吉林大学学报(工学版) ›› 2016, Vol. 46 ›› Issue (2): 360-365.doi: 10.13229/j.cnki.jdxbgxb201602005

• 论文 • 上一篇    下一篇

基于三维激光雷达和深度图像的自动驾驶汽车障碍物检测方法

王新竹1, 李骏1, 2, 李红建2, 尚秉旭2   

  1. 1.吉林大学 汽车工程学院, 长春 130022;
    2.中国第一汽车集团公司 技术中心, 长春 130021
  • 收稿日期:2014-09-22 出版日期:2016-02-20 发布日期:2016-02-20
  • 通讯作者: 李骏(1958-),男,中国工程院院士,博士生导师.研究方向:动力工程,智能驾驶.E-mail:ljun@rdc.faw.com.cn E-mail:xzwang12@mails.jlu.edu.cn
  • 作者简介:王新竹(1985-),男,博士研究生.研究方向:自动驾驶技术.E-mail:xzwang12@mails.jlu.edu.cn
  • 基金资助:

    "973"国家重点基础研究发展计划项目(2012CB723801)

-Obstacle detection based on 3D laser scanner and range image for intelligent vehicle

WANG Xin-zhu1, LI Jun1, 2, LI Hong-jian2, SHANG Bing-xu2   

  1. 1.College of Automotive Engineering, Jilin University, Changchun 130022,China;
    2.China FAW Group Corporation R&D Center, Changchun 130021, China
  • Received:2014-09-22 Online:2016-02-20 Published:2016-02-20

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摘要：

介绍了一种基于三维激光雷达和深度图像的障碍物检测方法.首先,根据Velodyne HDL-32E激光雷达自身工作特性,将点云数据以矩阵方式表达,并表示为深度图像;然后,根据点云中各点的距离信息在深度图像横向上进行聚类;最后,在纵向上建立线性模型,对聚类点进行分类,划分出地面点集和障碍物点集.仿真实验结果表明:本方法能够抑制障碍物遮挡造成的误判,并能够很好地适应地形变化.

关键词: 车辆工程, 三维点云, 障碍物检测, 环境感知

Abstract:

An obstacle detection method based on 3D laser scanner and range image is proposed for intelligent vehicle. First, the range image of one scan is established based on the Welodyne HDL-32E laser scanner data. Then, according to the range image analysis, the point cloud in one row of the image is classified into several groups. Finally, the point clouds in different groups are detected by a linear model in column. Simulation reveals that using the proposed method, the rate of false detection caused by the obstacle lock is reduced, and this method well adapts to the terrain change.

Key words: vehicle engineering, 3D point clouds, obstacle detection, environmented perception

中图分类号: 

  • U461
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