摘要
针对有轨电车在高速行驶过程中遇到障碍物会造成严重事故,提出了一种新的基于激光雷达的有轨电车障碍物探测决策方法。首先对激光雷达收集到的数据通过霍夫变换查找到路面与障碍物的交接点;再通过卡尔曼滤波器完成对此点的跟踪;最后使用交互式多模型的算法(the interactive multiple model algorithm,IMM),得出前方存在障碍物的可能性再与预先设定的阈值比较,准确判断出电车的行驶状态和障碍物的位置。通过搭建仿真模型,验证出该算法具有良好的可靠性和鲁棒性。
In this paper, a new decision-making method is proposed for obstacle detection of lidar-based tram because the tram with high speed will cause serious accident if it encounters obstacles. First, the data collected by the laser radar through the Hough transform to -ind the intersection of the road and obstacles; Second, the point tracking is completed through kalman-filter. Finally, the probability of the existence of obstacles is calculated and compared with the threshold by using the interactive multiple model algorithm. The running state of the tram and the location of the obstacles is estimate accurately. The simulation result shows that the algorithm with better reliabil-y and robustness.
出处
《电子测量技术》
2017年第3期197-200,共4页
Electronic Measurement Technology
基金
国家自然科学基金(60777045)
上海市第三期重点学科项目(S30502)资助
