机器人Issue(6)：654-661,8.DOI:10.13973/j.cnki.robot.2014.0654
基于激光传感器的无人驾驶汽车动态障碍物检测及表示方法
Dynamic Obstacle Detection and Representation Approach for Unmanned Vehicles Based on Laser Sensor
摘要
Abstract
For the data processing delay and inaccurate detection problems of dynamic obstacle detection for laser sensor in outdoor environments, a dynamic obstacle detection and representation approach is proposed based on 3-dimensional laser sensor Velodyne and four-line laser sensor Ibeo. By analyzing and processing the data from Velodyne, this approach accomplishes detection and tracking of dynamic obstacles around the unmanned vehicle. For the sector region in front of unmanned vehicle with high accuracy requirements, this approach adopts confidence distance theory to achieve data fusion of the information processed by Velodyne and the output motion state information provided by Ibeo, significantly improves detection accuracy of obstacle motion state, and performs time-delay revision for the locations of dynamic obstacles based on the fusion result. At last, the occupancy locations of dynamic obstacles and static obstacles are distinguished and marked in the occupancy grid map. This approach can accurately detect the obstacle motion information in outdoor environments, eliminate positional deviation caused by sensor data processing delay and accurately represent the dynamic and static obstacles information in the environment with the occupancy grid map. This approach is applied to our self-developed unmanned vehicle. Large amount of experiments and the outstanding performance of our unmanned vehicle in the“Intelligent Vehicle Future Challenge of China”prove its reliability and accuracy.关键词
无人驾驶汽车/动态障碍物检测/栅格地图/激光传感器/Velodyne/IbeoKey words
unmanned vehicle/dynamic obstacle detection/grid map/laser sensor/Velodyne/Ibeo分类
信息技术与安全科学引用本文复制引用
辛煜,梁华为,梅涛,黄如林,杜明博,王智灵,陈佳佳,赵盼..基于激光传感器的无人驾驶汽车动态障碍物检测及表示方法[J].机器人,2014,(6):654-661,8.基金项目
国家自然科学基金重大研究计划重点项目（91120307）；国家自然科学基金重大研究计划集成项目（91320301）；国家自然科学基金青年基金项目（61005091）． （）
