基于点云目标检测的路考智能评判系统研究  

Research on road driving test intelligent judgment system based on point cloud object detection

作　　者：谈东奎 肖祖德 朱波 金来 张捷 TAN Dongkui;XIAO Zude;ZHU Bo;JIN Lai;ZHANG Jie(Institute of Automotive Engineering Technology,Hefei University of Technology,Hefei 230009,China;Anhui Sanlian Applied Traffic Technology Co.,Ltd.,Hefei 230081,China;Traffic Management Research Institute of the Ministry of Public Security(Key Laboratory of Ministry of Public Security for Road Traffic Safety),Wuxi 214151,China;Institute of Intelligent Manufacturing,Hefei University of Technology,Hefei 230051,China)

机构地区：[1]合肥工业大学汽车工程技术研究院,安徽合肥230009 [2]安徽三联交通应用技术股份有限公司,安徽合肥230081 [3]公安部交通管理科学研究所(道路交通安全公安部重点实验室),江苏无锡214151 [4]合肥工业大学智能制造技术研究院,安徽合肥230051

出　　处：《现代电子技术》2023年第2期1-8,共8页Modern Electronics Technique

基　　金：国家重点研发计划项目(2018YFB0105102);道路交通安全公安部重点实验室开放课题基金项目(2021ZDSYSKFKT05);安徽省科技重大专项(201903a05020016);安徽省科技重大专项资助(202004b11020002)。

摘　　要：针对现有科目三路考评判系统需要依靠人工辅助完成项目评判,以致评判主观性较强且准确性不高的问题,文中利用激光雷达的高测距精度特性,提出一种基于点云目标检测的路考智能评判系统。该系统分为目标检测和智能评判两个模块,目标检测模块针对路考场景三维点云数据设计预处理、滤波、聚类、后处理和包围盒/框的目标检测算法进行环境感知,智能评判模块针对直线跟车行驶、变更车道和行人闯入等场景设计路考评判规则,最后结合目标检测结果完成路考智能评判。为验证路考智能评判系统的有效性,在智能电动汽车平台上进行实车道路驾驶试验。试验结果表明,所提系统能实时、可靠地完成路考项目的自动评判,评判准确率可达0.945,22 m距离内的平均测距精度高于99.55%,且整体算法的平均耗时仅为3.655 ms,能够为智能化、安全化和公平化的路考提供一种有效的解决方案。In allusion to the problems of the existing judgment system of road driving test subject three needs to rely on manual assistance to complete the judgment of items,which has stronger subjectivity and low accuracy,an intelligent judgment system for road driving test based on point cloud object detection is proposed by means of the high ranging accuracy of LiDAR.The system is divided into two modules:object detection and intelligent judgment. The object detection module can be used to design pre-processing,filtering,clustering,post-processing and boundingbox object detection algorithm for 3D point cloud data of driving scenes to realize the environment perception. The intelligent judgment module can be used at road test judgment rules based on driving scenes such as straight-line following,lane change,and pedestrian intrusion,and the intelligent judgment of the road test is completed finally based on the object detection results. In order to verify the effectiveness of the road driving test intelligent system,a real car road driving test was carried out on the intelligent electric vehicle platform. The experimental results show that the system can complete the automatic judgment of road test items in real time and reliably,the judgment accuracy can reach 0.945,the average ranging accuracy within 22 m is higher than 99.55%,and the average running time of the whole algorithm is only 3.655 ms,which can provide an effective solution for intelligent,safe and fair road test.

关 键 词：路考 智能评判系统 目标检测算法 智能评判模块 规则设计 激光雷达 环境感知 

分 类 号：TN915-34[电子电信—通信与信息系统] TP274.2[电子电信—信息与通信工程]