智能车辆的障碍物检测研究方法综述

Approach Review of Obstacle Detection for Intelligent Vehicle

按照使用传感器的不同类型来分类,对智能车辆的障碍物检测和识别技术进行了综述,并分析各种障碍物检测方法。这些方法中主要包括基于立体视觉方法、基于激光雷达的方法、基于彩色机器视觉的方法及基于结构光的方法等等,同时作者指出任何一种有效的障碍物检测系统不能只依靠单一传感器进行环境感知,因此利用多种传感器信息融合技术检测智能车辆前方障碍物,是未来该领域的研究重点与难点。另外,还介绍了近几年一些研究机构在该领域的研究成果,并对所使用的一些算法进行简要的概括,为我国在智能车辆的障碍物检测领域的发展提供借鉴。

Depending on the different sensors, the algorithm technology of obstacle detection for intelligent vehicles is summarized, which are based on stereo vision, laser radar, color machine vision and so on. In addition, the writer pointed out that the obstacle can not be detected based on only one kind of sensor, many kinds of information from different sensors must be employed.So the research focus in obstacle detection for intelligent vehicles is located at multi-sensors data fusion. The above methods related to the obstacle detection are introduced in details, the achievements of some research institutes are introduced for providing some reference to the development of domestic technology in this field.