate system comprises a first coordinate axis and a second coordinate axis, and the origin of the two-dimensional coordinate system is a point on the central axis of the truck head; and extracting a point corresponding to the minimum value of the second coordinate axis in each rectangular subarea or extracting a point corresponding to the maximum value of the second coordinate axis in each rectangular subarea based on the two-dimensional coordinate system.
Further, the method further comprises: acquiring a historical included angle, wherein the historical included angle is an included angle acquired before the current moment; and predicting the current included angle by adopting a Hough voting algorithm according to the historical included angle.
Further, the method further comprises: under the condition that an effective included angle cannot be obtained at the current moment and at least one effective included angle is obtained according to the first three frames of point cloud data, a linear Kalman filtering algorithm is adopted to predict the current included angle, and the difference between the effective included angle and the real included angle is smaller than a preset value.
Further, the lidar comprises a left lidar and a right lidar, the left lidar is mounted on the left side of the truck head, and the right lidar is mounted on the right side of the truck head.
Further, a distance between the transmitter of the left laser radar and the left boundary of the truck head in the horizontal direction is greater than a predetermined value, and a distance between the transmitter of the right laser radar and the right boundary of the truck head in the horizontal direction is greater than the predetermined value.
Further, there are a plurality of left lidars and a plurality of right lidars.
According to another aspect of the present application, there is provided a device for determining an angle between a truck head and a trailer, comprising: the first acquisition unit is used for acquiring first point cloud data obtained by laser radar scanning, and the laser radar is arranged on a truck head; the first screening unit is used for screening second point cloud data from the first point cloud data, wherein the second point cloud data are point cloud data in a sector area including a trailer boundary; the second screening unit is used for screening third point cloud data from the second point cloud data, wherein the third point cloud data is point cloud data hit on the boundary of the trailer; the fitting unit is used for fitting out a trailer boundary line according to the third point cloud data; and the determining unit is used for determining the included angle between the truck head and the trailer according to the boundary line of the trailer and the central axis of the truck head.
According to yet another aspect of the present application, there is provided a truck comprising a truck head, a trailer, and means for determining an angle between the truck head and the trailer.
Further, the truck further comprises a storage device, wherein the storage device is used for storing point cloud data obtained by laser radar scanning.
Further, the truck further comprises a display device, wherein the display device is used for displaying the included angle.
According to still another aspect of the present application, there is provided a computer readable storage medium, the computer readable storage medium including a stored program, wherein the program when run controls a device in which the computer readable storage medium is located to perform any one of the methods for determining an included angle between a truck head and a trailer.
According to a further aspect of the application, there is provided a processor for running a program, wherein the program is run to perform any one of the methods for determining the angle between the truck head and the trailer.
According to still another aspect of the present application, there is provided an electronic apparatus including: the system comprises one or more processors, a memory, a display device and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, and the one or more programs comprise a method for executing any of the methods for determining the included angle between the truck head and the trailer.
By applying the technical scheme of the application, the second point cloud data is screened out from the first point cloud data, and the third point cloud data is screened out from the second point cloud data, so that a relatively accurate trailer boundary line can be fitted from the third point cloud data, and then the accurate determination of the included angle between the truck head and the trailer is realized according to the trailer boundary line and the central axis of the truck head, and the trailer boundary line is fitted from the third point cloud data.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application. In the drawings:
FIG. 1 shows a flow chart of a method of determining an angle between a truck head and a trailer in accordance with an embodiment of the present application;
FIG. 2 shows a scan filtering schematic in accordance with an embodiment of the application;
FIG. 3 shows a schematic diagram of point filtering according to an embodiment of the application;
FIG. 4 illustrates a schematic diagram of processing third point cloud data using histogram sampling in accordance with an embodiment of the application;
FIG. 5 shows a schematic view of the mounting location of a lidar according to an embodiment of the application;
fig. 6 shows a schematic diagram of a device for determining the angle between the truck head and the trailer according to an embodiment of the application.
Detailed Description
It should be noted that, without conflict, the embodiments of the present application and features of the embodiments may be combined with each other. The application will be described in detail below with reference to the drawings in connection with embodiments.
In order that those skilled in the art will better understand the present application, a technical solution in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present application without making any inventive effort, shall fall within the scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate in order to describe the embodiments of the application herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
It will be understood that when an element such as a layer, film, region, or substrate is referred to as being "on" another element, it can be directly on the other element or intervening elements may also be present. Furthermore, in the description and in the claims, when an element is described as being "connected" to another element, the element may be "directly connected" to the other element or "connected" to the other element through a third element.
As described in the background art, in the method for calculating the included angle between the truck head and the trailer by using the laser point cloud in the prior art, the detected trailer angle has lower accuracy, so as to solve the problem that the detected trailer angle has lower accuracy in the method for calculating the included angle between the truck head and the trailer by using the laser point cloud.
According to the embodiment of the application, a method for determining the included angle between the truck head and the trailer is provided.
Fig. 1 is a flow chart of a method of determining an angle between a truck head and a trailer in accordance with an embodiment of the present application. As shown in fig. 1, the method comprises the steps of:
Step S101, acquiring first point cloud data obtained by laser radar scanning, wherein the laser radar is arranged on a truck head;
step S102, screening second point cloud data from the first point cloud data, wherein the second point cloud data is point cloud data in a sector area including a trailer boundary;
step S103, screening third point cloud data from the second point cloud data, wherein the third point cloud data is the point cloud data hit on the boundary of the trailer;
step S104, fitting out a trailer boundary line according to the third point cloud data;
And step 105, determining an included angle between the truck head and the trailer according to the boundary line of the trailer and the central axis of the truck head.
Specifically, the trailer boundary may be a left or right boundary, and fig. 2 shows point cloud data within a sector including the left boundary of the trailer.
Specifically, a lidar mounted on the truck head transmits radar waves to the trailer, and the lidar receives reflected waves after being transmitted by the trailer. In order to obtain more first point cloud data, the laser radar can be arranged at the tail part of the truck head.
Specifically, the second point cloud data is screened from the first point cloud data by means of scanning filtering, as shown in fig. 2, fig. 2 (a) is first point cloud data (i.e., original point cloud data), fig. 2 (b) is second point cloud data obtained after the scanning filtering, and fig. 2 (b) clearly shows that the second point cloud data is point cloud data in a sector area including a trailer boundary.
Specifically, a specific implementation manner of screening the second point cloud data from the first point cloud data by using a scanning filtering manner includes: and the maximum included angle between the truck head and the trailer is not more than 90 degrees, and the angle between the truck head and the trailer obtained at the last moment is utilized, and meanwhile, the first point cloud data which does not contain the trailer is filtered according to the preset maximum change angle of the trailer at the two moments of the truck, so that the calculated amount is reduced. Eventually, a sector area with a small angle (namely an area formed by the second point cloud data) is reserved.
Specifically, third point cloud data is screened from the second point cloud data by a point filtering mode, as shown in fig. 3, the third point cloud data is point cloud data hit on a trailer boundary, fig. 3 (a) is second point cloud data obtained after scanning and filtering, fig. 3 (b) is a top view of the third point cloud data obtained after point filtering, and fig. 3 (c) is a side view of the third point cloud data obtained after point filtering. The mode that adopts scanning filtering and some filtering is got rid of the noise point to this scheme, can eliminate rainy day, have influence of dust etc. to detecting the trailer angle to promote the rate of accuracy. Of course, the combination of scanning filtering, point filtering and Hough voting further eliminates the influence of rainy days, dust and the like on detecting the trailer angle.
Specifically, the specific implementation manner of screening the third point cloud data from the second point cloud data through the point filtering manner is that points with lower height, higher height or farther height, points in front of the truck and points in the trailer can be filtered according to the relative pose of the vehicle and the sensor and the angle detected at the previous moment, and useless points are further reduced through point filtering, so that the third point cloud data is obtained.
According to the scheme, the second point cloud data is screened out from the first point cloud data, and the third point cloud data is screened out from the second point cloud data, so that the third point cloud data is the point cloud data on the boundary of the trailer, the relatively accurate trailer boundary line can be fitted out from the third point cloud data, then the accurate determination of the included angle between the truck head and the trailer is realized according to the trailer boundary line and the central axis of the truck head, and the trailer boundary line is fitted out from the third point cloud data.
It should be noted that the steps illustrated in the flowcharts of the figures may be performed in a computer system such as a set of computer executable instructions, and that although a logical order is illustrated in the flowcharts, in some cases the steps illustrated or described may be performed in an order other than that illustrated herein.
In an embodiment of the present application, the fitting of the trailer boundary line according to the third point cloud data includes: extracting a predetermined number of point clouds from the third point cloud data by adopting histogram sampling; processing the predetermined number of point clouds by adopting a Hough voting algorithm to obtain candidate point clouds; and fitting out the boundary line of the trailer according to the candidate point cloud. As can be seen from fig. 3 (c), the third point cloud data has more data points, the trailer boundary line cannot be fitted directly, a preset number of point clouds are extracted from the third point cloud data through histogram sampling, then the preset number of point clouds are processed by adopting a hough voting algorithm, candidate point clouds are obtained, and the more accurate trailer boundary line can be fitted according to the candidate point clouds.
In one embodiment of the present application, extracting a predetermined number of point clouds from the third point cloud data using histogram sampling includes: as shown in fig. 4, projecting the third point cloud data into a two-dimensional plane to obtain a set of points; dividing the area where the point set is located into a plurality of rectangular subareas which are sequentially arranged by adopting the histogram sampling; establishing a two-dimensional coordinate system, wherein the two-dimensional coordinate system comprises a first coordinate axis and a second coordinate axis, and the origin of the two-dimensional coordinate system is a point on the central axis of the truck head; based on the two-dimensional coordinate system, a point (corresponding to a left boundary) corresponding to the minimum value of the second coordinate axis in each of the rectangular subregions, or a point (corresponding to a right boundary, not shown in fig. 4) corresponding to the maximum value of the second coordinate axis in each of the rectangular subregions is extracted. As can be seen from fig. 4, the point cloud data after the histogram sampling process can be approximately connected into a straight line, then the candidate point cloud is selected through the hough voting algorithm, and an accurate trailer boundary line can be fitted by adopting the candidate point cloud, so that the accurate determination of the included angle between the truck head and the trailer is realized.
In a specific embodiment of the application, candidate point clouds are selected through a Hough voting algorithm, and a specific implementation mode that the candidate point clouds can be adopted to fit accurate trailer boundary lines is to fit a linear equation to the reserved candidate point clouds in a nonlinear least square mode.
In one embodiment of the present application, the method further includes: acquiring a historical included angle, wherein the historical included angle is an included angle acquired before the current moment; and predicting the current included angle by adopting a Hough voting algorithm according to the historical included angle. Of course, the current included angle can be predicted according to the included angle acquired before the current moment, so as to reduce the range of the Hough voting.
In a specific embodiment of the application, according to the historical included angle, a specific implementation mode of predicting the current included angle by adopting a Hough voting algorithm is to sample angles around a detected angle at the previous moment according to the assumption that the angle change is not large at the previous moment and the next moment, then each angle and the half width of a trailer can determine a straight line (in a polar coordinate mode), then the distances from the point cloud to the straight lines are calculated sequentially, the point cloud is considered to belong to the straight line when the distances are smaller than a certain distance, then the straight line containing the most point cloud is counted, and the angle corresponding to the straight line is the best angle obtained by Hough voting.
In one embodiment of the present application, the method further includes: under the condition that an effective included angle cannot be obtained at the current moment and at least one effective included angle is obtained according to the first three frames of point cloud data, a linear Kalman filtering algorithm is adopted to predict the current included angle, and the difference between the effective included angle and the real included angle is smaller than a preset value. In general, if the actual included angle is within the predetermined range, it is indicated that the included angle is an invalid included angle, and specifically, a specific implementation manner of predicting the current included angle by using the linear kalman filtering algorithm is as follows: and each time a new included angle is acquired, the internal state of the linear Kalman is updated once, and if no effective included angle is currently acquired, the linear Kalman filtering deduces the current included angle by utilizing the included angle stored before, the angular speed and the time change information before and after. (specifically, the current angle=the previous angle+the angular velocity×time).
In one embodiment of the present application, the laser radar includes a left laser radar installed on a left side of the truck head and a right laser radar installed on a right side of the truck head.
In one embodiment of the present application, the distance between the emitter of the left laser radar and the left boundary of the truck head in the horizontal direction is greater than a predetermined value, as shown in fig. 5, the distance between the emitter of the right laser radar and the right boundary of the truck head in the horizontal direction is greater than the predetermined value, so that the radar wave emitted by the right laser radar can strike the trailer, and further the accurate determination of the included angle is realized.
In one embodiment of the application, the left laser radar has a plurality of left laser radars and the right laser radar has a plurality of right laser radars, so that the accurate determination of the included angle is realized.
The embodiment of the application also provides a device for determining the included angle between the truck head and the trailer, and the device for determining the included angle between the truck head and the trailer can be used for executing the method for determining the included angle between the truck head and the trailer. The following describes a device for determining an included angle between a truck head and a trailer provided by an embodiment of the present application.
Fig. 6 is a schematic view of a device for determining an angle between a truck head and a trailer according to an embodiment of the application. As shown in fig. 6, the apparatus includes:
A first obtaining unit 10, configured to obtain first point cloud data obtained by scanning a laser radar, where the laser radar is installed on a truck head;
A first screening unit 20, configured to screen second point cloud data from the first point cloud data, where the second point cloud data is point cloud data in a sector area including a trailer boundary;
a second screening unit 30, configured to screen third point cloud data from the second point cloud data, where the third point cloud data is point cloud data hit on a trailer boundary;
a fitting unit 40, configured to fit a trailer boundary line according to the third point cloud data;
And the determining unit 50 is used for determining the included angle between the truck head and the trailer according to the boundary line of the trailer and the central axis of the truck head.
In the above scheme, the first screening unit screens the second point cloud data from the first point cloud data, the second screening unit screens the third point cloud data from the second point cloud data, and because the third point cloud data is the point cloud data which is hit on the boundary of the trailer, the third point cloud data can be fitted with a relatively accurate trailer boundary line, the determining unit realizes the accurate determination of the included angle between the truck head and the trailer according to the trailer boundary line and the central axis of the truck head, and the trailer boundary line is fitted with the third point cloud data.
In one embodiment of the present application, the fitting unit includes an extracting module, a processing module and a fitting module, where the extracting module is configured to extract a predetermined number of point clouds from the third point cloud data by using histogram sampling; the processing module is used for processing the predetermined number of point clouds by adopting a Hough voting algorithm to obtain candidate point clouds; and the fitting module is used for fitting out the boundary line of the trailer according to the candidate point cloud. As can be seen from fig. 3 (c), the third point cloud data has more data points, the trailer boundary line cannot be fitted directly, a preset number of point clouds are extracted from the third point cloud data through histogram sampling, then the preset number of point clouds are processed by adopting a hough voting algorithm, candidate point clouds are obtained, and the more accurate trailer boundary line can be fitted according to the candidate point clouds.
In an embodiment of the present application, the extracting module is further configured to project the third point cloud data into a two-dimensional plane to obtain a set of points; dividing the area where the point set is located into a plurality of rectangular subareas which are sequentially arranged by adopting the histogram sampling; establishing a two-dimensional coordinate system, wherein the two-dimensional coordinate system comprises a first coordinate axis and a second coordinate axis, and the origin of the two-dimensional coordinate system is a point on the central axis of the truck head; based on the two-dimensional coordinate system, a point (corresponding to a left boundary) corresponding to the minimum value of the second coordinate axis in each of the rectangular subregions, or a point (corresponding to a right boundary, not shown in fig. 4) corresponding to the maximum value of the second coordinate axis in each of the rectangular subregions is extracted. As can be seen from fig. 4, the point cloud data after the histogram sampling process can be approximately connected into a straight line, then the candidate point cloud is selected through the hough voting algorithm, and an accurate trailer boundary line can be fitted by adopting the candidate point cloud, so that the accurate determination of the included angle between the truck head and the trailer is realized.
In one embodiment of the present application, the apparatus further includes a first obtaining unit and a first predicting unit, where the first obtaining unit is configured to obtain a historical included angle, where the historical included angle is an included angle obtained before a current time; the first prediction unit is used for predicting the current included angle by adopting a Hough voting algorithm according to the historical included angle. Of course, the current included angle can be predicted according to the included angle acquired before the current moment, so as to reduce the range of the Hough voting.
In an embodiment of the present application, the apparatus further includes a second prediction unit, where the second prediction unit is configured to predict, when an effective included angle cannot be obtained at the current time, the current included angle by using a linear kalman filtering algorithm and when at least one effective included angle is obtained according to the first three frame point cloud data, a difference between the effective included angle and the real included angle is smaller than a preset value. In general, if the actual included angle is within the predetermined range, it is indicated that the included angle is an invalid included angle, and specifically, a specific implementation manner of predicting the current included angle by using the linear kalman filtering algorithm is as follows: and each time a new included angle is acquired, the internal state of the linear Kalman is updated once, and if no effective included angle is currently acquired, the linear Kalman filtering deduces the current included angle by utilizing the included angle stored before, the angular speed and the time change information before and after. (specifically, the current angle=the previous angle+the angular velocity×time).
The device for determining the included angle between the truck head and the trailer comprises a processor and a memory, wherein the first acquisition unit, the first screening unit, the second screening unit, the fitting unit, the determining unit and the like are all stored in the memory as program units, and the processor executes the program units stored in the memory to realize corresponding functions.
The processor includes a kernel, and the kernel fetches the corresponding program unit from the memory. The inner core can be provided with one or more than one, and the accurate determination of the included angle between the truck head and the trailer is realized by adjusting the parameters of the inner core.
The memory may include volatile memory, random Access Memory (RAM), and/or nonvolatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM), among other forms in computer readable media, the memory including at least one memory chip.
The embodiment of the invention provides a computer readable storage medium, which comprises a stored program, wherein when the program runs, equipment in which the computer readable storage medium is arranged is controlled to execute a method for determining an included angle between a truck head and a trailer.
The embodiment of the invention provides a processor which is used for running a program, wherein the program runs to execute a method for determining an included angle between a truck head and a trailer.
The embodiment of the invention provides a truck, which comprises a truck head, a trailer and a device for determining an included angle between the truck head and the trailer.
In an embodiment of the application, the truck further includes a storage device, where the storage device is used to store point cloud data obtained by laser radar scanning.
In an embodiment of the application, the truck further includes a display device, where the display device is configured to display the included angle.
The embodiment of the invention provides electronic equipment, which comprises: the system comprises one or more processors, a memory, a display device and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, and the one or more programs comprise a method for determining an included angle between any of the truck head and the trailer.
The embodiment of the invention provides equipment, which comprises a processor, a memory and a program stored in the memory and capable of running on the processor, wherein the processor realizes at least the following steps when executing the program:
Step S101, acquiring first point cloud data obtained by laser radar scanning, wherein the laser radar is arranged on a truck head;
step S102, screening second point cloud data from the first point cloud data, wherein the second point cloud data is point cloud data in a sector area including a trailer boundary;
step S103, screening third point cloud data from the second point cloud data, wherein the third point cloud data is the point cloud data hit on the boundary of the trailer;
step S104, fitting out a trailer boundary line according to the third point cloud data;
And step 105, determining an included angle between the truck head and the trailer according to the boundary line of the trailer and the central axis of the truck head.
The device herein may be a server, PC, PAD, cell phone, etc.
The application also provides a computer program product adapted to perform, when executed on a data processing device, a program initialized with at least the following method steps:
Step S101, acquiring first point cloud data obtained by laser radar scanning, wherein the laser radar is arranged on a truck head;
step S102, screening second point cloud data from the first point cloud data, wherein the second point cloud data is point cloud data in a sector area including a trailer boundary;
step S103, screening third point cloud data from the second point cloud data, wherein the third point cloud data is the point cloud data hit on the boundary of the trailer;
step S104, fitting out a trailer boundary line according to the third point cloud data;
And step 105, determining an included angle between the truck head and the trailer according to the boundary line of the trailer and the central axis of the truck head.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In one typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, etc., such as Read Only Memory (ROM) or flash RAM. Memory is an example of a computer-readable medium.
Computer readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. Computer-readable media, as defined herein, does not include transitory computer-readable media (transmission media), such as modulated data signals and carrier waves.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises an element.
From the above description, it can be seen that the above embodiments of the present application achieve the following technical effects:
1) According to the method for determining the included angle between the truck head and the trailer, the second point cloud data is screened out from the first point cloud data, and the third point cloud data is screened out from the second point cloud data, so that the third point cloud data is the point cloud data which is hit on the trailer boundary, a relatively accurate trailer boundary line can be fitted out from the third point cloud data, then the accurate determination of the included angle between the truck head and the trailer is realized according to the trailer boundary line and the central axis of the truck head, and the trailer boundary line is fitted out from the third point cloud data.
2) According to the determining device for the included angle between the truck head and the trailer, the first screening unit screens out the second point cloud data from the first point cloud data, and the second screening unit screens out the third point cloud data from the second point cloud data, so that the third point cloud data is the point cloud data which is hit on the trailer boundary, a relatively accurate trailer boundary line can be fitted from the third point cloud data, the determining unit can accurately determine the included angle between the truck head and the trailer according to the trailer boundary line and the central axis of the truck head, and the trailer boundary line is fitted from the third point cloud data.
The above description is only of the preferred embodiments of the present application and is not intended to limit the present application, but various modifications and variations can be made to the present application by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.
Claims (13)
1. A method for determining an angle between a truck head and a trailer, comprising:
acquiring first point cloud data obtained by laser radar scanning, wherein the laser radar is arranged on a truck head;
screening second point cloud data from the first point cloud data, wherein the second point cloud data are point cloud data in a sector area including a trailer boundary;
Screening third point cloud data from the second point cloud data, wherein the third point cloud data is the point cloud data hit on the boundary of the trailer;
Fitting a trailer boundary line according to the third point cloud data;
determining an included angle between the truck head and the trailer according to the boundary line of the trailer and the central axis of the truck head;
And fitting out a trailer boundary line according to the third point cloud data, wherein the fitting out comprises the following steps: extracting a predetermined number of point clouds from the third point cloud data using histogram sampling; processing the predetermined number of point clouds by adopting a Hough voting algorithm to obtain candidate point clouds; fitting out the trailer boundary line according to the candidate point cloud;
Extracting a predetermined number of point clouds from the third point cloud data using histogram sampling, comprising: projecting the third point cloud data into a two-dimensional plane to obtain a set of points; dividing the area where the point set is located into a plurality of rectangular subareas which are sequentially arranged by adopting the histogram sampling; establishing a two-dimensional coordinate system, wherein the two-dimensional coordinate system comprises a first coordinate axis and a second coordinate axis, and the origin of the two-dimensional coordinate system is a point on the central axis of the truck head; and extracting a point corresponding to the minimum value of the second coordinate axis in each rectangular subarea or extracting a point corresponding to the maximum value of the second coordinate axis in each rectangular subarea based on the two-dimensional coordinate system.
2. The method of determining according to claim 1, wherein the method further comprises:
acquiring a historical included angle, wherein the historical included angle is an included angle acquired before the current moment;
and predicting the current included angle by adopting a Hough voting algorithm according to the historical included angle.
3. The method of determining according to claim 1, wherein the method further comprises:
Under the condition that an effective included angle cannot be obtained at the current moment and at least one effective included angle is obtained according to the first three frames of point cloud data, a linear Kalman filtering algorithm is adopted to predict the current included angle, and the difference between the effective included angle and the real included angle is smaller than a preset value.
4. A determination method according to any one of claims 1 to 3, wherein the lidar comprises a left lidar and a right lidar, the left lidar being mounted on the left side of the truck head, the right lidar being mounted on the right side of the truck head.
5. The method of determining according to claim 4, wherein a distance in a horizontal direction of a transmitter of the left lidar from a left boundary of the truck head is greater than a predetermined value, and a distance in the horizontal direction of a transmitter of the right lidar from a right boundary of the truck head is greater than the predetermined value.
6. The method according to claim 4, wherein there are a plurality of left lidars and a plurality of right lidars.
7. A device for determining an included angle between a truck head and a trailer, comprising:
the first acquisition unit is used for acquiring first point cloud data obtained by laser radar scanning, and the laser radar is arranged on a truck head;
the first screening unit is used for screening second point cloud data from the first point cloud data, wherein the second point cloud data are point cloud data in a sector area including a trailer boundary;
the second screening unit is used for screening third point cloud data from the second point cloud data, wherein the third point cloud data is point cloud data hit on the boundary of the trailer;
the fitting unit is used for fitting out a trailer boundary line according to the third point cloud data;
The determining unit is used for determining an included angle between the truck headstock and the trailer according to the boundary line of the trailer and the central axis of the truck headstock;
The fitting unit comprises an extracting module, a processing module and a fitting module, wherein the extracting module is used for extracting a preset number of point clouds from the third point cloud data by adopting histogram sampling, the processing module is used for processing the preset number of point clouds by adopting a Hough voting algorithm to obtain candidate point clouds, and the fitting module is used for fitting out the trailer boundary line according to the candidate point clouds;
The extraction module is further used for projecting the third point cloud data into a two-dimensional plane to obtain a beam point set; dividing the area where the point set is located into a plurality of rectangular subareas which are sequentially arranged by adopting the histogram sampling; establishing a two-dimensional coordinate system, wherein the two-dimensional coordinate system comprises a first coordinate axis and a second coordinate axis, and the origin of the two-dimensional coordinate system is a point on the central axis of the truck head; and extracting a point corresponding to the minimum value of the second coordinate axis in each rectangular subarea or extracting a point corresponding to the maximum value of the second coordinate axis in each rectangular subarea based on the two-dimensional coordinate system.
8. A truck comprising a truck head, a trailer, and means for determining the angle between the truck head and the trailer, said means for determining being as claimed in claim 7.
9. The truck of claim 8 further comprising a storage device for storing point cloud data from a lidar scan.
10. The truck of claim 8 further comprising a display device for displaying the angle.
11. A computer readable storage medium, characterized in that the computer readable storage medium comprises a stored program, wherein the program, when run, controls a device in which the computer readable storage medium is located to perform the method of determining the angle between the truck head and the trailer as claimed in any one of claims 1 to 6.
12. A processor for running a program, wherein the program when run performs the method of determining the angle between the truck head and the trailer of any one of claims 1 to 6.
13. An electronic device, comprising: one or more processors, a memory, a display device, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs including instructions for performing the method of determining the angle between the truck head and the trailer of any one of claims 1-6.
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| CN114399550B (en) * | 2022-01-18 | 2024-06-07 | 中冶赛迪信息技术(重庆)有限公司 | Three-dimensional laser scanning-based automobile saddle extraction method and system |
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| CN111366938A (en) * | 2018-12-10 | 2020-07-03 | 北京图森智途科技有限公司 | Method and device for measuring included angle of trailer and vehicle |
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| CN111366938A (en) * | 2018-12-10 | 2020-07-03 | 北京图森智途科技有限公司 | Method and device for measuring included angle of trailer and vehicle |
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