Obstacle detection research based on four-line laser radar in vehicle - 文章详情页

作者：

Duan, Jianmin (Duan, Jianmin.) (学者：段建民) | Shi, Lixiao (Shi, Lixiao.) | Yao, Junqin (Yao, Junqin.) | Liu, Dan (Liu, Dan.) | Tian, Qi (Tian, Qi.)

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EI Scopus

摘要：

In　order　to　complete　the　task　of　vehicle＇s　autonomous　driving　in　structural　road,　it＇s　necessary　to　detect　obstacles.　This　paper　proposed　a　method　of　obstacle　detection,　taking　use　of　the　four-line　laser　radar.　This　algorithm　combined　the　improved　DBSCAN　with　K-Means　and　overcame　DBSCAN＇s　defect　that　it　couldn＇t　divide　obstacles　with　similar　density.　At　the　same　time,　this　method　can　eliminate　noise　points　effectively.　Based　on　clustering,　obstacle＇s　information　can　be　acquired,　such　as　angle,　distance　and　size,　to　achieve　the　task　of　obstacle　detection.　The　algorithm　is　applied　to　obstacle　detection　in　intelligent　vehicle.　The　test　proved　that　it　is　consistent　and　reliable,　which　complies　with　the　requirement　of　intelligent　vehicle＇s　autonomous　driving.　©　2013　IEEE.

关键词：

Autonomous vehicles Biomimetics Intelligent vehicle highway systems K-means clustering Obstacle detectors Optical radar Robotics Tracking radar

作者机构：

[ 1 ] [Duan, Jianmin]Measurement-Control System and Equipment Group, Department of Control Science and Engineering, Beijing University of Technology, Beijing 100022, China
[ 2 ] [Shi, Lixiao]Measurement-Control System and Equipment Group, Department of Control Science and Engineering, Beijing University of Technology, Beijing 100124, China
[ 3 ] [Yao, Junqin]Measurement-Control System and Equipment Group, Department of Control Science and Engineering, Beijing University of Technology, Beijing 100124, China
[ 4 ] [Liu, Dan]Measurement-Control System and Equipment Group, Department of Control Science and Engineering, Beijing University of Technology, Beijing 100124, China
[ 5 ] [Tian, Qi]Measurement-Control System and Equipment Group, Department of Control Science and Engineering, Beijing University of Technology, Beijing 100124, China

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