一种适应凹障碍检测的激光雷达布局研究  

Study on lidar layout suitable for concave obstacle detection

作　　者：张英 李擎[1] 张昊[1] ZHANG Ying;LI Qing;ZHANG Hao(Beijing Key Laboratory of High Dynamic Navigation Technology,Beijing Information Science&Technology University,Beijing 100101,China)

机构地区：[1]北京信息科技大学高动态导航技术北京市重点实验室,北京100101

出　　处：《现代电子技术》2018年第21期142-145,共4页Modern Electronics Technique

基　　金：国家自然科学基金(61471046);北京市自然科学基金(4172022);北京市科技计划课题(Z161100003016011)~~

摘　　要：无人驾驶车的障碍识别是移动机器人自主导航的关键技术之一,一直是国内外各大学、机构的研究重点。现阶段,国内外对凸障碍的识别已经做了很多工作,但针对非结构化环境下的凹障碍的检测却少有研究。针对非结构化环境的凹型障碍物检测问题,基于16线三维激光雷达,提出新的激光雷达布局方法以缩小无人车前盲区,及时检测到凹障碍,并分析凹型障碍物的特征。通过实验,验证了新激光雷达的布局可以有效地检测到野外的凹型障碍物。The obstacle identification technology of unmanned vehicle is one of the key technologies for mobile robot autonomous navigation,and always the research focus of universities and institutions all over the world.At this stage,a lot of work has been done on the recognition of concave obstacle at home and abroad,but the research on concave obstacle detection in unstructured environment is few.Aiming at the concave obstacle detection in unstructured environment,a new lidar layout method is put forward on the basis of 16-line 3D laser radar to reduce the blind area in front of unmanned vehicle,and detect the concave obstacle in real time.The characteristics of negative obstacle are analyzed.The experimental results show that the new lidar layout can detect the concave obstacles in the field effectively.

关 键 词：无人驾驶车 非结构化环境 凹型障碍物 激光雷达布局 车前盲区 障碍物特征 

分 类 号：TN958-34[电子电信—信号与信息处理] TP242.6[电子电信—信息与通信工程]