| 激光雷达辅助驾驶道路参数计算方法研究 |
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| 引用本文： | 游安清,潘旭东,赵平,潘文武.激光雷达辅助驾驶道路参数计算方法研究[J].应用光学,2020,41(1):209-213. |
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| 作者姓名： | 游安清 潘旭东 赵平 潘文武 |
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| 作者单位： | 1.中国工程物理研究院 高能激光科学与技术重点实验室，四川 绵阳 621900 |
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| 摘 要： | 针对特定场景辅助驾驶的需求，构建道路场景车载激光雷达三维扫描系统，并设计基于三维激光点云的道路参数提取与计算方法，包括路面宽度、横杆或桥梁或隧道限高、拐弯半径等等，为辅助判断道路的可通过性提供决策依据。测试和对比实验表明，所设计算法效果稳定、精度良好，在效率和自动化程度上有一定优势，可为辅助驾驶提供非常有益的决策参数。
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| 关 键 词： | 激光雷达 三维点云 辅助驾驶 道路参数 |
| 收稿时间： | 2019-06-17 |
Research on road parameters calculation for auxiliary driving with LIDAR |
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| YOU Anqing,PAN Xudong,ZHAO Ping,PAN Wenwu.Research on road parameters calculation for auxiliary driving with LIDAR[J].Journal of Applied Optics,2020,41(1):209-213. |
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| Authors: | YOU Anqing PAN Xudong ZHAO Ping PAN Wenwu |
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| Affiliation: | 1.Key Laboratory of Science and Technology on High Energy Laser, China Academy of Engineering Physics, Mianyang 621900, China2.Institute of Applied Electronics, China Academy of Engineering Physics, Mianyang 621900, China |
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| Abstract: | For the demand of auxiliary driving,a vehicle-mounted LIDAR system was built to scan road scene.A set of method for calculating road parameters was designed based on 3D LIDAR point cloud,including road width,bridge or tunnel height limitation,turnaround radius and so on,which provided decision basis for auxiliary judgment of road passability.Experiments and comparison tests show the stable performance and satisfactory accuracy of algorithms,which have advantages of efficiency and automation,and also can provide useful decision parameters for auxiliary driving. |
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| Keywords: | LIDAR 3D point cloud auxiliary driving road parameter |
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