重庆理工大学学报(自然科学) ›› 2023, Vol. 37 ›› Issue (6): 85-92.

• 车辆工程 • 上一篇    下一篇

一种改进 Delaunay三角剖分的临时道路检测方法

王 超,王立勇,苏清华,丁炳超,张 政,贾晓亮   

  1. (1.北京信息科技大学 现代测控技术教育部重点实验室,北京 100192; 2.陆军装备部驻北京地区军事代表局驻临汾地区军事代表室,山西 临汾 041000)
  • 出版日期:2023-07-12 发布日期:2023-07-12
  • 作者简介:王超,男,硕士研究生,主要从事移动机器人感知研究,Email:zcsmmi6@163.com;通信作者 王立勇,男,博士,教 授,主要从事自动驾驶技术与应用研究,Email:wangliyong@bistu.edu.cn。

A temporary road detection method based on an improved Delaunay triangulation

  • Online:2023-07-12 Published:2023-07-12

摘要: 针对由交通锥桶引导的临时道路,提出一种改进 Delaunay三角剖分算法,实现该特 殊场景下的道路检测。使用 YOLOv4算法对图像中的交通锥桶目标进行识别,并融合图像信息 与激光雷达获取的交通锥桶点云信息,对融合后的交通锥桶信息进行 Delaunay三角剖分,提出 一种 Delaunay三角网滤波算法与局部优化策略,根据路况变化实现 Delaunay三角网权重与损 失值的实时计算,有效滤除损失值总和不满足条件的三角边,算法减少了 Delaunay三角网内的 噪声约束,有效实现车道线与可行驶路径的快速规划与实时更新。实车实验结果表明:该算法 平均耗时 35.4ms,所检测路径绝对轨迹误差为 0.2m、准确率为 97%,相比传统 Delaunay三角 剖分算法,改进后的算法满足实时性要求,降低了路径检测误差,提高了路径检测准确率。

关键词: 锥桶识别, 方程式赛车, 三角剖分, 路径规划, 临时道路检测

Abstract: For temporary roads guided by traffic cones,this paper proposes an improved Delaunay triangulation algorithm to implement road detection in this special scene.YOLOv4 algorithm is used to recognize traffic cones in the images.Besides,the image information and the point cloud information of the traffic cones obtained by laser radar are fused,and the fused traffic cone information is Delaunay triangulated to propose a Delaunay triangulation filtering algorithm and the local optimization strategy,which calculates the weight and the loss value of the Delaunay triangulation in real time according to the change of road conditions and effectively filters out the triangular edges whose sum of the loss values fails to match the conditions.The proposed method reduces the noise constraint in the Delaunay triangulation and effectively implements the rapid planning and real-time updating of lane lines and drivable paths.The real vehicle experiment results show that the average time consumption of the proposed method is 35.4 ms.The absolute trajectory error of the detected path is 0.2 m,and the accuracy is 97%.Compared with the traditional Delaunay triangulation method,the improved method meets the real-time demand,reduces the path detection error,and improves the path detection accuracy.

中图分类号: 

  • U461