智能驾驶车载激光雷达关键技术与应用算法

Key technology and application algorithm of intelligent driving vehicle LiDAR

随着全球智能驾驶进入产业化与商业化的准备期,车载激光雷达凭借其优异性能已成为不可或缺的环境感知传感器并在硬件技术和应用算法上得到迅猛发展。文章以激光雷达扫描方式及相关技术为切入点对智能驾驶车载激光雷达硬件关键技术进行了介绍,分别讨论了机械式、混合式和全固态车载激光雷达的原理、特点及现状;以智能驾驶应用任务为导向,对点云分割、目标跟踪与识别、即时定位与地图重建这三类车载激光雷达应用算法进行了归纳总结。分析可见,车载激光雷达为降低成本、提升性能、满足智能驾驶需求将进一步走向固态化、智能化和网络化;应用算法研究的追求目标则是实时、高效和可靠。

With the preparation of intelligent driving into industrialization and commercialization, LiDAR has become an indispensable environmental sensor with its excellent performance and has developed rapidly in hardware technology and related application algorithms. This paper introduces the key technologies of LiDAR hardware by using LiDAR scanning method and related technology as the entry point, discussing the principle, characteristics and current status of mechanical, hybrid and all-solid-state automotive LiDAR. Three kinds of task-oriented vehicle Li- DAR application algorithms, point cloud segmentation, target tracking and recognition, simultaneous location and mapping, are summarized. The analysis shows that the vehicle LiDAR will further become solid-state, intelligent and networked in order to reduce costs, improve performance and meet intelligent driving requirements;the pursuit of application algorithm research is real-time, efficient and reliable.