无人驾驶汽车环境感知技术综述

Overview on Environment Perception Technology for Unmanned Ground Vehicle

无人驾驶汽车在行驶过程中获取外界环境信息是车辆进行导航定位、路径规划及运动控制的根本前提。首先对无人车环境感知所需传感器的特点和原理进行了介绍,然后阐述了激光雷达和相机的标定方法,并论述了道路、行人、车辆、交通信号及标识检测任务中的关键技术,同时分析了各种传感器的优势与限定条件,论述了各项关键技术的原理与方法,从而对无人驾驶汽车在环境感知领域的关键技术进行了综合论述。

Navigation and location path planning and motor control are essential prerequisites of obtaining environmental information during the Unmanned Ground Vehicle＇s driving. First of all, this paper introduces characteristics and the theories of sensors which are employed in environmental perception of UGV. The methods of calibration for lidar and camera as well as the crucial technique in road, pedestrians, vehicles, traffic signal and marked detection assignments are described afterwards. Due to the limits and advantages of all types of sensors and the theories of each item, this paper makes a comprehensively and synthetic discussion about the unmanned ground vehicle environmental perception.