{"id":5133,"date":"2021-07-17T01:19:21","date_gmt":"2021-07-17T01:19:21","guid":{"rendered":"https:\/\/www.neuvition.com\/?p=5133"},"modified":"2021-07-17T01:19:22","modified_gmt":"2021-07-17T01:19:22","slug":"lidar-in-self-driving-cars","status":"publish","type":"post","link":"https:\/\/www.neuvition.com/zh-CN\/media\/blog\/lidar-in-self-driving-cars.html","title":{"rendered":"自动驾驶汽车中的激光雷达"},"content":{"rendered":"<p class=\"gt-block\"><strong>自动驾驶汽车<\/strong><\/p>\n\n\n\n<p>LiDAR的原理是向目标物体发射激光束，然后根据激光束发射和反射的时间间隔，判断与目标物体的实际距离。最大的特点就是测距精准，可以达到精度级别。如此高精度的测量，为无人驾驶的跟车算法提供了数据保障。<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img decoding=\"async\" loading=\"lazy\" width=\"600\" height=\"258\" src=\"https:\/\/www.neuvition.com\/wp-content\/uploads\/2021\/07\/1.jpg\" alt=\"\" class=\"wp-image-5134\" srcset=\"\/wp-content\/uploads\/2021\/07\/1.jpg 600w, \/wp-content\/uploads\/2021\/07\/1-300x129.jpg 300w\" sizes=\"(max-width: 600px) 100vw, 600px\"><\/figure>\n\n\n\n<p>3D环境感知方面，LiDAR可以实时扫描车辆周边的静态、动态障碍物，并依靠点云分类算法对障碍物进行分割分类，输出到下游的控制与决策模块，规划与决策控制模块根据不同的障碍物做出不同的行为决策，比如跟随、超车、停车等。<\/p>\n\n\n\n<p>辅助定位方面，可以从点云扫描结果中提取特征，并与高精地图的数据进行比对匹配，得出精准的物理位置。<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img decoding=\"async\" loading=\"lazy\" width=\"600\" height=\"334\" src=\"https:\/\/www.neuvition.com\/wp-content\/uploads\/2021\/07\/2.jpg\" alt=\"\" class=\"wp-image-5135\" srcset=\"\/wp-content\/uploads\/2021\/07\/2.jpg 600w, \/wp-content\/uploads\/2021\/07\/2-300x167.jpg 300w\" sizes=\"(max-width: 600px) 100vw, 600px\"><\/figure>\n\n\n\n<p>或者根据点云的反射值强度，按照反射值强度的概率来做定位（百度apollo定位算法中采用的就是这种方法），可以达到厘米级的定位精度。<\/p>\n\n\n\n<p class=\"gt-block\"><a href=\"https:\/\/www.neuvition.com/zh-CN\/\">激光雷达<\/a>&nbsp;弥补了其他传感器的不足，但也有其不足之处，例如雨雪天气下的传感器噪音等。<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img decoding=\"async\" src=\"https:\/\/www.neuvition.com\/wp-content\/uploads\/2021\/07\/3.jpg\" alt=\"\" class=\"wp-image-5136\"><\/figure>\n","protected":false},"excerpt":{"rendered":"<p>自动驾驶汽车 LiDAR 的原理是向目标物体发射激光束，然后根据激光束发射和反射的时间间隔确定与目标物体的实际距离。 最大的特点是距离测量准确，可以达到精度级别。 如此高精度的测量 […]<\/p>\n","protected":false},"author":5,"featured_media":5136,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[14],"tags":[],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v20.4 - https:\/\/yoast.com\/wordpress\/plugins\/seo\/ -->\n<title>LiDAR in Self-driving Cars<\/title>\n<meta name=\"description\" content=\"LiDAR can scan the static and dynamic obstacles around the vehicle in real time, and rely on the point cloud classification algorithm to..\" \/>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" href=\"https:\/\/www.neuvition.com\/media\/blog\/lidar-in-self-driving-cars.html\" \/>\n<meta property=\"og:locale\" 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