北京工业大学学报
北京工業大學學報
북경공업대학학보
JOURNAL OF BEIJING POLYTECHNIC UNIVERSITY
2014年
12期
1891-1898
,共8页
多层激光雷达%无人驾驶车%环境感知%Dezert-Smarandache 理论%栅格地图%路沿检测
多層激光雷達%無人駕駛車%環境感知%Dezert-Smarandache 理論%柵格地圖%路沿檢測
다층격광뢰체%무인가사차%배경감지%Dezert-Smarandache 이론%책격지도%로연검측
multi-layer laser radar%driverless car%environmental perception%Dezert-Smarandache theory (DSmT)%grid map%road edge detection
为了使无人驾驶车获得可行驶区域和障碍物信息,通过分析大量激光雷达扫描点数据,总结并得出路沿数据点独有的特征,提出一种基于路沿数据点特征和多层融合技术的路沿检测算法。应用 Dezert-Smarandache 理论(Dezert-Smarandache theory,DSmT)对无人驾驶车前方道路环境建立栅格地图,并利用证据理论中的冲突系数检测动态障碍物。最后,采用膨胀算法、侵蚀算法和改进的八邻域区域标记算法对动态障碍物进行聚类和信息提取。实车实验结果表明:本算法可稳定、准确地感知无人驾驶车周围环境信息。
為瞭使無人駕駛車穫得可行駛區域和障礙物信息,通過分析大量激光雷達掃描點數據,總結併得齣路沿數據點獨有的特徵,提齣一種基于路沿數據點特徵和多層融閤技術的路沿檢測算法。應用 Dezert-Smarandache 理論(Dezert-Smarandache theory,DSmT)對無人駕駛車前方道路環境建立柵格地圖,併利用證據理論中的遲突繫數檢測動態障礙物。最後,採用膨脹算法、侵蝕算法和改進的八鄰域區域標記算法對動態障礙物進行聚類和信息提取。實車實驗結果錶明:本算法可穩定、準確地感知無人駕駛車週圍環境信息。
위료사무인가사차획득가행사구역화장애물신식,통과분석대량격광뢰체소묘점수거,총결병득출로연수거점독유적특정,제출일충기우로연수거점특정화다층융합기술적로연검측산법。응용 Dezert-Smarandache 이론(Dezert-Smarandache theory,DSmT)대무인가사차전방도로배경건립책격지도,병이용증거이론중적충돌계수검측동태장애물。최후,채용팽창산법、침식산법화개진적팔린역구역표기산법대동태장애물진행취류화신식제취。실차실험결과표명:본산법가은정、준학지감지무인가사차주위배경신식。
To obtain the information of drivable area and obstacles for a driverless car, unique characteristics of the road edge data points were summarized and concluded by analyzing a large number of scanning lidar data, and a road edge detection algorithm was proposed based on the features of road edge data points and multi-layer fusion technology. DSmT was applied to establish a grid map for the road environment in front of the unmanned vehicle. The DSmT conflict coefficient was used to detect dynamic obstacles. Finally, the clustering and information extraction of dynamic obstacles was completed by the expansion algorithm, erosion algorithm, and the improved eight neighborhood labeling algorithm. Results show that the algorithm can stably and accurately perceive the environment information around driverless vehicle.