自动驾驶汽车探测传感器及其融合技术综述

A Survey of Autonomous Vehicle Detection Sensors and Its Fusion Technology

随着传感器和通信技术的显著进步以及障碍物检测技术和算法的应用,自动驾驶正在成为一种能够改变未来交通的关键技术。传感器在自动驾驶系统中车辆周围环境的探测中起着至关重要的作用,传感器融合技术决定着自动驾驶汽车的安全性和可行性。本文介绍了自动驾驶汽车中常用的传感器,重点阐述了摄像头传感器、激光雷达传感器和雷达传感器,以及此类传感器在实践中的运行;总结了三个主要的传感器融合方法;回顾了当前最先进的传感器融合技术以及自动驾驶应用程序中的对象检测算法。

With the significant advancement of sensors and communication technology and the application of obstacle detection technologies and algorithms,autonomous driving is becoming a key technology that can change the future of transportation.Sensors play a vital role in the detection of the surrounding environment of vehicles in the autonomous driving system,and sensor fusion technology determines the safety and feasibility of autonomous vehicles.The commonly used sensors,including camera sensors,lidar sensors and radar sensors as well as the operation of such sensors in autonomous vehicles were,are introduced in the paper.Three main sensor fusion methods are summarized in the paper;and the current state-of-the-art multi-sensor fusion techniques and algorithms for object detection in autonomous driving applications are reviewed in this paper.