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

• Orginal Article • Previous Articles     Next Articles

-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

RICH HTML

3   

PDF (PC)

1576

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

CLC Number: 

  • U461
[1] Reina G, Underwood J, Brooker G, et al. Radar‐based perception for autonomous outdoor vehicles[J]. Journal of Field Robotics, 2011, 28(6): 894-913.
[2] Alvarez J M A, Lopez A M. Road detection based on illuminant invariance[J]. Intelligent Transportation Systems, IEEE Transactions on, 2011, 12(1): 184-193.
[3] Danescu R, Nedevschi S. Probabilistic lane tracking in difficult road scenarios using stereovision[J]. Intelligent Transportation Systems, IEEE Transactions on, 2009, 10(2): 272-282.
[4] Rotaru C, Graf T, Zhang J. Color image segmentation in HSI space for automotive applications[J]. Journal of Real-Time Image Processing, 2008, 3(4): 311-322.
[5] 王荣本, 李琳辉, 郭烈, 等. 基于立体视觉的越野环境感知技术[J]. 吉林大学学报: 工学版, 2008, 38(3):520-524.
Wang Rong-ben, Li Lin-hui, Guo Lie, et al. Stereo vision based cross-country environmental perception technique[J]. Journal of Jilin University(Engineering and Technology Edition), 2008,38(3):520-524.
[6] Himmelsbach M, Wuensche H. Fast segmentation of 3d point clouds for ground vehicles[C]//Intelligent Vehicles Symposium (IV), IEEE, 2010: 560-565.
[7] Steinhauser D, Ruepp O, Burschka D. Motion segmentation and scene classification from 3D LIDAR data[C]//Intelligent Vehicles Symposium, IEEE, 2008: 398-403.
[8] Klasing K, Wollherr D, Buss M. A clustering method for efficient segmentation of 3D laser data[C]//ICRA,Pasadena,California,USA,2008: 4043-4048.
[9] Douillard B, Underwood J, Kuntz N, et al. On the segmentation of 3D LIDAR point clouds[C]//Robotics and Automation (ICRA), 2011 IEEE International Conference on,IEEE, 2011: 2798-2805.
[10] Moosmann F. Interlacing Self-Localization, Moving Object Tracking and Mapping for 3D Range Sensors[D].Germany: KIT Scientific Publishing, 2013.
[11] 周森, 郭永彩, 高潮, 等. 基于三维激光扫描的移动大尺寸圆柱体工件长度快速检测系统[J]. 光学精密工程, 2014, 22(6): 1524-1530.
Zhou Sen, Guo Yong-cai, Gao Chao, et al. Rapid length measuring system for mobile and large scale cylinder workpieces based on 3D laser scanning[J].Optics and Precision Engineering, 2014, 22(6): 1524-1530.
[12] Milella A, Reina G, Underwood J, et al. Combining radar and vision for self-supervised ground segmentation in outdoor environments[C]//Intelligent Robots and Systems (IROS), 2011 IEEE/RSJ International Conference on, IEEE, 2011: 255-260.
[13] Milella A, Reina G, Underwood J, et al. Visual ground segmentation by radar supervision[J]. Robotics and Autonomous Systems, 2014,62(5):696-706.
[14] Häselich M, Arends M, Lang D, et al. Terrain classification with Markov random fields on fused camera and 3D laser range data[C]//ECMR,Örebro,Sweden,2011: 153-158.
[15] Hu X, Rodriguez F S A, Gepperth A. A multi-modal system for road detection and segmentation[C]//Intelligent Vehicles Symposium Proceedings, IEEE, 2014: 1365-1370.
[16] Álvarez J M, Lumbreras F, Gevers T, et al. Geographic information for vision-based road detection[C]//Intelligent Vehicles Symposium (IV), IEEE, 2010: 621-626.
[17] Básaca-Preciado L C, Sergiyenko O Y, Rodríguez-Quinonez J C, et al. Optical 3D laser measurement system for navigation of autonomous mobile robot[J]. Optics and Lasers in Engineering, 2014, 54: 159-169.
[18] Urmson C, Anhalt J, Bagnell D, et al. Autonomous driving in urban environments: boss and the urban challenge[J]. Journal of Field Robotic, 2008, 25(8): 425-466.
[19] Montemerlo M, Becker J, Bhat S, et al. Junior: The stanford entry in the urban challenge[J].Journal of Field Robotics, 2008, 25(9): 569-597.
[1] CHANG Cheng,SONG Chuan-xue,ZHANG Ya-ge,SHAO Yu-long,ZHOU Fang. Minimizing inverter capacity of doubly-fed machine driving electric vehicles [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(6): 1629-1635.
[2] XI Li-he,ZHANG Xin,SUN Chuan-yang,WANG Ze-xing,JIANG Tao. Adaptive energy management strategy for extended range electric vehicle [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(6): 1636-1644.
[3] HE Ren,YANG Liu,HU Dong-hai. Design and analysis of refrigeration system supplied by solar auxiliary power of refrigerator car [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(6): 1645-1652.
[4] NA Jing-xin,MU Wen-long,FAN Yi-sa,TAN Wei,YANG Jia-zhou. Effect of hygrothermal aging on steel-aluminum adhesive joints for automotive applications [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(6): 1653-1660.
[5] LIU Yu-mei,LIU Li,CAO Xiao-ning,XIONG Ming-ye,ZHUANG Jiao-jiao. Construction on collision avoidance model of bogie dynamic simulation test bench [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(6): 1661-1668.
[6] ZHAO Wei-qiang, GAO Ke, WANG Wen-bin. Prevention of instability control of commercial vehicle based on electric-hydraulic coupling steering system [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(5): 1305-1312.
[7] SONG Da-feng, WU Xi-tao, ZENG Xiao-hua, YANG Nan-nan, LI Wen-yuan. Life cycle cost analysis of mild hybrid heavy truck based on theoretical fuel consumption model [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(5): 1313-1323.
[8] ZHU Jian-feng, ZHANG Jun-yuan, CHEN Xiao-kai, HONG Guang-hui, SONG Zheng-chao, CAO Jie. Design modification for automotive body structure based on seat pull safety performance [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(5): 1324-1330.
[9] NA Jing-xin, PU Lei-xin, FAN Yi-sa, SHEN Chuan-liang. Effect of temperature and humidity on the failure strength of Sikaflex-265 aluminum adhesive joints [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(5): 1331-1338.
[10] WANG Yan, GAO Qing, WANG Guo-hua, ZHANG Tian-shi, YUAN Meng. Simulation of mixed inner air-flow integrated thermal management with temperature uniformity of Li-ion battery [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(5): 1339-1348.
[11] JIN Li-sheng, XIE Xian-yi, GAO Lin-lin, GUO Bai-cang. Distributed electric vehicle stability control based on quadratic programming [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(5): 1349-1359.
[12] KUI Hai-lin, BAO Cui-zhu, LI Hong-xue, LI Ming-da. Idling time prediction method based on least square support vector machine [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(5): 1360-1365.
[13] WANG De-jun, WEI Wei-li, BAO Ya-xin. Actuator fault diagnosis of ESC system considering crosswind interference [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(5): 1548-1555.
[14] HU Man-jiang, LUO Yu-gong, CHEN Long, LI Ke-qiang. Vehicle mass estimation based on longitudinal frequency response characteristics [J]. 吉林大学学报(工学版), 2018, 48(4): 977-983.
[15] LIU Guo-zheng, SHI Wen-ku, Chen Zhi-yong. Finite element analysis of transmission error for hypoid gears considering installation error [J]. 吉林大学学报(工学版), 2018, 48(4): 984-989.
Viewed
Full text


Abstract

Cited
  Shared   
  Discussed   
No Suggested Reading articles found!
Copyright © Journal of Jilin University(Engineering and Technology Edition), All Rights Reserved.
Tel: +86-431-85095297　Fax: +86-431-85094074　E-mail: xbgxb@jlu.edu.cn
Powered by Beijing Magtech Co. Ltd