控制与信息技术Issue(4)：102-107,6.DOI:10.13889/j.issn.2096-5427.2024.04.014
一种基于多传感器融合的智能轨道快运系统障碍物感知算法
An Obstacle Perception Algorithm Based on Multi-Sensor Fusion for Autonomous-Rail Rapid Transit
摘要
Abstract
This paper presents an obstacle perception algorithm based on multi-sensor fusion,aimed at addressing omissions and errors,as well as low accuracy in object detection for autonomous-rail rapid transit (ART). In a structure integrating pre-fusion and post-fusion algorithms,this approach combines the advantages of range detection by LiDAR,category detection by cameras,and speed detection by millimeter-wave radars. The pre-fusion process,supported by partial sensors,increases detection accuracy while avoiding excessive computational loads to on-board processing systems. Meanwhile,the post-fusion algorithm introduces redundancy to maintain the detection system valid when a single algorithm is out of work,as a means to ensure operational safety. Experimental results showed that the proposed method effectively detected obstacles on the operational tracks,outperforming single-sensor detection in terms of object data,and achieving detection distances longer than 70 m. These findings demonstrate its capabilities in ensuring the safe and stable operation of autonomous-rail rapid trams.关键词
多传感器融合/障碍物检测/智能轨道快运系统/激光雷达/毫米波雷达/摄像头Key words
multi-sensor fusion/obstacle detection/autonomous-rail rapid transit (ART)/LiDAR/millimeter-wave radar/camera分类
信息技术与安全科学引用本文复制引用
江良玉,潘文波,黄瑞鹏..一种基于多传感器融合的智能轨道快运系统障碍物感知算法[J].控制与信息技术,2024,(4):102-107,6.基金项目
国家重点研发计划项目(2022YFB4300400) （2022YFB4300400）
