| 基于三维雷达的非结构化路面识别 |
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| 引用本文： | 张博,席军强,陈慧岩.基于三维雷达的非结构化路面识别[J].北京理工大学学报,2010,30(1):29-32. |
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| 作者姓名： | 张博 席军强 陈慧岩 |
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| 作者单位： | 北京理工大学,机械与车辆学院,北京,100081;北京理工大学,机械与车辆学院,北京,100081;北京理工大学,机械与车辆学院,北京,100081 |
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| 基金项目： | 国家自然科学基金资助项目(50575024);;国家“九八五”工程二期重点支持项目 |
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| 摘 要： | 为解决非结构化路面条件下路面识别问题和提高障碍识别的准确性,采用IBEO LD-ML四线雷达设计出一套越野环境障碍识别系统,并根据系统提出一种障碍分块算法.应用角度和长度双阈值对已得数据进行归类并进行分块,提取出阻碍车辆正常行进的区块.通过实车试验验证整个系统的可靠性、算法的准确性和实用性,试验结果表明,该系统可以实时地提取障碍目标,为智能车辆在越野环境下行驶提供实时路面评价方法.
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| 关 键 词： | 非结构化 三维雷达 障碍识别 |
| 收稿时间： | 1/8/2009 12:00:00 AM |
Road Detection in Unpredicted Environment Based on Three-Dimensional Radar |
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| ZHANG Bo,XI Jun-qiang and CHEN Hui-yan.Road Detection in Unpredicted Environment Based on Three-Dimensional Radar[J].Journal of Beijing Institute of Technology(Natural Science Edition),2010,30(1):29-32. |
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| Authors: | ZHANG Bo XI Jun-qiang and CHEN Hui-yan |
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| Institution: | School of Mechanical Engineering;Beijing Institute of Technology;Beijing 100081;China |
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| Abstract: | In order to realize obstacle recognition of unmanned ground vehicle(UGV) in unpredicted environment,and to improve the accuracy of recognition,a system based on three-dimensional radar is proposed.A classification algorithm is given according to its function,angle and distance are used as two thresholds to classify data.Then the blocks which impede the vehicles can be detected.The reliability of the system and the veracity of the algorithm are verified through experimentation.The system can provide a real-t... |
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| Keywords: | unprediction three-dimensional radar obstacle recognition |
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