CAJ | 학술논문

文章针对车道保持系统在运行中存在障碍物的情况，基于多传感器对智能车辆的局部避障路径规划问题进行了研究。首先利用单目视觉传感器检测可通行道路的边界线，根据道路信息得到车辆行驶的目标路径并生成虚拟障碍物；然后利用激光测距雷达与视觉传感器相结合的信息探测道路中可能存在的障碍物信息；最后将传感器感知的实际障碍物与虚拟障碍物相结合，采用改进的向量场直方图方法进行局部避障路径规划。仿真实验结果表明该避障路径规划算法是有效的。
문장침대차도보지계통재운행중존재장애물적정황，기우다전감기대지능차량적국부피장로경규화문제진행료연구。수선이용단목시각전감기검측가통행도로적변계선，근거도로신식득도차량행사적목표로경병생성허의장애물；연후이용격광측거뢰체여시각전감기상결합적신식탐측도로중가능존재적장애물신식；최후장전감기감지적실제장애물여허의장애물상결합，채용개진적향량장직방도방법진행국부피장로경규화。방진실험결과표명해피장로경규화산법시유효적。
Considering the possibility of obstacles existing on the road w hen the lane keeping system is utilized for the driver assistance ,the multisensory fusion based local collision-free path planning of the intelligent vehicle is studied .Firstly ,the traversable road boundaries are detected by using a monocu-lar vision sensor and a target path and virtual obstacles are generated by combining the detected boundaries and the road information consequently .Secondly ,the possible real obstacles existing on the road are detected by using the fusion information from laser ranging radar and vision sensors .Fi-nally ,the real obstacles detected by sensors are combined with virtual obstacles ,and a local collision-free path is planned by using improved vector field histogram (VFH) method .The results of simula-tion experiment indicate the validity of the proposed collision-free path planning method .