The perception module of advanced driver assistance systems plays a vital role.Perception schemes often use a single sensor for data processing and environmental perception or adopt the information processing results ...The perception module of advanced driver assistance systems plays a vital role.Perception schemes often use a single sensor for data processing and environmental perception or adopt the information processing results of various sensors for the fusion of the detection layer.This paper proposes a multi-scale and multi-sensor data fusion strategy in the front end of perception and accomplishes a multi-sensor function disparity map generation scheme.A binocular stereo vision sensor composed of two cameras and a light deterction and ranging(LiDAR)sensor is used to jointly perceive the environment,and a multi-scale fusion scheme is employed to improve the accuracy of the disparity map.This solution not only has the advantages of dense perception of binocular stereo vision sensors but also considers the perception accuracy of LiDAR sensors.Experiments demonstrate that the multi-scale multi-sensor scheme proposed in this paper significantly improves disparity map estimation.展开更多
An obstacle perception system for intelligent vehicle is proposed.The proposed system combines the stereo version technique and the deep learning network model,and is applied to obstacle perception tasks in complex en...An obstacle perception system for intelligent vehicle is proposed.The proposed system combines the stereo version technique and the deep learning network model,and is applied to obstacle perception tasks in complex environment.In this paper,we provide a complete system design project,which includes the hardware parameters,software framework,algorithm principle,and optimization method.In addition,special experiments are designed to demonstrate that the performance of the proposed system meets the requirements of actual application.The experiment results show that the proposed system is valid to both standard obstacles and non-standard obstacles,and suitable for different weather and lighting conditions in complex environment.It announces that the proposed system is flexible and robust to the intelligent vehicle.展开更多
Truck and trailer routing problem(TTRP)is one of the most frequently encountered problem in city distribution,particularly in populated and intensive downtown.This paper addresses this problem and designs a novel back...Truck and trailer routing problem(TTRP)is one of the most frequently encountered problem in city distribution,particularly in populated and intensive downtown.This paper addresses this problem and designs a novel backtracking search algorithm(BSA)based meta-heuristics to solve it.The initial population is created by T-sweep heuristic and then based on the framework of backtracking search algorithm,four types of route improvement strategies are used as building blocks to improve the solutions of BSA in the process of mutation and crossover.The computational experiments and results indicate that the proposed BSA algorithm can provide an effective approach to generate high-quality solutions within the satisfactory computational time.展开更多
基金the National Key R&D Program of China(2018AAA0103103).
文摘The perception module of advanced driver assistance systems plays a vital role.Perception schemes often use a single sensor for data processing and environmental perception or adopt the information processing results of various sensors for the fusion of the detection layer.This paper proposes a multi-scale and multi-sensor data fusion strategy in the front end of perception and accomplishes a multi-sensor function disparity map generation scheme.A binocular stereo vision sensor composed of two cameras and a light deterction and ranging(LiDAR)sensor is used to jointly perceive the environment,and a multi-scale fusion scheme is employed to improve the accuracy of the disparity map.This solution not only has the advantages of dense perception of binocular stereo vision sensors but also considers the perception accuracy of LiDAR sensors.Experiments demonstrate that the multi-scale multi-sensor scheme proposed in this paper significantly improves disparity map estimation.
基金supported by the National Natural Science Foundation of China(61673381)the National Key R&D Program of China(2018AAA0103103)the Science and Technology Development Fund(0024/2018/A1)。
文摘An obstacle perception system for intelligent vehicle is proposed.The proposed system combines the stereo version technique and the deep learning network model,and is applied to obstacle perception tasks in complex environment.In this paper,we provide a complete system design project,which includes the hardware parameters,software framework,algorithm principle,and optimization method.In addition,special experiments are designed to demonstrate that the performance of the proposed system meets the requirements of actual application.The experiment results show that the proposed system is valid to both standard obstacles and non-standard obstacles,and suitable for different weather and lighting conditions in complex environment.It announces that the proposed system is flexible and robust to the intelligent vehicle.
基金Supported by Premium Funding Project for Academic Human Resources Development in Beijing Union University(BPHR2020CZ06)
文摘Truck and trailer routing problem(TTRP)is one of the most frequently encountered problem in city distribution,particularly in populated and intensive downtown.This paper addresses this problem and designs a novel backtracking search algorithm(BSA)based meta-heuristics to solve it.The initial population is created by T-sweep heuristic and then based on the framework of backtracking search algorithm,four types of route improvement strategies are used as building blocks to improve the solutions of BSA in the process of mutation and crossover.The computational experiments and results indicate that the proposed BSA algorithm can provide an effective approach to generate high-quality solutions within the satisfactory computational time.
