| Popis: |
Environmental perception is the premise of autonomous driving. Aiming at the environmental perception technology of racing car, this paper studies the LiDAR obstacle detection algorithm, aiming at providing necessary information for the path planning and vehicle control of racing car, and realizing the safe driving of the car. An algorithm of target pile bucket detection of driverless formula racing cars in the competition environment is studied. For the detection of target buckets, our approach is to limit the axial distance of the LiDAR raw data, retain the effective LiDAR data around the car, then use the plane segmentation model algorithm to separate target buckets from the ground and filter out the ground, and finally use Euclidean cluster to extract target buckets data. The result of actual vehicle experiment show that the algorithm of the thesis can quickly detect the target bucket of the them on the racing car, which lays a good foundation for the path planning and vehicle control of the car. |
