In order to realize the quantification of obstacle recognition criteria for autonomous vehicles,this paper proposes a method for the quantification of obstacle recognition criteria for autonomous vehicles based on elliptic envelope curve sets.The collection of obstacle point cloud information is completed by lidar,and then a series of mathematical methods such as coordinate transformation,XYZ three-way plane segmenta-tion,establishment of elliptic curves in the plane,and criterion quantification calculation are used to realize the quantification of obstacle identification criteria.The autonomous vehicle provides a quantifiable criterion for determining whether obstacles infringe the safe driving space of the vehicle during the driving process.
维普
万方数据